diff --git a/robots/h1_description/CMakeLists.txt b/robots/h1_description/CMakeLists.txt new file mode 100644 index 0000000..30a4886 --- /dev/null +++ b/robots/h1_description/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 2.8.3) +project(h1_description) + +find_package(catkin REQUIRED) + +catkin_package() + +find_package(roslaunch) + +foreach(dir launch meshes urdf) + install(DIRECTORY ${dir}/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) +endforeach(dir) diff --git a/robots/h1_description/README.md b/robots/h1_description/README.md new file mode 100644 index 0000000..ba7183b --- /dev/null +++ b/robots/h1_description/README.md @@ -0,0 +1,56 @@ +# Unitree H1 Description (URDF & MJCF) + +## Overview + +This package includes a streamlined robot description (URDF & MJCF) for the [H1 Humanoid +Robot](https://www.unitree.com/h1), developed by [Unitree Robotics](https://www.unitree.com/). + +

+ +

+ +H1 Humanoid have 19 joints: + +```text +root [⚓] => /pelvis/ + left_hip_yaw_joint [⚙+Z] => /left_hip_yaw_link/ + left_hip_roll_joint [⚙+X] => /left_hip_roll_link/ + left_hip_pitch_joint [⚙+Y] => /left_hip_pitch_link/ + left_knee_joint [⚙+Y] => /left_knee_link/ + left_ankle_joint [⚙+Y] => /left_ankle_link/ + right_hip_yaw_joint [⚙+Z] => /right_hip_yaw_link/ + right_hip_roll_joint [⚙+X] => /right_hip_roll_link/ + right_hip_pitch_joint [⚙+Y] => /right_hip_pitch_link/ + right_knee_joint [⚙+Y] => /right_knee_link/ + right_ankle_joint [⚙+Y] => /right_ankle_link/ + torso_joint [⚙+Z] => /torso_link/ + left_shoulder_pitch_joint [⚙+Y] => /left_shoulder_pitch_link/ + left_shoulder_roll_joint [⚙+X] => /left_shoulder_roll_link/ + left_shoulder_yaw_joint [⚙+Z] => /left_shoulder_yaw_link/ + left_elbow_joint [⚙+Y] => /left_elbow_link/ + right_shoulder_pitch_joint [⚙+Y] => /right_shoulder_pitch_link/ + right_shoulder_roll_joint [⚙+X] => /right_shoulder_roll_link/ + right_shoulder_yaw_joint [⚙+Z] => /right_shoulder_yaw_link/ + right_elbow_joint [⚙+Y] => /right_elbow_link/ +``` + +## Usages + +### [MuJoCo](https://github.com/google-deepmind/mujoco)(recommend) + +```bash +pip install mujoco +python -m mujoco.viewer --mjcf=mjcf/scene.xml +``` + +### RViz + +```bash +roslaunch h1_description display.launch +``` + +### Gazebo + +```bash +roslaunch h1_description gazebo.launch +``` diff --git a/robots/h1_description/doc/H1.png b/robots/h1_description/doc/H1.png new file mode 100644 index 0000000..9819dff Binary files /dev/null and b/robots/h1_description/doc/H1.png differ diff --git a/robots/h1_description/launch/check_joint.rviz b/robots/h1_description/launch/check_joint.rviz new file mode 100644 index 0000000..1eaf8e9 --- /dev/null +++ b/robots/h1_description/launch/check_joint.rviz @@ -0,0 +1,239 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 719 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + pelvis: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + hip_rotation_link_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + hip_abduction_link_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + hip_flexion_link_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + knee_link_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ankle_link_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Link Tree Style: Links in Alphabetic Order + hip_rotation_link_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + hip_abduction_link_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + hip_flexion_link_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + knee_link_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ankle_link_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + pelvis: + Value: true + hip_rotation_link_left: + Value: true + hip_abduction_link_left: + Value: true + hip_flexion_link_left: + Value: true + knee_link_left: + Value: true + ankle_link_left: + Value: true + hip_rotation_link_right: + Value: true + hip_abduction_link_right: + Value: true + hip_flexion_link_right: + Value: true + knee_link_right: + Value: true + ankle_link_right: + Value: true + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + pelvis: + hip_rotation_link_left: + hip_abduction_link_left: + hip_flexion_link_left: + knee_link_left: + ankle_link_left: + {} + hip_rotation_link_right: + hip_abduction_link_right: + hip_flexion_link_right: + knee_link_right: + ankle_link_right: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: pelvis + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.6701574325561523 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 0.11145864427089691 + Y: 0.10033124685287476 + Z: -0.35909000039100647 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5303982496261597 + Target Frame: + Yaw: 0.8653979301452637 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074c0000003efc0100000002fb0000000800540069006d006501000000000000074c000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004db0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1868 + X: 52 + Y: 27 diff --git a/robots/h1_description/launch/display.launch b/robots/h1_description/launch/display.launch new file mode 100644 index 0000000..fee381b --- /dev/null +++ b/robots/h1_description/launch/display.launch @@ -0,0 +1,20 @@ + + + + + + + \ No newline at end of file diff --git a/robots/h1_description/launch/gazebo.launch b/robots/h1_description/launch/gazebo.launch new file mode 100644 index 0000000..175edc9 --- /dev/null +++ b/robots/h1_description/launch/gazebo.launch @@ -0,0 +1,12 @@ + + + + + + \ No newline at end of file diff --git a/robots/h1_description/meshes/left_ankle_link.STL b/robots/h1_description/meshes/left_ankle_link.STL new file mode 100644 index 0000000..e6714d2 Binary files /dev/null and b/robots/h1_description/meshes/left_ankle_link.STL differ diff --git a/robots/h1_description/meshes/left_elbow_link.STL b/robots/h1_description/meshes/left_elbow_link.STL new file mode 100644 index 0000000..5f798ca Binary files /dev/null and b/robots/h1_description/meshes/left_elbow_link.STL differ diff --git a/robots/h1_description/meshes/left_hip_pitch_link.STL b/robots/h1_description/meshes/left_hip_pitch_link.STL new file mode 100644 index 0000000..e5898ab Binary files /dev/null and b/robots/h1_description/meshes/left_hip_pitch_link.STL differ diff --git a/robots/h1_description/meshes/left_hip_roll_link.STL b/robots/h1_description/meshes/left_hip_roll_link.STL new file mode 100644 index 0000000..5ade02b Binary files /dev/null and b/robots/h1_description/meshes/left_hip_roll_link.STL differ diff --git a/robots/h1_description/meshes/left_hip_yaw_link.STL b/robots/h1_description/meshes/left_hip_yaw_link.STL new file mode 100644 index 0000000..3bcc4b8 Binary files /dev/null and b/robots/h1_description/meshes/left_hip_yaw_link.STL differ diff --git a/robots/h1_description/meshes/left_knee_link.STL b/robots/h1_description/meshes/left_knee_link.STL new file mode 100644 index 0000000..18174ee Binary files /dev/null and b/robots/h1_description/meshes/left_knee_link.STL differ diff --git a/robots/h1_description/meshes/left_shoulder_pitch_link.STL b/robots/h1_description/meshes/left_shoulder_pitch_link.STL new file mode 100644 index 0000000..be81370 Binary files /dev/null and b/robots/h1_description/meshes/left_shoulder_pitch_link.STL differ diff --git a/robots/h1_description/meshes/left_shoulder_roll_link.STL b/robots/h1_description/meshes/left_shoulder_roll_link.STL new file mode 100644 index 0000000..a59bb64 Binary files /dev/null and b/robots/h1_description/meshes/left_shoulder_roll_link.STL differ diff --git a/robots/h1_description/meshes/left_shoulder_yaw_link.STL b/robots/h1_description/meshes/left_shoulder_yaw_link.STL new file mode 100644 index 0000000..01d3c75 Binary files /dev/null and b/robots/h1_description/meshes/left_shoulder_yaw_link.STL differ diff --git a/robots/h1_description/meshes/logo_link.STL b/robots/h1_description/meshes/logo_link.STL new file mode 100644 index 0000000..c396d51 Binary files /dev/null and b/robots/h1_description/meshes/logo_link.STL differ diff --git a/robots/h1_description/meshes/pelvis.STL b/robots/h1_description/meshes/pelvis.STL new file mode 100644 index 0000000..05e5512 Binary files /dev/null and b/robots/h1_description/meshes/pelvis.STL differ diff --git a/robots/h1_description/meshes/right_ankle_link.STL b/robots/h1_description/meshes/right_ankle_link.STL new file mode 100644 index 0000000..3e52a9c Binary files /dev/null and b/robots/h1_description/meshes/right_ankle_link.STL differ diff --git a/robots/h1_description/meshes/right_elbow_link.STL b/robots/h1_description/meshes/right_elbow_link.STL new file mode 100644 index 0000000..f4c03e3 Binary files /dev/null and b/robots/h1_description/meshes/right_elbow_link.STL differ diff --git a/robots/h1_description/meshes/right_hip_pitch_link.STL b/robots/h1_description/meshes/right_hip_pitch_link.STL new file mode 100644 index 0000000..1d4e515 Binary files /dev/null and b/robots/h1_description/meshes/right_hip_pitch_link.STL differ diff --git a/robots/h1_description/meshes/right_hip_roll_link.STL b/robots/h1_description/meshes/right_hip_roll_link.STL new file mode 100644 index 0000000..d2a0af9 Binary files /dev/null and b/robots/h1_description/meshes/right_hip_roll_link.STL differ diff --git a/robots/h1_description/meshes/right_hip_yaw_link.STL b/robots/h1_description/meshes/right_hip_yaw_link.STL new file mode 100644 index 0000000..6c8ffd5 Binary files /dev/null and b/robots/h1_description/meshes/right_hip_yaw_link.STL differ diff --git a/robots/h1_description/meshes/right_knee_link.STL b/robots/h1_description/meshes/right_knee_link.STL new file mode 100644 index 0000000..1ed90cc Binary files /dev/null and b/robots/h1_description/meshes/right_knee_link.STL differ diff --git a/robots/h1_description/meshes/right_shoulder_pitch_link.STL b/robots/h1_description/meshes/right_shoulder_pitch_link.STL new file mode 100644 index 0000000..f77ab2b Binary files /dev/null and b/robots/h1_description/meshes/right_shoulder_pitch_link.STL differ diff --git a/robots/h1_description/meshes/right_shoulder_roll_link.STL b/robots/h1_description/meshes/right_shoulder_roll_link.STL new file mode 100644 index 0000000..a98398f Binary files /dev/null and b/robots/h1_description/meshes/right_shoulder_roll_link.STL differ diff --git a/robots/h1_description/meshes/right_shoulder_yaw_link.STL b/robots/h1_description/meshes/right_shoulder_yaw_link.STL new file mode 100644 index 0000000..7943bab Binary files /dev/null and b/robots/h1_description/meshes/right_shoulder_yaw_link.STL differ diff --git a/robots/h1_description/meshes/torso_link.STL b/robots/h1_description/meshes/torso_link.STL new file mode 100644 index 0000000..335b2f1 Binary files /dev/null and b/robots/h1_description/meshes/torso_link.STL differ diff --git a/robots/h1_description/mjcf/h1.xml b/robots/h1_description/mjcf/h1.xml new file mode 100644 index 0000000..903aaf7 --- /dev/null +++ b/robots/h1_description/mjcf/h1.xml @@ -0,0 +1,228 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robots/h1_description/mjcf/scene.xml b/robots/h1_description/mjcf/scene.xml new file mode 100644 index 0000000..c419d28 --- /dev/null +++ b/robots/h1_description/mjcf/scene.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robots/h1_description/package.xml b/robots/h1_description/package.xml new file mode 100644 index 0000000..b1e40a8 --- /dev/null +++ b/robots/h1_description/package.xml @@ -0,0 +1,17 @@ + + + h1_description + 1.0.0 + The Unitree H1 Description Package + + + TODO + + catkin + roslaunch + robot_state_publisher + rviz + joint_state_publisher_gui + gazebo + + \ No newline at end of file diff --git a/robots/h1_description/urdf/h1.urdf b/robots/h1_description/urdf/h1.urdf new file mode 100644 index 0000000..b44cf90 --- /dev/null +++ b/robots/h1_description/urdf/h1.urdf @@ -0,0 +1,1205 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file