add h1_description
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matheecs
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cmake_minimum_required(VERSION 2.8.3)
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project(h1_description)
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find_package(catkin REQUIRED)
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catkin_package()
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find_package(roslaunch)
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foreach(dir launch meshes urdf)
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install(DIRECTORY ${dir}/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
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endforeach(dir)
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# Unitree H1 Description (URDF & MJCF)
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## Overview
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This package includes a streamlined robot description (URDF & MJCF) for the [H1 Humanoid
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Robot](https://www.unitree.com/h1), developed by [Unitree Robotics](https://www.unitree.com/).
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<p align="center">
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<img src="doc/H1.png" width="500"/>
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</p>
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H1 Humanoid have 19 joints:
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```text
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root [⚓] => /pelvis/
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left_hip_yaw_joint [⚙+Z] => /left_hip_yaw_link/
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left_hip_roll_joint [⚙+X] => /left_hip_roll_link/
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left_hip_pitch_joint [⚙+Y] => /left_hip_pitch_link/
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left_knee_joint [⚙+Y] => /left_knee_link/
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left_ankle_joint [⚙+Y] => /left_ankle_link/
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right_hip_yaw_joint [⚙+Z] => /right_hip_yaw_link/
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right_hip_roll_joint [⚙+X] => /right_hip_roll_link/
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right_hip_pitch_joint [⚙+Y] => /right_hip_pitch_link/
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right_knee_joint [⚙+Y] => /right_knee_link/
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right_ankle_joint [⚙+Y] => /right_ankle_link/
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torso_joint [⚙+Z] => /torso_link/
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left_shoulder_pitch_joint [⚙+Y] => /left_shoulder_pitch_link/
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left_shoulder_roll_joint [⚙+X] => /left_shoulder_roll_link/
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left_shoulder_yaw_joint [⚙+Z] => /left_shoulder_yaw_link/
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left_elbow_joint [⚙+Y] => /left_elbow_link/
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right_shoulder_pitch_joint [⚙+Y] => /right_shoulder_pitch_link/
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right_shoulder_roll_joint [⚙+X] => /right_shoulder_roll_link/
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right_shoulder_yaw_joint [⚙+Z] => /right_shoulder_yaw_link/
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right_elbow_joint [⚙+Y] => /right_elbow_link/
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```
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## Usages
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### [MuJoCo](https://github.com/google-deepmind/mujoco)(recommend)
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```bash
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pip install mujoco
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python -m mujoco.viewer --mjcf=mjcf/scene.xml
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```
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### RViz
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```bash
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roslaunch h1_description display.launch
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```
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### Gazebo
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```bash
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roslaunch h1_description gazebo.launch
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```
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After Width: | Height: | Size: 843 KiB |
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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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Splitter Ratio: 0.5
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Tree Height: 719
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Name: Time
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SyncMode: 0
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SyncSource: ""
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Class: rviz/RobotModel
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Collision Enabled: false
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Enabled: true
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Links:
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All Links Enabled: true
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pelvis:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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hip_rotation_link_left:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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hip_abduction_link_left:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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hip_flexion_link_left:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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knee_link_left:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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ankle_link_left:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Link Tree Style: Links in Alphabetic Order
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hip_rotation_link_right:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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hip_abduction_link_right:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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hip_flexion_link_right:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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knee_link_right:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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ankle_link_right:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Name: RobotModel
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Robot Description: robot_description
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Class: rviz/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: true
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pelvis:
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Value: true
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hip_rotation_link_left:
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Value: true
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hip_abduction_link_left:
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Value: true
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hip_flexion_link_left:
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Value: true
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knee_link_left:
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Value: true
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ankle_link_left:
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Value: true
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hip_rotation_link_right:
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Value: true
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hip_abduction_link_right:
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Value: true
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hip_flexion_link_right:
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Value: true
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knee_link_right:
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Value: true
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ankle_link_right:
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Value: true
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Marker Alpha: 1
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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pelvis:
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hip_rotation_link_left:
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hip_abduction_link_left:
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hip_flexion_link_left:
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knee_link_left:
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ankle_link_left:
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{}
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hip_rotation_link_right:
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hip_abduction_link_right:
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hip_flexion_link_right:
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knee_link_right:
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ankle_link_right:
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{}
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Update Interval: 0
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Default Light: true
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Fixed Frame: pelvis
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Theta std deviation: 0.2617993950843811
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Topic: /initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 1.6701574325561523
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Field of View: 0.7853981852531433
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Focal Point:
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X: 0.11145864427089691
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Y: 0.10033124685287476
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Z: -0.35909000039100647
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.5303982496261597
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Target Frame: <Fixed Frame>
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Yaw: 0.8653979301452637
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1016
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074c0000003efc0100000002fb0000000800540069006d006501000000000000074c000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004db0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1868
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X: 52
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Y: 27
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<launch>
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<arg
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name="model" />
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<param
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name="robot_description"
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textfile="$(find h1_description)/urdf/h1.urdf" />
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<node
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name="joint_state_publisher_gui"
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pkg="joint_state_publisher_gui"
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type="joint_state_publisher_gui" />
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<node
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name="robot_state_publisher"
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pkg="robot_state_publisher"
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type="robot_state_publisher" />
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<node
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name="rviz"
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pkg="rviz"
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type="rviz"
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args="-d $(find h1_description)/launch/check_joint.rviz" />
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</launch>
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<launch>
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<include
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file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="paused" value="true" />
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</include>
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<node
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name="spawn_model"
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pkg="gazebo_ros"
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type="spawn_model"
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args="-file $(find h1_description)/urdf/h1.urdf -urdf -z 1.05 -model h1_description"
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output="screen" />
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</launch>
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<mujoco model="h1">
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<compiler angle="radian" meshdir="../meshes" autolimits="true"/>
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<default>
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<default class="h1">
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<geom type="mesh"/>
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<joint damping="1" armature="0.1"/>
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<default class="visual">
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<geom contype="0" conaffinity="0" group="2" material="black"/>
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</default>
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<default class="collision">
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<geom group="3" mass="0" density="0"/>
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</default>
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<site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
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</default>
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</default>
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<asset>
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<material name="black" rgba="0.1 0.1 0.1 1"/>
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<material name="white" rgba="1 1 1 1"/>
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<mesh file="pelvis.STL"/>
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<mesh file="left_hip_yaw_link.STL"/>
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<mesh file="left_hip_roll_link.STL"/>
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<mesh file="left_hip_pitch_link.STL"/>
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<mesh file="left_knee_link.STL"/>
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<mesh file="left_ankle_link.STL"/>
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<mesh file="right_hip_yaw_link.STL"/>
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<mesh file="right_hip_roll_link.STL"/>
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<mesh file="right_hip_pitch_link.STL"/>
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<mesh file="right_knee_link.STL"/>
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<mesh file="right_ankle_link.STL"/>
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<mesh file="torso_link.STL"/>
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<mesh file="left_shoulder_pitch_link.STL"/>
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<mesh file="left_shoulder_roll_link.STL"/>
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<mesh file="left_shoulder_yaw_link.STL"/>
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<mesh file="left_elbow_link.STL"/>
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<mesh file="right_shoulder_pitch_link.STL"/>
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<mesh file="right_shoulder_roll_link.STL"/>
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<mesh file="right_shoulder_yaw_link.STL"/>
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<mesh file="right_elbow_link.STL"/>
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<mesh file="logo_link.STL"/>
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</asset>
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<worldbody>
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<body name="pelvis" pos="0 0 1.1" childclass="h1">
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<inertial pos="-0.0002 4e-05 -0.04522" quat="0.498303 0.499454 -0.500496 0.501741" mass="5.39"
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diaginertia="0.0490211 0.0445821 0.00824619"/>
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<freejoint/>
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<geom class="visual" mesh="pelvis"/>
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<geom class="collision" mesh="pelvis"/>
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<body name="left_hip_yaw_link" pos="0 0.0875 -0.1742">
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<inertial pos="-0.04923 0.0001 0.0072" quat="0.69699 0.219193 0.233287 0.641667" mass="2.244"
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diaginertia="0.00304494 0.00296885 0.00189201"/>
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<joint name="left_hip_yaw_joint" axis="0 0 1" range="-0.43 0.43"/>
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<geom class="visual" mesh="left_hip_yaw_link"/>
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<geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/>
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<body name="left_hip_roll_link" pos="0.039468 0 0">
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<inertial pos="-0.0058 -0.00319 -9e-05" quat="0.0438242 0.70721 -0.0729075 0.701867" mass="2.232"
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diaginertia="0.00243264 0.00225325 0.00205492"/>
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<joint name="left_hip_roll_joint" axis="1 0 0" range="-0.43 0.43"/>
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<geom class="visual" mesh="left_hip_roll_link"/>
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<geom class="collision" mesh="left_hip_roll_link"/>
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<body name="left_hip_pitch_link" pos="0 0.11536 0">
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<inertial pos="0.00746 -0.02346 -0.08193" quat="0.979828 0.0513522 -0.0169854 -0.192382" mass="4.152"
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diaginertia="0.0829503 0.0821457 0.00510909"/>
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<joint name="left_hip_pitch_joint" axis="0 1 0" range="-1.57 1.57"/>
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<geom class="visual" mesh="left_hip_pitch_link"/>
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<geom class="collision" mesh="left_hip_pitch_link"/>
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<body name="left_knee_link" pos="0 0 -0.4">
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<inertial pos="-0.00136 -0.00512 -0.1384" quat="0.626132 -0.034227 -0.0416277 0.777852" mass="1.721"
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diaginertia="0.0125237 0.0123104 0.0019428"/>
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<joint name="left_knee_joint" axis="0 1 0" range="-0.26 2.05"/>
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<geom class="visual" mesh="left_knee_link"/>
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<geom class="collision" mesh="left_knee_link"/>
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<body name="left_ankle_link" pos="0 0 -0.4">
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<inertial pos="0.048568 0 -0.045609" quat="0.489385 0.510394 0.510394 0.489385" mass="0.552448"
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diaginertia="0.00362 0.00355701 0.000149987"/>
|
||||
<joint name="left_ankle_joint" axis="0 1 0" range="-0.87 0.52"/>
|
||||
<geom class="visual" mesh="left_ankle_link"/>
|
||||
<geom class="collision" mesh="left_ankle_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hip_yaw_link" pos="0 -0.0875 -0.1742">
|
||||
<inertial pos="-0.04923 -0.0001 0.0072" quat="0.641667 0.233287 0.219193 0.69699" mass="2.244"
|
||||
diaginertia="0.00304494 0.00296885 0.00189201"/>
|
||||
<joint name="right_hip_yaw_joint" axis="0 0 1" range="-0.43 0.43"/>
|
||||
<geom class="visual" mesh="right_hip_yaw_link"/>
|
||||
<geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/>
|
||||
<body name="right_hip_roll_link" pos="0.039468 0 0">
|
||||
<inertial pos="-0.0058 0.00319 -9e-05" quat="-0.0438242 0.70721 0.0729075 0.701867" mass="2.232"
|
||||
diaginertia="0.00243264 0.00225325 0.00205492"/>
|
||||
<joint name="right_hip_roll_joint" axis="1 0 0" range="-0.43 0.43"/>
|
||||
<geom class="visual" mesh="right_hip_roll_link"/>
|
||||
<geom class="collision" mesh="right_hip_roll_link"/>
|
||||
<body name="right_hip_pitch_link" pos="0 -0.11536 0">
|
||||
<inertial pos="0.00746 0.02346 -0.08193" quat="0.979828 -0.0513522 -0.0169854 0.192382" mass="4.152"
|
||||
diaginertia="0.0829503 0.0821457 0.00510909"/>
|
||||
<joint name="right_hip_pitch_joint" axis="0 1 0" range="-1.57 1.57"/>
|
||||
<geom class="visual" mesh="right_hip_pitch_link"/>
|
||||
<geom class="collision" mesh="right_hip_pitch_link"/>
|
||||
<body name="right_knee_link" pos="0 0 -0.4">
|
||||
<inertial pos="-0.00136 0.00512 -0.1384" quat="0.777852 -0.0416277 -0.034227 0.626132" mass="1.721"
|
||||
diaginertia="0.0125237 0.0123104 0.0019428"/>
|
||||
<joint name="right_knee_joint" axis="0 1 0" range="-0.26 2.05"/>
|
||||
<geom class="visual" mesh="right_knee_link"/>
|
||||
<geom class="collision" mesh="right_knee_link"/>
|
||||
<body name="right_ankle_link" pos="0 0 -0.4">
|
||||
<inertial pos="0.048568 0 -0.045609" quat="0.489385 0.510394 0.510394 0.489385" mass="0.552448"
|
||||
diaginertia="0.00362 0.00355701 0.000149987"/>
|
||||
<joint name="right_ankle_joint" axis="0 1 0" range="-0.87 0.52"/>
|
||||
<geom class="visual" mesh="right_ankle_link"/>
|
||||
<geom class="collision" mesh="right_ankle_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="torso_link">
|
||||
<inertial pos="0.000489 0.002797 0.20484" quat="0.999989 -0.00130808 -0.00282289 -0.00349105" mass="17.789"
|
||||
diaginertia="0.487315 0.409628 0.127837"/>
|
||||
<joint name="torso_joint" axis="0 0 1" range="-2.35 2.35"/>
|
||||
<geom class="visual" mesh="torso_link"/>
|
||||
<geom class="collision" mesh="torso_link"/>
|
||||
<geom class="visual" material="white" mesh="logo_link"/>
|
||||
<site name="imu" size="0.01" pos="-0.04452 -0.01891 0.27756"/>
|
||||
<body name="left_shoulder_pitch_link" pos="0.0055 0.15535 0.42999" quat="0.976296 0.216438 0 0">
|
||||
<inertial pos="0.005045 0.053657 -0.015715" quat="0.814858 0.579236 -0.0201072 -0.00936488" mass="1.033"
|
||||
diaginertia="0.00129936 0.000987113 0.000858198"/>
|
||||
<joint name="left_shoulder_pitch_joint" axis="0 1 0" range="-2.87 2.87"/>
|
||||
<geom class="visual" mesh="left_shoulder_pitch_link"/>
|
||||
<geom class="collision" mesh="left_shoulder_pitch_link"/>
|
||||
<body name="left_shoulder_roll_link" pos="-0.0055 0.0565 -0.0165" quat="0.976296 -0.216438 0 0">
|
||||
<inertial pos="0.000679 0.00115 -0.094076" quat="0.732491 0.00917179 0.0766656 0.676384" mass="0.793"
|
||||
diaginertia="0.00170388 0.00158256 0.00100336"/>
|
||||
<joint name="left_shoulder_roll_joint" axis="1 0 0" range="-0.34 3.11"/>
|
||||
<geom class="visual" mesh="left_shoulder_roll_link"/>
|
||||
<geom class="collision" mesh="left_shoulder_roll_link"/>
|
||||
<body name="left_shoulder_yaw_link" pos="0 0 -0.1343">
|
||||
<inertial pos="0.01365 0.002767 -0.16266" quat="0.703042 -0.0331229 -0.0473362 0.708798" mass="0.839"
|
||||
diaginertia="0.00408038 0.00370367 0.000622687"/>
|
||||
<joint name="left_shoulder_yaw_joint" axis="0 0 1" range="-1.3 4.45"/>
|
||||
<geom class="visual" mesh="left_shoulder_yaw_link"/>
|
||||
<geom class="collision" mesh="left_shoulder_yaw_link"/>
|
||||
<body name="left_elbow_link" pos="0.0185 0 -0.198">
|
||||
<inertial pos="0.15908 -0.000144 -0.015776" quat="0.0765232 0.720327 0.0853116 0.684102" mass="0.669"
|
||||
diaginertia="0.00601829 0.00600579 0.000408305"/>
|
||||
<joint name="left_elbow_joint" axis="0 1 0" range="-1.25 2.61"/>
|
||||
<geom class="visual" mesh="left_elbow_link"/>
|
||||
<geom class="collision" mesh="left_elbow_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_shoulder_pitch_link" pos="0.0055 -0.15535 0.42999" quat="0.976296 -0.216438 0 0">
|
||||
<inertial pos="0.005045 -0.053657 -0.015715" quat="0.579236 0.814858 0.00936488 0.0201072" mass="1.033"
|
||||
diaginertia="0.00129936 0.000987113 0.000858198"/>
|
||||
<joint name="right_shoulder_pitch_joint" axis="0 1 0" range="-2.87 2.87"/>
|
||||
<geom class="visual" mesh="right_shoulder_pitch_link"/>
|
||||
<geom class="collision" mesh="right_shoulder_pitch_link"/>
|
||||
<body name="right_shoulder_roll_link" pos="-0.0055 -0.0565 -0.0165" quat="0.976296 0.216438 0 0">
|
||||
<inertial pos="0.000679 -0.00115 -0.094076" quat="0.676384 0.0766656 0.00917179 0.732491" mass="0.793"
|
||||
diaginertia="0.00170388 0.00158256 0.00100336"/>
|
||||
<joint name="right_shoulder_roll_joint" axis="1 0 0" range="-3.11 0.34"/>
|
||||
<geom class="visual" mesh="right_shoulder_roll_link"/>
|
||||
<geom class="collision" mesh="right_shoulder_roll_link"/>
|
||||
<body name="right_shoulder_yaw_link" pos="0 0 -0.1343">
|
||||
<inertial pos="0.01365 -0.002767 -0.16266" quat="0.708798 -0.0473362 -0.0331229 0.703042" mass="0.839"
|
||||
diaginertia="0.00408038 0.00370367 0.000622687"/>
|
||||
<joint name="right_shoulder_yaw_joint" axis="0 0 1" range="-4.45 1.3"/>
|
||||
<geom class="visual" mesh="right_shoulder_yaw_link"/>
|
||||
<geom class="collision" mesh="right_shoulder_yaw_link"/>
|
||||
<body name="right_elbow_link" pos="0.0185 0 -0.198">
|
||||
<inertial pos="0.15908 0.000144 -0.015776" quat="-0.0765232 0.720327 -0.0853116 0.684102" mass="0.669"
|
||||
diaginertia="0.00601829 0.00600579 0.000408305"/>
|
||||
<joint name="right_elbow_joint" axis="0 1 0" range="-1.25 2.61"/>
|
||||
<geom class="visual" mesh="right_elbow_link"/>
|
||||
<geom class="collision" mesh="right_elbow_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor class="h1" name="left_hip_yaw_joint" joint="left_hip_yaw_joint" ctrlrange="-200 200"/>
|
||||
<motor class="h1" name="left_hip_roll_joint" joint="left_hip_roll_joint" ctrlrange="-200 200"/>
|
||||
<motor class="h1" name="left_hip_pitch_joint" joint="left_hip_pitch_joint" ctrlrange="-200 200"/>
|
||||
<motor class="h1" name="left_knee_joint" joint="left_knee_joint" ctrlrange="-300 300"/>
|
||||
<motor class="h1" name="left_ankle_joint" joint="left_ankle_joint" ctrlrange="-40 40"/>
|
||||
<motor class="h1" name="right_hip_yaw_joint" joint="right_hip_yaw_joint" ctrlrange="-200 200"/>
|
||||
<motor class="h1" name="right_hip_roll_joint" joint="right_hip_roll_joint" ctrlrange="-200 200"/>
|
||||
<motor class="h1" name="right_hip_pitch_joint" joint="right_hip_pitch_joint" ctrlrange="-200 200"/>
|
||||
<motor class="h1" name="right_knee_joint" joint="right_knee_joint" ctrlrange="-300 300"/>
|
||||
<motor class="h1" name="right_ankle_joint" joint="right_ankle_joint" ctrlrange="-40 40"/>
|
||||
<motor class="h1" name="torso_joint" joint="torso_joint" ctrlrange="-200 200"/>
|
||||
<motor class="h1" name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint" ctrlrange="-40 40"/>
|
||||
<motor class="h1" name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint" ctrlrange="-40 40"/>
|
||||
<motor class="h1" name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint" ctrlrange="-18 18"/>
|
||||
<motor class="h1" name="left_elbow_joint" joint="left_elbow_joint" ctrlrange="-18 18"/>
|
||||
<motor class="h1" name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint" ctrlrange="-40 40"/>
|
||||
<motor class="h1" name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint" ctrlrange="-40 40"/>
|
||||
<motor class="h1" name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint" ctrlrange="-18 18"/>
|
||||
<motor class="h1" name="right_elbow_joint" joint="right_elbow_joint" ctrlrange="-18 18"/>
|
||||
</actuator>
|
||||
|
||||
<sensor>
|
||||
<gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
|
||||
<accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
|
||||
</sensor>
|
||||
|
||||
<keyframe>
|
||||
<key name="home"
|
||||
qpos="
|
||||
0 0 0.98
|
||||
1 0 0 0
|
||||
0 0 -0.4 0.8 -0.4
|
||||
0 0 -0.4 0.8 -0.4
|
||||
0
|
||||
0 0 0 0
|
||||
0 0 0 0"/>
|
||||
</keyframe>
|
||||
</mujoco>
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
<mujoco model="Unitree H1">
|
||||
<include file="h1.xml" />
|
||||
<statistic center="1 0.7 1.5" extent="0.8" />
|
||||
<visual>
|
||||
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
|
||||
<rgba haze="0.15 0.25 0.35 1" />
|
||||
<global azimuth="-140" elevation="-30" />
|
||||
</visual>
|
||||
<asset>
|
||||
<texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072" />
|
||||
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4"
|
||||
rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
|
||||
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5"
|
||||
reflectance="0.2" />
|
||||
</asset>
|
||||
<worldbody>
|
||||
<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
|
||||
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
|
|
@ -0,0 +1,17 @@
|
|||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>h1_description</name>
|
||||
<version>1.0.0</version>
|
||||
<description>The Unitree H1 Description Package</description>
|
||||
|
||||
<maintainer email="TODO@email.com" />
|
||||
<license>TODO</license>
|
||||
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<depend>roslaunch</depend>
|
||||
<depend>robot_state_publisher</depend>
|
||||
<depend>rviz</depend>
|
||||
<depend>joint_state_publisher_gui</depend>
|
||||
<depend>gazebo</depend>
|
||||
|
||||
</package>
|
||||
File diff suppressed because it is too large
Load Diff
Loading…
Reference in New Issue