iCub

Built by:   IIT
Licence:    CC-BY-SA-4.0
Source:     https://github.com/robotology/icub-models/tree/v1.25.0/iCub
Commit:     v1.25.0
Collection: robotology/icub-models
Packaged:   2026-08-28 by urdfbase.com/models/icub/

This folder holds the model written as MJCF, 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:
  - mesh sim_sea_2-5_root_link_prt-binary.stl on link "root_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_root_link_prt-binary.stl on link "root_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "r_hip_pitch" has a velocity limit of 5.1, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_r_hip_1_prt-binary.stl on link "r_hip_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_r_hip_1_prt-binary.stl on link "r_hip_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "r_hip_roll" has a velocity limit of 7.64, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_r_hip_2_prt-binary.stl on link "r_hip_2" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_r_hip_2_prt-binary.stl on link "r_hip_2" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_r_upper_thigh_prt-binary.stl on link "r_hip_3" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_r_upper_thigh_prt-binary.stl on link "r_hip_3" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "r_hip_yaw" has a velocity limit of 7.64, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_r_thigh_prt-binary.stl on link "r_upper_leg" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_r_thigh_prt-binary.stl on link "r_upper_leg" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "r_knee" has a velocity limit of 7.64, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_r_shank_prt-binary.stl on link "r_lower_leg" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_r_shank_prt-binary.stl on link "r_lower_leg" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "r_ankle_pitch" has a velocity limit of 7.64, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_r_ankle_prt-binary.stl on link "r_ankle_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_r_ankle_prt-binary.stl on link "r_ankle_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "r_ankle_roll" has a velocity limit of 7.64, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_r_foot_prt-binary.stl on link "r_ankle_2" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_r_foot_prt-binary.stl on link "r_ankle_2" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_r_sole_prt-binary.stl on link "r_foot" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "torso_pitch" has a velocity limit of 50000, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_lap_belt_1_prt-binary.stl on link "torso_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_lap_belt_1_prt-binary.stl on link "torso_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "torso_roll" has a velocity limit of 50000, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_lap_belt_2_prt-binary.stl on link "torso_2" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_lap_belt_2_prt-binary.stl on link "torso_2" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "torso_yaw" has a velocity limit of 50000, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_chest_bb_prt-binary.stl on link "chest" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_chest_bb_prt-binary.stl on link "chest" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "neck_pitch" has a velocity limit of 50000, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_neck_1_prt-binary.stl on link "neck_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_neck_1_prt-binary.stl on link "neck_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "neck_roll" has a velocity limit of 50000, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_neck_2_prt-binary.stl on link "neck_2" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_neck_2_prt-binary.stl on link "neck_2" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "neck_yaw" has a velocity limit of 50000, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_head_prt-binary.stl on link "head" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_head_prt-binary.stl on link "head" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "r_shoulder_pitch" has a velocity limit of 50000, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_r_shoulder_1_prt-binary.stl on link "r_shoulder_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_r_shoulder_1_prt-binary.stl on link "r_shoulder_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "r_shoulder_roll" has a velocity limit of 50000, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_r_shoulder_2_prt-binary.stl on link "r_shoulder_2" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_r_shoulder_2_prt-binary.stl on link "r_shoulder_2" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "r_shoulder_yaw" has a velocity limit of 50000, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_r_upper_arm_prt-binary.stl on link "r_shoulder_3" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_r_upper_arm_prt-binary.stl on link "r_shoulder_3" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_r_elbow_prt-binary.stl on link "r_upper_arm" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_r_elbow_prt-binary.stl on link "r_upper_arm" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "r_elbow" has a velocity limit of 50000, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_r_elbow_prosup_prt-binary.stl on link "r_elbow_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_r_elbow_prosup_prt-binary.stl on link "r_elbow_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "r_wrist_prosup" has a velocity limit of 50000, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_r_forearm_prt-binary.stl on link "r_forearm" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_r_forearm_prt-binary.stl on link "r_forearm" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "r_wrist_pitch" has a velocity limit of 50000, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_r_wrist_pitch_prt-binary.stl on link "r_wrist_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_r_wrist_pitch_prt-binary.stl on link "r_wrist_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "r_wrist_yaw" has a velocity limit of 50000, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_r_hand_prt-binary.stl on link "r_hand" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_r_hand_prt-binary.stl on link "r_hand" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "l_shoulder_pitch" has a velocity limit of 50000, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_l_shoulder_1_prt-binary.stl on link "l_shoulder_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_l_shoulder_1_prt-binary.stl on link "l_shoulder_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "l_shoulder_roll" has a velocity limit of 50000, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_l_shoulder_2_prt-binary.stl on link "l_shoulder_2" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_l_shoulder_2_prt-binary.stl on link "l_shoulder_2" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "l_shoulder_yaw" has a velocity limit of 50000, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_l_upper_arm_prt-binary.stl on link "l_shoulder_3" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_l_upper_arm_prt-binary.stl on link "l_shoulder_3" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_l_elbow_prt-binary.stl on link "l_upper_arm" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_l_elbow_prt-binary.stl on link "l_upper_arm" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "l_elbow" has a velocity limit of 50000, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_l_elbow_prosup_prt-binary.stl on link "l_elbow_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_l_elbow_prosup_prt-binary.stl on link "l_elbow_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "l_wrist_prosup" has a velocity limit of 50000, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_l_forearm_prt-binary.stl on link "l_forearm" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_l_forearm_prt-binary.stl on link "l_forearm" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "l_wrist_pitch" has a velocity limit of 50000, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_l_wrist_pitch_prt-binary.stl on link "l_wrist_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_l_wrist_pitch_prt-binary.stl on link "l_wrist_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "l_wrist_yaw" has a velocity limit of 50000, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_l_hand_prt-binary.stl on link "l_hand" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_l_hand_prt-binary.stl on link "l_hand" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "l_hip_pitch" has a velocity limit of 5.1, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_l_hip_1_prt-binary.stl on link "l_hip_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_l_hip_1_prt-binary.stl on link "l_hip_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "l_hip_roll" has a velocity limit of 7.64, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_l_hip_2_prt-binary.stl on link "l_hip_2" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_l_hip_2_prt-binary.stl on link "l_hip_2" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_l_upper_thigh_prt-binary.stl on link "l_hip_3" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_l_upper_thigh_prt-binary.stl on link "l_hip_3" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "l_hip_yaw" has a velocity limit of 7.64, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_l_thigh_prt-binary.stl on link "l_upper_leg" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_l_thigh_prt-binary.stl on link "l_upper_leg" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "l_knee" has a velocity limit of 7.64, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_l_shank_prt-binary.stl on link "l_lower_leg" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_l_shank_prt-binary.stl on link "l_lower_leg" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "l_ankle_pitch" has a velocity limit of 7.64, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_l_ankle_prt-binary.stl on link "l_ankle_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_l_ankle_prt-binary.stl on link "l_ankle_1" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - joint "l_ankle_roll" has a velocity limit of 7.64, which MJCF does not store on the joint — enforce it in the controller
  - mesh sim_sea_2-5_l_foot_prt-binary.stl on link "l_ankle_2" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_l_foot_prt-binary.stl on link "l_ankle_2" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh sim_sea_2-5_l_sole_prt-binary.stl on link "l_foot" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there

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