g1(7 DoF arm) IK test.

assets/g1/.gitignore

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+*.gv
+*.pdf

assets/g1/README.md

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+# Unitree G1 Description (URDF & MJCF)
+
+## Overview
+
+This package includes a streamlined robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/).
+
+<p align="center"><img src="g1.png" width="500"/></p>
+
+Unitree G1 have 43 DOFs:
+
+```text
+root [⚓] => /pelvis/
+    left_hip_pitch_joint [⚙+Y] => /left_hip_pitch_link/
+        left_hip_roll_joint [⚙+X] => /left_hip_roll_link/
+            left_hip_yaw_joint [⚙+Z] => /left_hip_yaw_link/
+                left_knee_joint [⚙+Y] => /left_knee_link/
+                    left_ankle_pitch_joint [⚙+Y] => /left_ankle_pitch_link/
+                        left_ankle_roll_joint [⚙+X] => /left_ankle_roll_link/
+    right_hip_pitch_joint [⚙+Y] => /right_hip_pitch_link/
+        right_hip_roll_joint [⚙+X] => /right_hip_roll_link/
+            right_hip_yaw_joint [⚙+Z] => /right_hip_yaw_link/
+                right_knee_joint [⚙+Y] => /right_knee_link/
+                    right_ankle_pitch_joint [⚙+Y] => /right_ankle_pitch_link/
+                        right_ankle_roll_joint [⚙+X] => /right_ankle_roll_link/
+    waist_yaw_joint [⚙+Z] => /waist_yaw_link/
+        waist_roll_joint [⚙+X] => /waist_roll_link/
+            waist_pitch_joint [⚙+Y] => /torso_link/
+                logo_joint [⚓] => /logo_link/
+                head_joint [⚓] => /head_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/
+                                left_wrist_roll_joint [⚙+X] => /left_wrist_roll_link/
+                                    left_wrist_pitch_joint [⚙+Y] => /left_wrist_pitch_link/
+                                        left_wrist_yaw_joint [⚙+Z] => /left_wrist_yaw_link/
+                                            left_hand_palm_joint [⚓] => /left_hand_palm_link/
+                                                left_hand_zero_joint [⚙+Y] => /left_hand_zero_link/
+                                                    left_hand_one_joint [⚙+Z] => /left_hand_one_link/
+                                                        left_hand_two_joint [⚙+Z] => /left_hand_two_link/
+                                                left_hand_three_joint [⚙+Z] => /left_hand_three_link/
+                                                    left_hand_four_joint [⚙+Z] => /left_hand_four_link/
+                                                left_hand_five_joint [⚙+Z] => /left_hand_five_link/
+                                                    left_hand_six_joint [⚙+Z] => /left_hand_six_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/
+                                right_wrist_roll_joint [⚙+X] => /right_wrist_roll_link/
+                                    right_wrist_pitch_joint [⚙+Y] => /right_wrist_pitch_link/
+                                        right_wrist_yaw_joint [⚙+Z] => /right_wrist_yaw_link/
+                                            right_hand_palm_joint [⚓] => /right_hand_palm_link/
+                                                right_hand_zero_joint [⚙+Y] => /right_hand_zero_link/
+                                                    right_hand_one_joint [⚙+Z] => /right_hand_one_link/
+                                                        right_hand_two_joint [⚙+Z] => /right_hand_two_link/
+                                                right_hand_three_joint [⚙+Z] => /right_hand_three_link/
+                                                    right_hand_four_joint [⚙+Z] => /right_hand_four_link/
+                                                right_hand_five_joint [⚙+Z] => /right_hand_five_link/
+                                                    right_hand_six_joint [⚙+Z] => /right_hand_six_link/
+```
+
+## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
+
+1. Open MuJoCo Viewer
+
+   ```bash
+   pip install mujoco
+
+   python -m mujoco.viewer
+   ```
+
+2. Drag and drop the MJCF/URDF model file (`g1_body29_hand14.xml`/`g1_body29_hand14.urdf`) to the MuJoCo Viewer.

assets/g1/g1_body29_hand14.xml

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+<mujoco model="g1">
+  <compiler angle="radian" meshdir="meshes"/>
+
+  <asset>
+    <mesh name="pelvis" file="pelvis.STL"/>
+    <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
+    <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
+    <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
+    <mesh name="left_knee_link" file="left_knee_link.STL"/>
+    <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
+    <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
+    <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
+    <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
+    <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
+    <mesh name="right_knee_link" file="right_knee_link.STL"/>
+    <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
+    <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
+    <mesh name="waist_yaw_link" file="waist_yaw_link.STL"/>
+    <mesh name="waist_roll_link" file="waist_roll_link.STL"/>
+    <mesh name="torso_link" file="torso_link.STL"/>
+    <mesh name="logo_link" file="logo_link.STL"/>
+    <mesh name="head_link" file="head_link.STL"/>
+    <mesh name="waist_support_link" file="waist_support_link.STL"/>
+    <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
+    <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
+    <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
+    <mesh name="left_elbow_link" file="left_elbow_link.STL"/>
+    <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
+    <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
+    <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
+    <mesh name="left_hand_palm_link" file="left_hand_palm_link.STL"/>
+    <mesh name="left_hand_zero_link" file="left_hand_zero_link.STL"/>
+    <mesh name="left_hand_one_link" file="left_hand_one_link.STL"/>
+    <mesh name="left_hand_two_link" file="left_hand_two_link.STL"/>
+    <mesh name="left_hand_three_link" file="left_hand_three_link.STL"/>
+    <mesh name="left_hand_four_link" file="left_hand_four_link.STL"/>
+    <mesh name="left_hand_five_link" file="left_hand_five_link.STL"/>
+    <mesh name="left_hand_six_link" file="left_hand_six_link.STL"/>
+    <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
+    <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
+    <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
+    <mesh name="right_elbow_link" file="right_elbow_link.STL"/>
+    <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
+    <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
+    <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
+    <mesh name="right_hand_palm_link" file="right_hand_palm_link.STL"/>
+    <mesh name="right_hand_zero_link" file="right_hand_zero_link.STL"/>
+    <mesh name="right_hand_one_link" file="right_hand_one_link.STL"/>
+    <mesh name="right_hand_two_link" file="right_hand_two_link.STL"/>
+    <mesh name="right_hand_three_link" file="right_hand_three_link.STL"/>
+    <mesh name="right_hand_four_link" file="right_hand_four_link.STL"/>
+    <mesh name="right_hand_five_link" file="right_hand_five_link.STL"/>
+    <mesh name="right_hand_six_link" file="right_hand_six_link.STL"/>
+  </asset>
+
+  <worldbody>
+    <body name="pelvis" pos="0 0 0.793">
+      <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
+      <joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis"/>
+      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis"/>
+      <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
+        <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
+        <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
+        <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
+        <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
+          <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-88 88"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
+          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
+          <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
+            <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
+            <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458"/>
+              <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
+              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
+              <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
+                <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
+                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
+                <body name="left_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
+                  <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
+                  <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
+        <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
+        <joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
+        <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
+        <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
+          <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-88 88"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
+          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
+          <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
+            <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
+            <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452"/>
+              <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
+              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
+              <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
+                <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
+                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
+                <body name="right_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
+                  <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
+                  <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="waist_yaw_link">
+        <inertial pos="0.003964 0 0.018769" quat="-0.0178291 0.628464 0.0282471 0.777121" mass="0.244" diaginertia="0.000158561 0.000124229 9.67669e-05"/>
+        <joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
+        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
+        <body name="waist_roll_link" pos="-0.0039635 0 0.035">
+          <inertial pos="0 -0.000236 0.010111" quat="0.99979 0.020492 0 0" mass="0.047" diaginertia="7.515e-06 6.40206e-06 3.98394e-06"/>
+          <joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
+          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
+          <body name="torso_link" pos="0 0 0.019">
+            <inertial pos="0.00331122 0.00027687 0.180534" quat="0.999833 0.000360976 0.0180196 -0.00292551" mass="9.7741" diaginertia="0.124509 0.112709 0.0332404"/>
+            <joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
+            <geom pos="0.0039635 0 -0.054" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
+            <geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
+            <site name="imu" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
+            <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
+              <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
+              <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
+              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
+              <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
+                <inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
+                <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
+                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
+                <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
+                  <inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
+                  <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
+                  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
+                  <body name="left_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
+                    <joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
+                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
+                    <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
+                      <inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
+                      <joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
+                      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
+                      <body name="left_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 -0.00111685 -0.00111658" quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
+                        <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
+                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
+                        <body name="left_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0885506 0.00212216 -0.000374562" quat="0.487149 0.493844 0.513241 0.505358" mass="0.457415" diaginertia="0.00105989 0.000895419 0.000323842"/>
+                          <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
+                          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
+                          <geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_palm_link"/>
+                          <geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_palm_link"/>
+                          <body name="left_hand_zero_link" pos="0.0695 0.003 0">
+                            <inertial pos="-0.000354413 -0.0132989 0.000412362" quat="0.385163 0.591021 -0.567321 0.424842" mass="0.0803302" diaginertia="1.39245e-05 1.32309e-05 1.19138e-05"/>
+                            <joint name="left_hand_zero_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_zero_link"/>
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_zero_link"/>
+                            <body name="left_hand_one_link" pos="0 -0.0246 0">
+                              <inertial pos="0.0036206 -0.040444 -0.000297711" quat="0.696371 0.699653 0.125539 -0.0989605" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
+                              <joint name="left_hand_one_joint" pos="0 0 0" axis="0 0 1" range="-0.724312 1.0472" actuatorfrcrange="-0.7 0.7"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_one_link"/>
+                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_one_link"/>
+                              <body name="left_hand_two_link" pos="0.0055 -0.0528 0">
+                                <inertial pos="-0.00081406 -0.0345621 0.000129799" quat="0.701976 0.711984 0.0160342 0.00721768" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
+                                <joint name="left_hand_two_joint" pos="0 0 0" axis="0 0 1" range="0 2.0944" actuatorfrcrange="-0.7 0.7"/>
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_two_link"/>
+                                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_two_link"/>
+                              </body>
+                            </body>
+                          </body>
+                          <body name="left_hand_three_link" pos="0.1415 0.0013 -0.0285">
+                            <inertial pos="0.040444 -0.0036206 0.000287711" quat="0.583499 0.422433 0.562384 0.40596" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
+                            <joint name="left_hand_three_joint" pos="0 0 0" axis="0 0 1" range="-1.8326 0.191986" actuatorfrcrange="-0.7 0.7"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_three_link"/>
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_three_link"/>
+                            <body name="left_hand_four_link" pos="0.0528 -0.0055 0">
+                              <inertial pos="0.0345621 0.00081406 -0.000129799" quat="0.514787 0.501475 0.491268 0.492111" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
+                              <joint name="left_hand_four_joint" pos="0 0 0" axis="0 0 1" range="-2.0944 0" actuatorfrcrange="-0.7 0.7"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_four_link"/>
+                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_four_link"/>
+                            </body>
+                          </body>
+                          <body name="left_hand_five_link" pos="0.1415 0.0013 0.0285">
+                            <inertial pos="0.040444 -0.0036206 0.000287711" quat="0.583499 0.422433 0.562384 0.40596" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
+                            <joint name="left_hand_five_joint" pos="0 0 0" axis="0 0 1" range="-1.8326 0.191986" actuatorfrcrange="-0.7 0.7"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_five_link"/>
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_five_link"/>
+                            <body name="left_hand_six_link" pos="0.0528 -0.0055 0">
+                              <inertial pos="0.0345621 0.00081406 -0.000129799" quat="0.514787 0.501475 0.491268 0.492111" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
+                              <joint name="left_hand_six_joint" pos="0 0 0" axis="0 0 1" range="-2.0944 0" actuatorfrcrange="-0.7 0.7"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_six_link"/>
+                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_six_link"/>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
+              <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
+              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
+              <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
+                <inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
+                <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
+                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
+                <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
+                  <inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
+                  <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
+                  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
+                  <body name="right_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
+                    <joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
+                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
+                    <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
+                      <inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
+                      <joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
+                      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
+                      <body name="right_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
+                        <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
+                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
+                        <body name="right_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0885506 -0.00212216 0.000573742" quat="0.507224 0.511377 0.494292 0.486717" mass="0.457415" diaginertia="0.0010598 0.000895373 0.0003238"/>
+                          <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
+                          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
+                          <geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_palm_link"/>
+                          <geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_palm_link"/>
+                          <body name="right_hand_zero_link" pos="0.0695 -0.003 0">
+                            <inertial pos="-0.000354413 0.0132989 -0.000412362" quat="0.424842 0.567321 -0.591021 0.385163" mass="0.0803302" diaginertia="1.39245e-05 1.32309e-05 1.19138e-05"/>
+                            <joint name="right_hand_zero_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_zero_link"/>
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_zero_link"/>
+                            <body name="right_hand_one_link" pos="0 0.0246 0">
+                              <inertial pos="0.0036206 0.040444 0.000297711" quat="0.696371 0.699653 -0.125539 0.0989605" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
+                              <joint name="right_hand_one_joint" pos="0 0 0" axis="0 0 1" range="-1.0472 0.724312" actuatorfrcrange="-0.7 0.7"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_one_link"/>
+                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_one_link"/>
+                              <body name="right_hand_two_link" pos="0.0055 0.0528 0">
+                                <inertial pos="-0.00081406 0.0345621 -0.000129799" quat="0.701976 0.711984 -0.0160342 -0.00721768" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
+                                <joint name="right_hand_two_joint" pos="0 0 0" axis="0 0 1" range="-2.0944 0" actuatorfrcrange="-0.7 0.7"/>
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_two_link"/>
+                                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_two_link"/>
+                              </body>
+                            </body>
+                          </body>
+                          <body name="right_hand_three_link" pos="0.1415 -0.0013 0.0285">
+                            <inertial pos="0.040444 0.0036206 -0.000287711" quat="0.562384 0.40596 0.583499 0.422433" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
+                            <joint name="right_hand_three_joint" pos="0 0 0" axis="0 0 1" range="-0.191986 1.8326" actuatorfrcrange="-0.7 0.7"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_three_link"/>
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_three_link"/>
+                            <body name="right_hand_four_link" pos="0.0528 0.0055 0">
+                              <inertial pos="0.0345621 -0.00081406 0.000129799" quat="0.491268 0.492111 0.514787 0.501475" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
+                              <joint name="right_hand_four_joint" pos="0 0 0" axis="0 0 1" range="0 2.0944" actuatorfrcrange="-0.7 0.7"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_four_link"/>
+                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_four_link"/>
+                            </body>
+                          </body>
+                          <body name="right_hand_five_link" pos="0.1415 -0.0013 -0.0285">
+                            <inertial pos="0.040444 0.0036206 -0.000287711" quat="0.562384 0.40596 0.583499 0.422433" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
+                            <joint name="right_hand_five_joint" pos="0 0 0" axis="0 0 1" range="-0.191986 1.8326" actuatorfrcrange="-0.7 0.7"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_five_link"/>
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_five_link"/>
+                            <body name="right_hand_six_link" pos="0.0528 0.0055 0">
+                              <inertial pos="0.0345621 -0.00081406 0.000129799" quat="0.491268 0.492111 0.514787 0.501475" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
+                              <joint name="right_hand_six_joint" pos="0 0 0" axis="0 0 1" range="0 2.0944" actuatorfrcrange="-0.7 0.7"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_six_link"/>
+                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_six_link"/>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
+    <motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
+    <motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
+    <motor name="left_knee_joint" joint="left_knee_joint"/>
+    <motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
+    <motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
+    <motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
+    <motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
+    <motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
+    <motor name="right_knee_joint" joint="right_knee_joint"/>
+    <motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
+    <motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
+    <motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
+    <motor name="waist_roll_joint" joint="waist_roll_joint"/>
+    <motor name="waist_pitch_joint" joint="waist_pitch_joint"/>
+    <motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
+    <motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
+    <motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
+    <motor name="left_elbow_joint" joint="left_elbow_joint"/>
+    <motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
+    <motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
+    <motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
+    <motor name="left_hand_zero_joint" joint="left_hand_zero_joint"/>
+    <motor name="left_hand_one_joint" joint="left_hand_one_joint"/>
+    <motor name="left_hand_two_joint" joint="left_hand_two_joint"/>
+    <motor name="left_hand_three_joint" joint="left_hand_three_joint"/>
+    <motor name="left_hand_four_joint" joint="left_hand_four_joint"/>
+    <motor name="left_hand_five_joint" joint="left_hand_five_joint"/>
+    <motor name="left_hand_six_joint" joint="left_hand_six_joint"/>
+    <motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
+    <motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
+    <motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
+    <motor name="right_elbow_joint" joint="right_elbow_joint"/>
+    <motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
+    <motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
+    <motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
+    <motor name="right_hand_zero_joint" joint="right_hand_zero_joint"/>
+    <motor name="right_hand_one_joint" joint="right_hand_one_joint"/>
+    <motor name="right_hand_two_joint" joint="right_hand_two_joint"/>
+    <motor name="right_hand_three_joint" joint="right_hand_three_joint"/>
+    <motor name="right_hand_four_joint" joint="right_hand_four_joint"/>
+    <motor name="right_hand_five_joint" joint="right_hand_five_joint"/>
+    <motor name="right_hand_six_joint" joint="right_hand_six_joint"/>
+  </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>
+
+
+  <!-- setup scene -->
+  <statistic center="1.0 0.7 1.0" extent="0.8"/>
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="-140" elevation="-20"/>
+  </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="1 0 3.5" dir="0 0 -1" directional="true" castshadow="false"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+  </worldbody>
+</mujoco>

assets/h1_description/CMakeLists.txt

@@ -1,13 +0,0 @@
-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)

assets/h1_description/README.md

@@ -1,58 +0,0 @@
-# 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/).
-
-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.
-
-<p align="center">
-  <img src="doc/H1.png" width="500"/>
-</p>
-
-Basic 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
-```

assets/h1_description/launch/check_joint.rviz

@@ -1,239 +0,0 @@
-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: <Fixed 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: <Fixed 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

assets/h1_description/launch/display.launch

@@ -1,20 +0,0 @@
-<launch>
-  <arg
-    name="model" />
-  <param
-    name="robot_description"
-    textfile="$(find h1_description)/urdf/h1_with_hand.urdf" />
-  <node
-    name="joint_state_publisher_gui"
-    pkg="joint_state_publisher_gui"
-    type="joint_state_publisher_gui" />
-  <node
-    name="robot_state_publisher"
-    pkg="robot_state_publisher"
-    type="robot_state_publisher" />
-  <node
-    name="rviz"
-    pkg="rviz"
-    type="rviz"
-    args="-d $(find h1_description)/launch/check_joint.rviz" />
-</launch>

assets/h1_description/launch/gazebo.launch

@@ -1,12 +0,0 @@
-<launch>
-  <include
-    file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="paused" value="true" />
-  </include>
-  <node
-    name="spawn_model"
-    pkg="gazebo_ros"
-    type="spawn_model"
-    args="-file $(find h1_description)/urdf/h1.urdf -urdf -z 1.05 -model h1_description"
-    output="screen" />
-</launch>