Simple humanoid

Built by:   LAAS-CNRS
Licence:    BSD-2-Clause
Source:     https://github.com/laas/simple_humanoid_description/tree/4e859aed7df3c29954c9cca2a1ecb94069f7cfce
Commit:     4e859aed7df3c29954c9cca2a1ecb94069f7cfce
Collection: laas/simple_humanoid_description
Packaged:   2026-08-28 by urdfbase.com/models/simple-humanoid/

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:
  - joint "RLEG_HIP_R" has a velocity limit of 3.87, which MJCF does not store on the joint — enforce it in the controller
  - joint "RLEG_HIP_P" has a velocity limit of 5.8, which MJCF does not store on the joint — enforce it in the controller
  - joint "RLEG_HIP_Y" has a velocity limit of 5.8, which MJCF does not store on the joint — enforce it in the controller
  - joint "RLEG_KNEE" has a velocity limit of 7, which MJCF does not store on the joint — enforce it in the controller
  - joint "RLEG_ANKLE_P" has a velocity limit of 5.8, which MJCF does not store on the joint — enforce it in the controller
  - joint "RLEG_ANKLE_R" has a velocity limit of 5.8, which MJCF does not store on the joint — enforce it in the controller
  - joint "LLEG_HIP_R" has a velocity limit of 3.87, which MJCF does not store on the joint — enforce it in the controller
  - joint "LLEG_HIP_P" has a velocity limit of 3.87, which MJCF does not store on the joint — enforce it in the controller
  - joint "LLEG_HIP_Y" has a velocity limit of 5.8, which MJCF does not store on the joint — enforce it in the controller
  - joint "LLEG_KNEE" has a velocity limit of 5.8, which MJCF does not store on the joint — enforce it in the controller
  - joint "LLEG_ANKLE_P" has a velocity limit of 7, which MJCF does not store on the joint — enforce it in the controller
  - joint "LLEG_ANKLE_R" has a velocity limit of 5.8, which MJCF does not store on the joint — enforce it in the controller
  - joint "WAIST_P" has a velocity limit of 1.76, which MJCF does not store on the joint — enforce it in the controller
  - joint "WAIST_R" has a velocity limit of 1.76, which MJCF does not store on the joint — enforce it in the controller
  - joint "CHEST" has a velocity limit of 1.76, which MJCF does not store on the joint — enforce it in the controller
  - joint "RARM_SHOULDER_P" has a velocity limit of 2.7, which MJCF does not store on the joint — enforce it in the controller
  - joint "RARM_SHOULDER_R" has a velocity limit of 3.66, which MJCF does not store on the joint — enforce it in the controller
  - joint "RARM_SHOULDER_Y" has a velocity limit of 4.58, which MJCF does not store on the joint — enforce it in the controller
  - joint "RARM_ELBOW" has a velocity limit of 4.58, which MJCF does not store on the joint — enforce it in the controller
  - joint "RARM_WRIST_Y" has a velocity limit of 1.95, which MJCF does not store on the joint — enforce it in the controller
  - joint "RARM_WRIST_P" has a velocity limit of 1.76, which MJCF does not store on the joint — enforce it in the controller
  - joint "RARM_WRIST_R" has a velocity limit of 1.76, which MJCF does not store on the joint — enforce it in the controller
  - joint "LARM_SHOULDER_P" has a velocity limit of 2.7, which MJCF does not store on the joint — enforce it in the controller
  - joint "LARM_SHOULDER_R" has a velocity limit of 3.66, which MJCF does not store on the joint — enforce it in the controller
  - joint "LARM_SHOULDER_Y" has a velocity limit of 2.7, which MJCF does not store on the joint — enforce it in the controller
  - joint "LARM_ELBOW" has a velocity limit of 4.58, which MJCF does not store on the joint — enforce it in the controller
  - joint "LARM_WRIST_Y" has a velocity limit of 4.58, which MJCF does not store on the joint — enforce it in the controller
  - joint "LARM_WRIST_P" has a velocity limit of 1.95, which MJCF does not store on the joint — enforce it in the controller
  - joint "LARM_WRIST_R" has a velocity limit of 1.76, which MJCF does not store on the joint — enforce it in the controller

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