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Unitree H1 Description (URDF & MJCF)

Overview

This package includes a streamlined robot description (URDF & MJCF) for the H1 Humanoid Robot, developed by Unitree Robotics.

The file urdf/h1.urdf is description for H1 without hands, and urdf/h1_with_hand.urdf for H1 with dexterous hands. For IsaacGym users, please the file with _isaacgym.urdf to avoid some visualization issues.

Basic H1 Humanoid have 19 joints:

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(recommend)

pip install mujoco
python -m mujoco.viewer --mjcf=mjcf/scene.xml

RViz

roslaunch h1_description display.launch

Gazebo

roslaunch h1_description gazebo.launch

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