Yet Another Manipulator (YAM)

Built by:   I2Rt
Licence:    MIT
Source:     https://github.com/google-deepmind/mujoco_menagerie/tree/main/i2rt_yam
Collection: MuJoCo Menagerie
Packaged:   2026-10-07 by urdfbase.com/models/i2rt-yam/

This folder holds the model written as URDF, with mesh paths rewritten to
meshes/ so they resolve wherever the folder is opened. The original files, with
the paths their authors wrote, are at the source above.

What did not survive the conversion:
  - link "arm": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "link_2": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "link_2": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "link_2": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "link_3": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "link_3": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "link_4": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "link_5": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "link_6": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "link_6": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "link_6": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "lf_rot": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "lf_rot": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "lf_down": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "lf_down": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "lf_down": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "rf_rot": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "rf_rot": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "rf_down": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "rf_down": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "rf_down": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost

The robot belongs to the people who built it. Credit the source, not this site.
