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Mirror humanoid-description from GitHub

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Files changed (50) hide show
  1. .gitattributes +119 -0
  2. HU_D03_description/CMakeLists.txt +41 -0
  3. HU_D03_description/README +8 -0
  4. HU_D03_description/meshes/HU_D03_03/base_link.STL +3 -0
  5. HU_D03_description/meshes/HU_D03_03/d435_link.STL +3 -0
  6. HU_D03_description/meshes/HU_D03_03/left_A_achilles_cp_link.STL +0 -0
  7. HU_D03_description/meshes/HU_D03_03/left_A_achilles_link.STL +0 -0
  8. HU_D03_description/meshes/HU_D03_03/left_A_achilles_rod_link.STL +0 -0
  9. HU_D03_description/meshes/HU_D03_03/left_B_achilles_cp_link.STL +0 -0
  10. HU_D03_description/meshes/HU_D03_03/left_B_achilles_link.STL +0 -0
  11. HU_D03_description/meshes/HU_D03_03/left_B_achilles_rod_link.STL +0 -0
  12. HU_D03_description/meshes/HU_D03_03/left_ankle_pitch_link.STL +3 -0
  13. HU_D03_description/meshes/HU_D03_03/left_ankle_roll_link.STL +3 -0
  14. HU_D03_description/meshes/HU_D03_03/left_elbow_link.STL +3 -0
  15. HU_D03_description/meshes/HU_D03_03/left_hand_yaw_link.STL +3 -0
  16. HU_D03_description/meshes/HU_D03_03/left_hip_pitch_link.STL +3 -0
  17. HU_D03_description/meshes/HU_D03_03/left_hip_roll_link.STL +3 -0
  18. HU_D03_description/meshes/HU_D03_03/left_hip_yaw_link.STL +3 -0
  19. HU_D03_description/meshes/HU_D03_03/left_knee_link.STL +3 -0
  20. HU_D03_description/meshes/HU_D03_03/left_shoulder_pitch_link.STL +3 -0
  21. HU_D03_description/meshes/HU_D03_03/left_shoulder_roll_link.STL +3 -0
  22. HU_D03_description/meshes/HU_D03_03/left_shoulder_yaw_link.STL +3 -0
  23. HU_D03_description/meshes/HU_D03_03/left_wrist_pitch_link.STL +3 -0
  24. HU_D03_description/meshes/HU_D03_03/left_wrist_yaw_link.STL +3 -0
  25. HU_D03_description/meshes/HU_D03_03/neck_pitch_link.STL +3 -0
  26. HU_D03_description/meshes/HU_D03_03/neck_yaw_link.STL +3 -0
  27. HU_D03_description/meshes/HU_D03_03/right_A_achilles_cp_link.STL +0 -0
  28. HU_D03_description/meshes/HU_D03_03/right_A_achilles_link.STL +0 -0
  29. HU_D03_description/meshes/HU_D03_03/right_A_achilles_rod_link.STL +0 -0
  30. HU_D03_description/meshes/HU_D03_03/right_B_achilles_cp_link.STL +0 -0
  31. HU_D03_description/meshes/HU_D03_03/right_B_achilles_link.STL +0 -0
  32. HU_D03_description/meshes/HU_D03_03/right_B_achilles_rod_link.STL +0 -0
  33. HU_D03_description/meshes/HU_D03_03/right_ankle_pitch_link.STL +3 -0
  34. HU_D03_description/meshes/HU_D03_03/right_ankle_roll_link.STL +3 -0
  35. HU_D03_description/meshes/HU_D03_03/right_elbow_link.STL +3 -0
  36. HU_D03_description/meshes/HU_D03_03/right_hand_yaw_link.STL +3 -0
  37. HU_D03_description/meshes/HU_D03_03/right_hip_pitch_link.STL +3 -0
  38. HU_D03_description/meshes/HU_D03_03/right_hip_roll_link.STL +3 -0
  39. HU_D03_description/meshes/HU_D03_03/right_hip_yaw_link.STL +3 -0
  40. HU_D03_description/meshes/HU_D03_03/right_knee_link.STL +3 -0
  41. HU_D03_description/meshes/HU_D03_03/right_shoulder_pitch_link.STL +3 -0
  42. HU_D03_description/meshes/HU_D03_03/right_shoulder_roll_link.STL +3 -0
  43. HU_D03_description/meshes/HU_D03_03/right_shoulder_yaw_link.STL +3 -0
  44. HU_D03_description/meshes/HU_D03_03/right_wrist_pitch_link.STL +3 -0
  45. HU_D03_description/meshes/HU_D03_03/right_wrist_yaw_link.STL +3 -0
  46. HU_D03_description/meshes/HU_D03_03/waist_A_cp_link.STL +0 -0
  47. HU_D03_description/meshes/HU_D03_03/waist_A_link.STL +3 -0
  48. HU_D03_description/meshes/HU_D03_03/waist_A_rod_link.STL +3 -0
  49. HU_D03_description/meshes/HU_D03_03/waist_B_cp_link.STL +0 -0
  50. HU_D03_description/meshes/HU_D03_03/waist_B_link.STL +3 -0
.gitattributes CHANGED
@@ -33,3 +33,122 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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  *.zip filter=lfs diff=lfs merge=lfs -text
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  *.zst filter=lfs diff=lfs merge=lfs -text
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  *tfevents* filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  *.zip filter=lfs diff=lfs merge=lfs -text
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  *.zst filter=lfs diff=lfs merge=lfs -text
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  *tfevents* filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/base_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/d435_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/left_ankle_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/left_ankle_roll_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/left_elbow_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/left_hand_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/left_hip_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/left_hip_roll_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/left_hip_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/left_knee_link.STL filter=lfs diff=lfs merge=lfs -text
46
+ HU_D03_description/meshes/HU_D03_03/left_shoulder_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/left_shoulder_roll_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/left_shoulder_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/left_wrist_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/left_wrist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/neck_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/neck_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/right_ankle_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/right_ankle_roll_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/right_elbow_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/right_hand_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/right_hip_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/right_hip_roll_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/right_hip_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/right_knee_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/right_shoulder_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/right_shoulder_roll_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/right_shoulder_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/right_wrist_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/right_wrist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/waist_A_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/waist_A_rod_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/waist_B_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/waist_B_rod_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/waist_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/waist_roll_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/meshes/HU_D03_03/waist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D03_description/usd/configuration/HU_D03_03_base.usd filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/base_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/d435_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/gripper_link_0.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/hand_transition_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/left_A_achilles_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/left_B_achilles_link.STL filter=lfs diff=lfs merge=lfs -text
80
+ HU_D04_description/meshes/HU_D04_01/left_ankle_roll_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/left_base_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/left_elbow_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/left_hip_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/left_hip_roll_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/left_hip_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/left_index_distal_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/left_index_proximal_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/left_index_tip_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/left_knee_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/left_middle_distal_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/left_middle_proximal_link.STL filter=lfs diff=lfs merge=lfs -text
92
+ HU_D04_description/meshes/HU_D04_01/left_middle_tip_link.STL filter=lfs diff=lfs merge=lfs -text
93
+ HU_D04_description/meshes/HU_D04_01/left_pinky_distal_link.STL filter=lfs diff=lfs merge=lfs -text
94
+ HU_D04_description/meshes/HU_D04_01/left_pinky_proximal_link.STL filter=lfs diff=lfs merge=lfs -text
95
+ HU_D04_description/meshes/HU_D04_01/left_pinky_tip_link.STL filter=lfs diff=lfs merge=lfs -text
96
+ HU_D04_description/meshes/HU_D04_01/left_ring_distal_link.STL filter=lfs diff=lfs merge=lfs -text
97
+ HU_D04_description/meshes/HU_D04_01/left_ring_proximal_link.STL filter=lfs diff=lfs merge=lfs -text
98
+ HU_D04_description/meshes/HU_D04_01/left_ring_tip_link.STL filter=lfs diff=lfs merge=lfs -text
99
+ HU_D04_description/meshes/HU_D04_01/left_shoulder_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
100
+ HU_D04_description/meshes/HU_D04_01/left_shoulder_roll_link.STL filter=lfs diff=lfs merge=lfs -text
101
+ HU_D04_description/meshes/HU_D04_01/left_shoulder_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
102
+ HU_D04_description/meshes/HU_D04_01/left_thumb_distal_link.STL filter=lfs diff=lfs merge=lfs -text
103
+ HU_D04_description/meshes/HU_D04_01/left_thumb_metacarpal_link.STL filter=lfs diff=lfs merge=lfs -text
104
+ HU_D04_description/meshes/HU_D04_01/left_thumb_proximal_link.STL filter=lfs diff=lfs merge=lfs -text
105
+ HU_D04_description/meshes/HU_D04_01/left_thumb_tip_link.STL filter=lfs diff=lfs merge=lfs -text
106
+ HU_D04_description/meshes/HU_D04_01/left_wrist_roll_link.STL filter=lfs diff=lfs merge=lfs -text
107
+ HU_D04_description/meshes/HU_D04_01/left_wrist_roll_short_link.STL filter=lfs diff=lfs merge=lfs -text
108
+ HU_D04_description/meshes/HU_D04_01/neck_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
109
+ HU_D04_description/meshes/HU_D04_01/neck_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
110
+ HU_D04_description/meshes/HU_D04_01/right_A_achilles_link.STL filter=lfs diff=lfs merge=lfs -text
111
+ HU_D04_description/meshes/HU_D04_01/right_B_achilles_link.STL filter=lfs diff=lfs merge=lfs -text
112
+ HU_D04_description/meshes/HU_D04_01/right_ankle_roll_link.STL filter=lfs diff=lfs merge=lfs -text
113
+ HU_D04_description/meshes/HU_D04_01/right_base_link.STL filter=lfs diff=lfs merge=lfs -text
114
+ HU_D04_description/meshes/HU_D04_01/right_elbow_link.STL filter=lfs diff=lfs merge=lfs -text
115
+ HU_D04_description/meshes/HU_D04_01/right_hip_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
116
+ HU_D04_description/meshes/HU_D04_01/right_hip_roll_link.STL filter=lfs diff=lfs merge=lfs -text
117
+ HU_D04_description/meshes/HU_D04_01/right_hip_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
118
+ HU_D04_description/meshes/HU_D04_01/right_index_distal_link.STL filter=lfs diff=lfs merge=lfs -text
119
+ HU_D04_description/meshes/HU_D04_01/right_index_proximal_link.STL filter=lfs diff=lfs merge=lfs -text
120
+ HU_D04_description/meshes/HU_D04_01/right_index_tip_link.STL filter=lfs diff=lfs merge=lfs -text
121
+ HU_D04_description/meshes/HU_D04_01/right_knee_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/right_middle_distal_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/right_middle_proximal_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/right_middle_tip_link.STL filter=lfs diff=lfs merge=lfs -text
125
+ HU_D04_description/meshes/HU_D04_01/right_pinky_distal_link.STL filter=lfs diff=lfs merge=lfs -text
126
+ HU_D04_description/meshes/HU_D04_01/right_pinky_proximal_link.STL filter=lfs diff=lfs merge=lfs -text
127
+ HU_D04_description/meshes/HU_D04_01/right_pinky_tip_link.STL filter=lfs diff=lfs merge=lfs -text
128
+ HU_D04_description/meshes/HU_D04_01/right_ring_distal_link.STL filter=lfs diff=lfs merge=lfs -text
129
+ HU_D04_description/meshes/HU_D04_01/right_ring_proximal_link.STL filter=lfs diff=lfs merge=lfs -text
130
+ HU_D04_description/meshes/HU_D04_01/right_ring_tip_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/right_shoulder_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/right_shoulder_roll_link.STL filter=lfs diff=lfs merge=lfs -text
133
+ HU_D04_description/meshes/HU_D04_01/right_shoulder_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
134
+ HU_D04_description/meshes/HU_D04_01/right_thumb_distal_link.STL filter=lfs diff=lfs merge=lfs -text
135
+ HU_D04_description/meshes/HU_D04_01/right_thumb_metacarpal_link.STL filter=lfs diff=lfs merge=lfs -text
136
+ HU_D04_description/meshes/HU_D04_01/right_thumb_proximal_link.STL filter=lfs diff=lfs merge=lfs -text
137
+ HU_D04_description/meshes/HU_D04_01/right_thumb_tip_link.STL filter=lfs diff=lfs merge=lfs -text
138
+ HU_D04_description/meshes/HU_D04_01/right_wrist_roll_link.STL filter=lfs diff=lfs merge=lfs -text
139
+ HU_D04_description/meshes/HU_D04_01/right_wrist_roll_short_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/waist_A_cp_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/waist_A_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/waist_B_cp_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/waist_B_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/waist_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/waist_roll_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/meshes/HU_D04_01/waist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/usd/configuration/HU_D04_01_base.usd filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/usd/configuration/HU_D04_01_with_gripper_base.usd filter=lfs diff=lfs merge=lfs -text
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+ HU_D04_description/usd/configuration/HU_D04_01_with_hand_base.usd filter=lfs diff=lfs merge=lfs -text
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+ docs/images/banner.png filter=lfs diff=lfs merge=lfs -text
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+ docs/images/hu_d03.png filter=lfs diff=lfs merge=lfs -text
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+ docs/images/hu_d04.png filter=lfs diff=lfs merge=lfs -text
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+ docs/images/hu_d04_gripper.png filter=lfs diff=lfs merge=lfs -text
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+ docs/images/hu_d04_hand.png filter=lfs diff=lfs merge=lfs -text
HU_D03_description/CMakeLists.txt ADDED
@@ -0,0 +1,41 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ # Copyright information
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+ #
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+ # © [2025] LimX Dynamics Technology Co., Ltd. All rights reserved.
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+
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+ # Declare the minimum required CMake version
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+ cmake_minimum_required(VERSION 3.10)
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+
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+ # Declare the project
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+ project(HU_D03_description)
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+
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+ if(DEFINED ENV{ROS_VERSION})
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+ if($ENV{ROS_VERSION} EQUAL 1)
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+ # In ROS1 compilation environment
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+ message("Currently in ROS1 compilation environment")
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+
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+ find_package(catkin REQUIRED COMPONENTS roscpp)
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+
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+ catkin_package(CATKIN_DEPENDS)
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+
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+ # Install directories 'meshes' and 'urdf' to the package share directory
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+ install(DIRECTORY meshes urdf xml world DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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+ elseif($ENV{ROS_VERSION} EQUAL 2)
23
+ # In ROS2 compilation environment
24
+ message("Currently in ROS2 compilation environment")
25
+
26
+ find_package(ament_cmake REQUIRED)
27
+
28
+ install(DIRECTORY meshes urdf xml world DESTINATION share/${PROJECT_NAME})
29
+
30
+ ament_package()
31
+ else()
32
+ message(WARNING "Unknown ROS version: ${ROS_VERSION}")
33
+ endif()
34
+ else()
35
+ if(DEFINED ENV{AMENT_PREFIX_PATH})
36
+ message("Currently is not in ROS compilation environment")
37
+ find_package(ament_cmake REQUIRED)
38
+ install(DIRECTORY meshes urdf xml world DESTINATION etc/${PROJECT_NAME})
39
+ ament_package()
40
+ endif()
41
+ endif()
HU_D03_description/README ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ # LimX Dynamics HU_D03 Description(URDF & MJCF & USD)
2
+ ## Overview
3
+ This package includes a universal humanoid robot description (URDF & MJCF & USD) for the HU_D03, developed by LimX Dynamics.
4
+ - **URDF**: HU_D03_description/urdf/HU_D03_03.urdf
5
+ - **MJCF**: HU_D03_description/xml/HU_D03_03.xml
6
+ - **USD**: HU_D03_description/usd/HU_D03_03.usd
7
+ - **srdf**: HU_D03_description/urdf/HU_D03_03.srdf (The SRDF file contains joint specifications such as rotor inertia and gear ratio)
8
+ - **meshes**: HU_D03_description/meshes/HU_D03_03
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