URDF · IIT · BSD-3-Clause · 25 MB
ergoCub
The Italian Institute of Technology's ergonomics humanoid, the iCub line grown to adult proportions for lifting work.
The first time takes a moment
Opening this model fetches it from the repository IIT keeps it in — the description and the meshes it references, about 25 MB — and keeps it here, so anyone opening it after you gets it straight away. Nothing of yours is uploaded in the process: the simulation itself runs in your tab, on MuJoCo compiled to WebAssembly.
What you can do with it here
- Simulate it under gravity and contact, write a controller in JavaScript, shove it with the mouse, and run the four repeatable tests that answer with a number rather than an impression.
- Look inside it: the kinematic tree, every joint and its range, collision geometry against the visual mesh, where the mass actually sits.
- Convert it to MJCF for MuJoCo, or to USD for Isaac Sim — each direction states what it could not carry across.
-
Download it as a folder —
the description, the meshes under
meshes/, the licence and a note saying where it came from. Mesh paths are rewritten to point inside the folder, so it opens outside a ROS workspace as well as inside one. - Author a movement for it and check the motors it declares can actually perform what you drew.
Whose model this is
The ergoCub model is BSD-3-Clause licensed and was published
by IIT in
icub-tech-iit/ergocub-software, pinned here at commit
v0.7.7. This page is a way to open it, not a claim on it — the folder
upstream carries the licence text, the changelog and the README its authors wrote:
https://github.com/icub-tech-iit/ergocub-software/tree/v0.7.7/urdf/ergoCub
If you use the model in your own work, credit that folder rather than this page. If it has changed upstream since we fetched it, the copy here is the one you get — say so in a bug report and it will be re-fetched.
Nearby in the catalogue
- Agility Cassie — Agility Robotics, MIT
- Apptronik Apollo — Apptronik, Apache 2.0
- Berkeley Humanoid — Berkeley, BSD 3-Clause
- Booster T1 — Booster, Apache 2.0
- Fourier N1 — Fourier, Apache 2.0
- MS-Human-700 — Ms, Apache 2.0
- Pal Talos — PAL Robotics, Apache 2.0
- PNDbotics Adam_lite — PNDbotics, MIT