[update] support h1_2 in g1 branch.

unitreerobotics · Jan 22, 2025 · cd2e746 · cd2e746
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diff --git a/README.md b/README.md
@@ -156,38 +156,15 @@ Copy the `rootCA.pem` via AirDrop to Apple Vision Pro and install it.
 
 Settings > General > About > Certificate Trust Settings. Under "Enable full trust for root certificates", turn on trust for the certificate.
 
+> In the new version of Vision OS 2, this step is different: After copying the certificate to the Apple Vision Pro device via AirDrop, a certificate-related information section will appear below the account bar in the top left corner of the Settings app. Tap it to enable trust for the certificate.
+
 Settings > Apps > Safari > Advanced > Feature Flags > Enable WebXR Related Features.
 
-## 2.3 🔎 Test environment
+## 2.3 🔎 Unit Test
 
 This step is to verify that the environment is installed correctly.
 
-1. Download Isaac Gym: https://developer.nvidia.com/isaac-gym/download
-
-    Extracting to the current directory, go to the `IsaacGym_Preview_4_Package/isaacgym/python` directory and execute the command:
-
-    ```bash
-    (tv) unitree@Host:~/IsaacGym_Preview_4_Package/isaacgym/python$ pip install -e .
-    ```
-
-2. After setup up streaming with local following the above instructions, you can try teleoperating two robot hands in Issac Gym:
-
-    ```bash
-    (tv) unitree@Host:~/avp_teleoperate$ cd teleop
-    (tv) unitree@Host:~/avp_teleoperate/teleop$ python teleop_test_gym.py
-    ```
-
-3. Wear your Apple Vision Pro device.
-
-4. Open Safari on Apple Vision Pro and visit: https://192.168.123.2:8012?ws=wss://192.168.123.2:8012
-
-    > p.s. This IP address should match the IP address of your **Host machine**.
-
-5. Click `Enter VR` and `Allow` to start the VR session.
-
-6. See your hands in 3D!
-
-
+comming soon.
 
 
 

diff --git a/README_zh-CN.md b/README_zh-CN.md
@@ -159,36 +159,13 @@ unitree@Host:~$ conda activate tv
 
 设置 > 应用 > Safari > 高级 > 功能标志 > 启用 WebXR 相关功能。
 
-## 2.3 🔎 测试环境
+> 提醒：在新版本 Vision OS 2 系统中，该步骤有所不同：将证书通过 AirDrop 复制到 Apple Vision Pro 设备后，将会在设置 APP 中左上角账户栏的下方出现证书相关信息栏，点击进去即可启用对该证书的信任。
 
-此步骤用于验证环境是否正确安装。
-
-1. 下载 Isaac Gym：https://developer.nvidia.com/isaac-gym/download
-
-   解压到当前目录，进入 `IsaacGym_Preview_4_Package/isaacgym/python` 目录，执行命令：
-
-   ```bash
-   (tv) unitree@Host:~/IsaacGym_Preview_4_Package/isaacgym/python$ pip install -e .
-   ```
-
-2. 按照上述说明设置本地流媒体后，您可以尝试在 Isaac Gym 中远程操作两个机器人手：
-
-   ```bash
-   (tv) unitree@Host:~/avp_teleoperate$ cd teleop
-   (tv) unitree@Host:~/avp_teleoperate/teleop$ python teleop_test_gym.py
-   ```
-
-3. 戴上您的 Apple Vision Pro 设备。
-
-4. 在 Apple Vision Pro 上打开 Safari，访问：https://192.168.123.2:8012?ws=wss://192.168.123.2:8012
-
-   > 提醒：此 IP 地址应与您的 **主机** IP 地址匹配。
-
-5. 点击 `Enter VR` 并选择 `Allow` 以启动 VR 会话。
-
-6. 在 3D 中看到您的手！
+## 2.3 🔎 单元测试
 
+此步骤用于验证环境是否正确安装。
 
+即将展现。
 
 
 

diff --git a/assets/h1_2/README.md b/assets/h1_2/README.md
@@ -0,0 +1,79 @@
+# Unitree H1 Description (URDF & MJCF)
+
+## Overview
+
+This package includes a streamlined robot description (URDF & MJCF) for the [Unitree H1](https://www.unitree.com/h1/), developed by [Unitree Robotics](https://www.unitree.com/).
+
+<p align="center">
+  <img src="h1_2.png" width="500"/>
+</p>
+
+Unitree H1 have 51 DOFs:
+
+```text
+root [⚓] => /pelvis/
+    left_hip_yaw_joint [⚙+Z] => /left_hip_yaw_link/
+        left_hip_pitch_joint [⚙+Y] => /left_hip_pitch_link/
+            left_hip_roll_joint [⚙+X] => /left_hip_roll_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_yaw_joint [⚙+Z] => /right_hip_yaw_link/
+        right_hip_pitch_joint [⚙+Y] => /right_hip_pitch_link/
+            right_hip_roll_joint [⚙+X] => /right_hip_roll_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/
+    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_pitch_joint [⚙+Y] => /left_elbow_pitch_link/
+                        left_elbow_roll_joint [⚙+X] => /left_elbow_roll_link/
+                            left_wrist_pitch_joint [⚙+Y] => /left_wrist_pitch_link/
+                                left_wrist_yaw_joint [⚙+Z] => /left_wrist_yaw_link/
+                                    L_base_link_joint [⚓] => /L_hand_base_link/
+                                        L_thumb_proximal_yaw_joint [⚙+Z] => /L_thumb_proximal_base/
+                                            L_thumb_proximal_pitch_joint [⚙-Z] => /L_thumb_proximal/
+                                                L_thumb_intermediate_joint [⚙-Z] => /L_thumb_intermediate/
+                                                    L_thumb_distal_joint [⚙-Z] => /L_thumb_distal/
+                                        L_index_proximal_joint [⚙-Z] => /L_index_proximal/
+                                            L_index_intermediate_joint [⚙-Z] => /L_index_intermediate/
+                                        L_middle_proximal_joint [⚙-Z] => /L_middle_proximal/
+                                            L_middle_intermediate_joint [⚙-Z] => /L_middle_intermediate/
+                                        L_ring_proximal_joint [⚙-Z] => /L_ring_proximal/
+                                            L_ring_intermediate_joint [⚙-Z] => /L_ring_intermediate/
+                                        L_pinky_proximal_joint [⚙-Z] => /L_pinky_proximal/
+                                            L_pinky_intermediate_joint [⚙-Z] => /L_pinky_intermediate/
+        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_pitch_joint [⚙+Y] => /right_elbow_pitch_link/
+                        right_elbow_roll_joint [⚙+X] => /right_elbow_roll_link/
+                            right_wrist_pitch_joint [⚙+Y] => /right_wrist_pitch_link/
+                                right_wrist_yaw_joint [⚙+Z] => /right_wrist_yaw_link/
+                                    R_base_link_joint [⚓] => /R_hand_base_link/
+                                        R_thumb_proximal_yaw_joint [⚙-Z] => /R_thumb_proximal_base/
+                                            R_thumb_proximal_pitch_joint [⚙+Z] => /R_thumb_proximal/
+                                                R_thumb_intermediate_joint [⚙+Z] => /R_thumb_intermediate/
+                                                    R_thumb_distal_joint [⚙+Z] => /R_thumb_distal/
+                                        R_index_proximal_joint [⚙+Z] => /R_index_proximal/
+                                            R_index_intermediate_joint [⚙+Z] => /R_index_intermediate/
+                                        R_middle_proximal_joint [⚙+Z] => /R_middle_proximal/
+                                            R_middle_intermediate_joint [⚙+Z] => /R_middle_intermediate/
+                                        R_ring_proximal_joint [⚙+Z] => /R_ring_proximal/
+                                            R_ring_intermediate_joint [⚙+Z] => /R_ring_intermediate/
+                                        R_pinky_proximal_joint [⚙+Z] => /R_pinky_proximal/
+                                            R_pinky_intermediate_joint [⚙+Z] => /R_pinky_intermediate/
+```
+
+## 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 model file (`scene.xml`) to the MuJoCo Viewer.