.. rubric:: Robot Description

The H1 robot description package is named **h1_description**. It contains the
URDF and mesh files necessary to visualize and simulate the H1 robot in various ROS2 tools.

.. rubric:: Twist Mux

The twist mux package for the H1 is named **h1_control**. It manages multiple velocity 
command inputs and prioritizes them to ensure smooth and safe robot operation.

.. rubric:: EKF Localization

The Extended Kalman Filter (EKF) localization package for the H1 is named **h1_control**. 
It fuses sensor data to provide accurate and reliable robot pose estimates.