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diff --git a/sources/unitree_ros/robots/h1_description/CMakeLists.txt b/sources/unitree_ros/robots/h1_description/CMakeLists.txt
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+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/sources/unitree_ros/robots/h1_description/README.md b/sources/unitree_ros/robots/h1_description/README.md
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@@ -0,0 +1,57 @@
+# Unitree H1 Description (URDF & MJCF)
+
+## Overview
+
+This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree H1](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. Both `urdf/h1.urdf` and `urdf/h1_with_hand.urdf` support isaacgym environment.
+
+
+ 
+
+
+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
+```
diff --git a/sources/unitree_ros/robots/h1_description/doc/H1.png b/sources/unitree_ros/robots/h1_description/doc/H1.png
new file mode 100644
index 0000000000000000000000000000000000000000..77a73feca335d396c81a035740b653a3646887b8
--- /dev/null
+++ b/sources/unitree_ros/robots/h1_description/doc/H1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b493ace9c9087cc4beb9b1d74b21f7439fa12803fb5bf9d358025b2c6755ace4
+size 863206
diff --git a/sources/unitree_ros/robots/h1_description/launch/check_joint.rviz b/sources/unitree_ros/robots/h1_description/launch/check_joint.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..1eaf8e9f0a9e9849f97426ebd89ecd9c9c1db789
--- /dev/null
+++ b/sources/unitree_ros/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/sources/unitree_ros/robots/h1_description/launch/display.launch b/sources/unitree_ros/robots/h1_description/launch/display.launch
new file mode 100644
index 0000000000000000000000000000000000000000..d3ef79fd00d6d213f38ba4fb7c36cda1ed1f7b01
--- /dev/null
+++ b/sources/unitree_ros/robots/h1_description/launch/display.launch
@@ -0,0 +1,20 @@
+
+
+
+
+
+
+
diff --git a/sources/unitree_ros/robots/h1_description/launch/gazebo.launch b/sources/unitree_ros/robots/h1_description/launch/gazebo.launch
new file mode 100644
index 0000000000000000000000000000000000000000..175edc96ef768816cc55b4d11459800cff0b9fde
--- /dev/null
+++ b/sources/unitree_ros/robots/h1_description/launch/gazebo.launch
@@ -0,0 +1,12 @@
+
+
+
+
+
+
\ No newline at end of file
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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diff --git a/sources/unitree_ros/robots/h1_description/mjcf/h1_with_hand.xml b/sources/unitree_ros/robots/h1_description/mjcf/h1_with_hand.xml
new file mode 100644
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diff --git a/sources/unitree_ros/robots/h1_description/mjcf/scene.xml b/sources/unitree_ros/robots/h1_description/mjcf/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c419d28de97a1f8eee0c89a9eff975812596f764
--- /dev/null
+++ b/sources/unitree_ros/robots/h1_description/mjcf/scene.xml
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\ No newline at end of file
diff --git a/sources/unitree_ros/robots/h1_description/package.xml b/sources/unitree_ros/robots/h1_description/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b1e40a82faa435fd3d9be965dd5b2c581406c021
--- /dev/null
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@@ -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/sources/unitree_ros/robots/h1_description/urdf/h1.urdf b/sources/unitree_ros/robots/h1_description/urdf/h1.urdf
new file mode 100644
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\ No newline at end of file
diff --git a/sources/unitree_ros/robots/h1_description/urdf/h1_with_hand.urdf b/sources/unitree_ros/robots/h1_description/urdf/h1_with_hand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..aa98431323ab37daf784e011baabd1e9ac0acb2c
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diff --git a/sources/unitree_ros/robots/h2_description/H2.urdf b/sources/unitree_ros/robots/h2_description/H2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e26b41b146b4e23ae36a0f8836c15739800021f1
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_description/H2.urdf
@@ -0,0 +1,961 @@
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\ No newline at end of file
diff --git a/sources/unitree_ros/robots/h2_description/H2_dae.urdf b/sources/unitree_ros/robots/h2_description/H2_dae.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..afea8b73705de3005737fc426c877f199462054f
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_description/H2_dae.urdf
@@ -0,0 +1,972 @@
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\ No newline at end of file
diff --git a/sources/unitree_ros/robots/h2_description/H2_loop.urdf b/sources/unitree_ros/robots/h2_description/H2_loop.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a9d6c7e62ea10eac2d0f203b8cd1d65538d26f66
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_description/H2_loop.urdf
@@ -0,0 +1,1368 @@
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\ No newline at end of file
diff --git a/sources/unitree_ros/robots/h2_description/H2_loop.xml b/sources/unitree_ros/robots/h2_description/H2_loop.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3de2b2d2c6862bce56da212646327d3357554e33
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_description/H2_loop.xml
@@ -0,0 +1,364 @@
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diff --git a/sources/unitree_ros/robots/h2_description/meshes/Link-pitch-L-A3.STL b/sources/unitree_ros/robots/h2_description/meshes/Link-pitch-L-A3.STL
new file mode 100644
index 0000000000000000000000000000000000000000..90ea78cf6eebdf3f27038742b0cb98d277bb3b0d
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_description/meshes/Link-pitch-L-A3.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1fa54e1503dc29e9f16e714c1f40a86f3e317a881d3d7662c1419d10502318e
+size 360784
diff --git a/sources/unitree_ros/robots/h2_description/meshes/Link-pitch-R-A3.STL b/sources/unitree_ros/robots/h2_description/meshes/Link-pitch-R-A3.STL
new file mode 100644
index 0000000000000000000000000000000000000000..465983f72fd51d6beab8ddab67806a9fb54732ba
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_description/meshes/Link-pitch-R-A3.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaf6a787d16b6b971926634794d3b3bd5d7cd3443720780663f15037a5ecaf06
+size 361584
diff --git a/sources/unitree_ros/robots/h2_description/meshes/head_pitch_link.dae b/sources/unitree_ros/robots/h2_description/meshes/head_pitch_link.dae
new file mode 100644
index 0000000000000000000000000000000000000000..6165ff0c1bf51f418bb1879cc0df53ed30573cb3
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_description/meshes/head_pitch_link.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:528e304caca33dee72e6ab36e5fc92575d59f621ec1405c956e220bf2a6b190e
+size 61192
diff --git a/sources/unitree_ros/robots/h2_description/meshes/head_pitch_link.stl b/sources/unitree_ros/robots/h2_description/meshes/head_pitch_link.stl
new file mode 100644
index 0000000000000000000000000000000000000000..99037dcd96a44dff2b8c83c4db8f3343875ea9c3
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_description/meshes/head_pitch_link.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:209fd2e1d91b088a75571513628688c5423e3e5ea7c92c750ddae4225c8aac53
+size 216484
diff --git a/sources/unitree_ros/robots/h2_description/meshes/head_yaw_link.dae b/sources/unitree_ros/robots/h2_description/meshes/head_yaw_link.dae
new file mode 100644
index 0000000000000000000000000000000000000000..2eb0a19bba369f2441f6c5b4fdbe45e7e9b9806a
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_description/meshes/head_yaw_link.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:926d22c0c427f802186c09647a66cd6819cd5acfb0c489adf3784da0f0aaa753
+size 2271404
diff --git a/sources/unitree_ros/robots/h2_description/meshes/head_yaw_link.stl b/sources/unitree_ros/robots/h2_description/meshes/head_yaw_link.stl
new file mode 100644
index 0000000000000000000000000000000000000000..9017fc8b56e64277497c79a50bf37ea344ab6860
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_description/meshes/head_yaw_link.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02482147dd11cf6f4f36cd599e4beff78b6d3be65aa799cda410d85a646189ac
+size 766684
diff --git a/sources/unitree_ros/robots/h2_description/meshes/left_ankle_A_link.STL b/sources/unitree_ros/robots/h2_description/meshes/left_ankle_A_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..f42be7cc1b46416424591aa717a150036ea7ee95
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_description/meshes/left_ankle_A_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 347984
diff --git a/sources/unitree_ros/robots/h2_description/meshes/left_ankle_pitch_link.dae b/sources/unitree_ros/robots/h2_description/meshes/left_ankle_pitch_link.dae
new file mode 100644
index 0000000000000000000000000000000000000000..253e86b73789d6480869336cee09398af91461b1
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_description/meshes/left_ankle_pitch_link.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 599605
diff --git a/sources/unitree_ros/robots/h2_description/meshes/left_ankle_pitch_link.stl b/sources/unitree_ros/robots/h2_description/meshes/left_ankle_pitch_link.stl
new file mode 100644
index 0000000000000000000000000000000000000000..c1ebd77898b704275aacd374ac122510e03b2678
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_description/meshes/left_ankle_pitch_link.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 319184
diff --git a/sources/unitree_ros/robots/h2_description/meshes/left_ankle_roll_link.dae b/sources/unitree_ros/robots/h2_description/meshes/left_ankle_roll_link.dae
new file mode 100644
index 0000000000000000000000000000000000000000..d47c3e906e1bb29d7d386340eb868c0c8302d8e8
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_description/meshes/left_ankle_roll_link.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/sources/unitree_ros/robots/h2_description/meshes/left_ankle_roll_link.stl b/sources/unitree_ros/robots/h2_description/meshes/left_ankle_roll_link.stl
new file mode 100644
index 0000000000000000000000000000000000000000..8c11979c2cc3544713f2bfecb133587519a37f6b
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12384
diff --git a/sources/unitree_ros/robots/h2_description/meshes/left_elbow_link.dae b/sources/unitree_ros/robots/h2_description/meshes/left_elbow_link.dae
new file mode 100644
index 0000000000000000000000000000000000000000..97c9fcd10963d2a8f6c960951fca7a6a578f5b93
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_description/meshes/left_elbow_link.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/sources/unitree_ros/robots/h2_description/meshes/left_elbow_link.stl b/sources/unitree_ros/robots/h2_description/meshes/left_elbow_link.stl
new file mode 100644
index 0000000000000000000000000000000000000000..cc0070e719297935980d4d01557a467ce8485abf
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_description/meshes/left_elbow_link.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 472684
diff --git a/sources/unitree_ros/robots/h2_description/meshes/left_hand_link.dae b/sources/unitree_ros/robots/h2_description/meshes/left_hand_link.dae
new file mode 100644
index 0000000000000000000000000000000000000000..487cb9caea5a746b3b7e93d6daf60d6c4af06694
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_description/meshes/left_hand_link.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3823247
diff --git a/sources/unitree_ros/robots/h2_description/meshes/left_hand_link.stl b/sources/unitree_ros/robots/h2_description/meshes/left_hand_link.stl
new file mode 100644
index 0000000000000000000000000000000000000000..0ccc8db81ee5a611a4d3dfa935f8062b130b1952
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_description/meshes/left_hand_link.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b326d6cbdeb2ca202feb193b3103f8194fc594e6177e7d1a73791bcea39d4c47
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\ No newline at end of file
diff --git a/sources/unitree_ros/robots/h2_plus/meshes/head_pitch_link.dae b/sources/unitree_ros/robots/h2_plus/meshes/head_pitch_link.dae
new file mode 100644
index 0000000000000000000000000000000000000000..8e50479042c8eb96a1c8e4aad3b20e942d9504fa
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 260979
diff --git a/sources/unitree_ros/robots/h2_plus/meshes/head_pitch_link.stl b/sources/unitree_ros/robots/h2_plus/meshes/head_pitch_link.stl
new file mode 100644
index 0000000000000000000000000000000000000000..429d192c5d17d5755854c3c4bce9656acec1aabe
--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/sources/unitree_ros/robots/h2_plus/meshes/head_yaw_link.dae b/sources/unitree_ros/robots/h2_plus/meshes/head_yaw_link.dae
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/sources/unitree_ros/robots/h2_plus/meshes/head_yaw_link.stl b/sources/unitree_ros/robots/h2_plus/meshes/head_yaw_link.stl
new file mode 100644
index 0000000000000000000000000000000000000000..7af6719fb0503f70ef04cdba6faa8b8d57f95d6a
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1122984
diff --git a/sources/unitree_ros/robots/h2_plus/meshes/left_ankle_pitch_link.dae b/sources/unitree_ros/robots/h2_plus/meshes/left_ankle_pitch_link.dae
new file mode 100644
index 0000000000000000000000000000000000000000..af56d5c0b244ab23fa8ea7a3b173871f029f9af8
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/sources/unitree_ros/robots/h2_plus/meshes/left_ankle_pitch_link.stl b/sources/unitree_ros/robots/h2_plus/meshes/left_ankle_pitch_link.stl
new file mode 100644
index 0000000000000000000000000000000000000000..c1ebd77898b704275aacd374ac122510e03b2678
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_plus/meshes/left_ankle_pitch_link.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 319184
diff --git a/sources/unitree_ros/robots/h2_plus/meshes/left_ankle_roll_link.dae b/sources/unitree_ros/robots/h2_plus/meshes/left_ankle_roll_link.dae
new file mode 100644
index 0000000000000000000000000000000000000000..d47c3e906e1bb29d7d386340eb868c0c8302d8e8
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/sources/unitree_ros/robots/h2_plus/meshes/left_ankle_roll_link.stl b/sources/unitree_ros/robots/h2_plus/meshes/left_ankle_roll_link.stl
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/sources/unitree_ros/robots/h2_plus/meshes/left_elbow_link.dae b/sources/unitree_ros/robots/h2_plus/meshes/left_elbow_link.dae
new file mode 100644
index 0000000000000000000000000000000000000000..451cd318fe30d2c3f742272c7529e2ab5c7ec073
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/sources/unitree_ros/robots/h2_plus/meshes/left_elbow_link.stl b/sources/unitree_ros/robots/h2_plus/meshes/left_elbow_link.stl
new file mode 100644
index 0000000000000000000000000000000000000000..cc0070e719297935980d4d01557a467ce8485abf
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/sources/unitree_ros/robots/h2_plus/meshes/left_hand_link.dae b/sources/unitree_ros/robots/h2_plus/meshes/left_hand_link.dae
new file mode 100644
index 0000000000000000000000000000000000000000..8521ec7f8ed90f5414fae57382e6d80a388a0c81
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/sources/unitree_ros/robots/h2_plus/meshes/left_hand_link.stl b/sources/unitree_ros/robots/h2_plus/meshes/left_hand_link.stl
new file mode 100644
index 0000000000000000000000000000000000000000..0ccc8db81ee5a611a4d3dfa935f8062b130b1952
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/sources/unitree_ros/robots/h2_plus/meshes/left_hip_pitch_link.dae b/sources/unitree_ros/robots/h2_plus/meshes/left_hip_pitch_link.dae
new file mode 100644
index 0000000000000000000000000000000000000000..a018540cce575721cd391c1eadc51bd95a67d48c
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_plus/meshes/left_hip_pitch_link.dae
@@ -0,0 +1,3 @@
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diff --git a/sources/unitree_ros/robots/h2_plus/meshes/left_hip_pitch_link.stl b/sources/unitree_ros/robots/h2_plus/meshes/left_hip_pitch_link.stl
new file mode 100644
index 0000000000000000000000000000000000000000..af1d1c206201105704c14cf98a4726867dab62ad
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_plus/meshes/left_hip_pitch_link.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/sources/unitree_ros/robots/h2_plus/meshes/left_hip_roll_link.dae b/sources/unitree_ros/robots/h2_plus/meshes/left_hip_roll_link.dae
new file mode 100644
index 0000000000000000000000000000000000000000..217ba2cfc2924c031418d0909deac361b2aac951
--- /dev/null
+++ b/sources/unitree_ros/robots/h2_plus/meshes/left_hip_roll_link.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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new file mode 100644
index 0000000000000000000000000000000000000000..89771a685585d548ddb72a2e52be6984ab7f6d01
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@@ -0,0 +1,3 @@
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diff --git a/sources/unitree_ros/robots/h2_plus/meshes/left_hip_yaw_link.dae b/sources/unitree_ros/robots/h2_plus/meshes/left_hip_yaw_link.dae
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