+ 
+
+
+**English** | [中文](README_cn.md)
+
+[](LICENSE)
+[](#ros-1--ros-2)
+[](#mujoco-30-seconds)
+[](#isaac-sim--isaac-lab)
+[](https://huggingface.co/limxdynamics)
+[](https://github.com/limxdynamics/limxdynamics/blob/main/doc/wechat_qr.png)
+
+
+
+---
+
+## Highlights
+
+- **One robot, three formats** — matching URDF, MJCF and USD for the same hardware, so you can train in Isaac Lab, validate in MuJoCo and deploy with ROS without rebuilding the model.
+- **Up to 53 joints** — 31-DoF base humanoid (legs, 3-DoF waist, 7-DoF arms, 2-DoF head), plus gripper and 11-joint dexterous hand variants.
+- **Real parallel ankles & waist** — the MJCF drives the ankles and waist through their actual A/B push-rod linkages, closed with equality constraints, instead of an idealized serial approximation.
+- **Real actuator data** — the SRDF lists rotor inertia and gear ratio for every joint, which matters for accurate sim-to-real transfer.
+- **Sim-ready out of the box** — MJCF ships with 31 torque actuators, an IMU (orientation, gyro, accelerometer) and 65 sensors; USD is layered into base / physics / sensor for Isaac Sim.
+- **Commercial-friendly** — Apache 2.0.
+
+## Robot models
+
+| | Type | Model | Joints | Formats |
+|:-:|---|---|:-:|---|
+| For partnership and procurement inquiries, contact opensource@limxdynamics.com
+ +# LimX Humanoid Description + +> **Part of the Oli humanoid open-source ecosystem.** Where to start and the other Oli repositories: [Oli quick start](https://github.com/limxdynamics/limxdynamics/blob/main/doc/quickstart.md#oli). + +**Simulation-ready models of a real, full-size humanoid robot — in URDF, MuJoCo MJCF and USD.** + +Drop the LimX Oli humanoid (HU_D04) into ROS, MuJoCo or NVIDIA Isaac Sim in minutes, with real actuator parameters and the true parallel-linkage ankles. + +[Models](#robot-models) · [Quick Start](#quick-start) · [Specs](#specifications) · [Ecosystem](#ecosystem) · [Citation](#citation) + +
| **HU_D04** full-size humanoid | `HU_D04_01` | 31 | URDF · MJCF · USD |
+| 
| **HU_D04 + Gripper** | `HU_D04_01_with_gripper` | 3935 independent | URDF · USD | +|
| **HU_D04 + Dexterous Hand** | `HU_D04_01_with_hand` | 5343 independent | URDF · USD | +|
| HU_D03 *(discontinued)* | `HU_D03_03` | 31 | URDF · MJCF · USD |
+
+> **Note:** MuJoCo MJCF is currently provided for the base HU_D04 only. HU_D03 is no longer maintained — please use HU_D04 for new projects.
+
+## Quick Start
+
+```bash
+git clone --depth 1 https://github.com/limxdynamics/humanoid-description.git
+cd humanoid-description
+```
+
+> `--depth 1` is recommended — the meshes and USD files make the full history large.
+
+### MuJoCo (30 seconds)
+
+```bash
+pip install mujoco
+python -m mujoco.viewer --mjcf=HU_D04_description/xml/HU_D04_01.xml
+```
+
+Or load it from Python:
+
+```python
+import mujoco
+
+model = mujoco.MjModel.from_xml_path("HU_D04_description/xml/HU_D04_01.xml")
+data = mujoco.MjData(model)
+print(f"{model.nu} actuators, {model.nsensor} sensors") # 31 actuators, 65 sensors
+
+for _ in range(1000):
+ data.ctrl[:] = 0.0 # joint torques (N·m) — plug in your controller here
+ mujoco.mj_step(model, data)
+```
+
+> `HU_D04_01.xml` is the full simulation model (actuators, sensors, closed-loop linkages). `HU_D04_01_vis.xml` is a lightweight visualization-only version.
+
+### ROS 1 / ROS 2
+
+Clone into your workspace and build — each `HU_D0x_description` folder is a ROS package that works with both catkin and colcon:
+
+```bash
+cd ~/ros_ws/src
+git clone --depth 1 https://github.com/limxdynamics/humanoid-description.git
+cd ..
+catkin_make # ROS 1
+colcon build # ROS 2
+```
+
+View in RViz (ROS 1, requires `urdf_tutorial`):
+
+```bash
+roslaunch urdf_tutorial display.launch model:=$(rospack find HU_D04_description)/urdf/HU_D04_01.urdf
+```
+
+View in RViz (ROS 2):
+
+```bash
+URDF=$(ros2 pkg prefix HU_D04_description)/share/HU_D04_description/urdf/HU_D04_01.urdf
+ros2 run robot_state_publisher robot_state_publisher --ros-args -p robot_description:="$(cat $URDF)" &
+ros2 run joint_state_publisher_gui joint_state_publisher_gui &
+rviz2 # Add → RobotModel, set Fixed Frame to base_link
+```
+
+### Isaac Sim / Isaac Lab
+
+Open `HU_D04_description/usd/HU_D04_01.usd` directly in Isaac Sim (**File → Open**), or add it to your stage as a reference. The top-level USD composes the layers in `usd/configuration/` automatically (`sensor → physics → base`), so keep that folder next to it.
+
+For RL training, see [humanoid-rl-isaaclab](https://github.com/limxdynamics/humanoid-rl-isaaclab), which uses these models out of the box.
+
+## Specifications
+
+Values below are read from the HU_D04 model files.
+
+| | HU_D04 |
+| --- | --- |
+| Height (model) | ≈ 1.65 m |
+| Mass (URDF, base model) | ≈ 52.5 kg |
+| Legs | 2 × 6 DoF (hip pitch / roll / yaw, knee, ankle pitch / roll) |
+| Waist | 3 DoF (yaw / roll / pitch) |
+| Arms | 2 × 7 DoF (shoulder pitch / roll / yaw, elbow, wrist yaw / pitch / roll) |
+| Head | 2 DoF (yaw / pitch) |
+| Dexterous hand | 11 joints / 6 independent per hand |
+| Parallel linkages | Ankles (A/B push-rods) and waist roll / pitch |
+
+
+
+ +Left side shown; the right side mirrors it. + +| Joint | Range (°) | Torque (N·m) | Velocity (rad/s) | Gear ratio | +| --- | --- | --- | --- | --- | +| hip_pitch | −150 ~ 150 | 140 | 5 | 25 | +| hip_roll | −50 ~ 120 | 140 | 5 | 25 | +| hip_yaw | −150 ~ 150 | 140 | 5 | 25 | +| knee | −5 ~ 148 | 140 | 5 | 25 | +| ankle_pitch | −58 ~ 35 | 42 | 13.6 | 36 | +| ankle_roll | −25 ~ 25 | 42 | 13.6 | 36 | +| waist_yaw | −150 ~ 150 | 42 | 13.6 | 36 | +| waist_roll | −30 ~ 30 | 42 | 13.6 | 36 | +| waist_pitch | −30 ~ 45 | 42 | 13.6 | 36 | +| shoulder_pitch | −160 ~ 160 | 42 | 19.6 | 25 | +| shoulder_roll | −5 ~ 185 | 42 | 19.6 | 25 | +| shoulder_yaw | −195 ~ 90 | 42 | 19.6 | 25 | +| elbow | −140 ~ 90 | 42 | 19.6 | 25 | +| wrist_yaw / pitch / roll | −135 ~ 45 / −90 ~ 90 / −90 ~ 90 | 19 | 13 | 28.17 | +| head_yaw / pitch | −45 ~ 45 / −30 ~ 45 | 19 | 13 | 28.17 | + +Rotor inertia for each joint is in `urdf/HU_D04_01.srdf`. + +
+
+## Repository Structure
+
+```
+humanoid-description/
+├── HU_D04_description/ # ROS package (catkin + ament)
+│ ├── urdf/ # URDF variants + SRDF (rotor inertia, gear ratio)
+│ ├── xml/ # MuJoCo MJCF (full sim + visualization-only)
+│ ├── usd/ # Isaac Sim USD + configuration/ layers
+│ ├── meshes/ # STL meshes
+│ ├── world/ # Gazebo (SDF) empty world
+│ ├── CMakeLists.txt
+│ └── package.xml
+└── HU_D03_description/ # Legacy model, same layout
+```
+
+## Ecosystem
+
+These models are the foundation of LimX's open humanoid stack — train a policy, verify it in a second simulator, then deploy it:
+
+| Repository | What it does |
+| --- | --- |
+| [humanoid-rl-isaaclab](https://github.com/limxdynamics/humanoid-rl-isaaclab) | Train locomotion policies in Isaac Lab |
+| [humanoid-mujoco-sim](https://github.com/limxdynamics/humanoid-mujoco-sim) | MuJoCo simulator for the humanoid |
+| [humanoid-rl-deploy-ros](https://github.com/limxdynamics/humanoid-rl-deploy-ros) | Deploy RL policies with ROS 1 |
+| [humanoid-rl-deploy-ros2](https://github.com/limxdynamics/humanoid-rl-deploy-ros2) | Deploy RL policies with ROS 2 |
+
+## Verification
+
+Checked on 2026-11-02 with MuJoCo 3.x and Python:
+
+- All four MJCF files load. `HU_D04_01.xml` has 31 actuators, 65 sensors and 6 equality constraints (the ankle and waist linkages); `HU_D04_01_vis.xml` has 31 joints and no actuators.
+- Every mesh referenced by the three HU_D04 URDFs and the HU_D03 URDF exists under `meshes/`; four `../meshes/` paths in `HU_D04_01_with_hand.urdf` were changed to `package://` so they also resolve in ROS.
+- Joint counts in the table above (31 / 39 with 4 mimic / 53 with 10 mimic), the joint limits, torques, velocities and gear ratios match the URDF and SRDF files. Height is measured from the MJCF model.
+- `HU_D04_01_with_hand.urdf` does not load in MuJoCo's URDF importer as is: the ten `*_tip_link` frames carry a 1 g mass with an inertia of 1.6e-15 kg·m², below MuJoCo's minimum. ROS and Isaac Sim are not affected by this check.
+- ROS builds and Isaac Sim loading were not run in this pass.
+
+## Citation
+
+If these models help your research, please cite:
+
+```bibtex
+@misc{limx_humanoid_description,
+ title = {LimX Humanoid Description: URDF, MJCF and USD Models for LimX Humanoid Robots},
+ author = {{LimX Dynamics}},
+ year = {2025},
+ howpublished = {\url{https://github.com/limxdynamics/humanoid-description}}
+}
+```
+
+## License
+
+Released under the [Apache License 2.0](LICENSE).
diff --git a/README_cn.md b/README_cn.md
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+Joint limits & actuator parameters (click to expand)
+ ++ +Left side shown; the right side mirrors it. + +| Joint | Range (°) | Torque (N·m) | Velocity (rad/s) | Gear ratio | +| --- | --- | --- | --- | --- | +| hip_pitch | −150 ~ 150 | 140 | 5 | 25 | +| hip_roll | −50 ~ 120 | 140 | 5 | 25 | +| hip_yaw | −150 ~ 150 | 140 | 5 | 25 | +| knee | −5 ~ 148 | 140 | 5 | 25 | +| ankle_pitch | −58 ~ 35 | 42 | 13.6 | 36 | +| ankle_roll | −25 ~ 25 | 42 | 13.6 | 36 | +| waist_yaw | −150 ~ 150 | 42 | 13.6 | 36 | +| waist_roll | −30 ~ 30 | 42 | 13.6 | 36 | +| waist_pitch | −30 ~ 45 | 42 | 13.6 | 36 | +| shoulder_pitch | −160 ~ 160 | 42 | 19.6 | 25 | +| shoulder_roll | −5 ~ 185 | 42 | 19.6 | 25 | +| shoulder_yaw | −195 ~ 90 | 42 | 19.6 | 25 | +| elbow | −140 ~ 90 | 42 | 19.6 | 25 | +| wrist_yaw / pitch / roll | −135 ~ 45 / −90 ~ 90 / −90 ~ 90 | 19 | 13 | 28.17 | +| head_yaw / pitch | −45 ~ 45 / −30 ~ 45 | 19 | 13 | 28.17 | + +Rotor inertia for each joint is in `urdf/HU_D04_01.srdf`. + +
+
+
+
+[English](README.md) | **中文**
+
+[](LICENSE)
+[](#ros-1--ros-2)
+[](#mujoco30-秒上手)
+[](#isaac-sim--isaac-lab)
+[](https://huggingface.co/limxdynamics)
+[](https://github.com/limxdynamics/limxdynamics/blob/main/doc/wechat_qr.png)
+
+
+
+---
+
+## 亮点
+
+- **一台机器人，三种格式** —— 同一硬件的 URDF、MJCF、USD 完全对应：在 Isaac Lab 训练、在 MuJoCo 验证、用 ROS 部署，无需重新建模。
+- **最多 53 个关节** —— 31 自由度基础本体（双腿、3 自由度腰部、7 自由度手臂、2 自由度头部），另有夹爪版与 11 关节灵巧手版。
+- **真实的并联踝关节与腰部** —— MJCF 通过实际的 A/B 推杆连杆驱动踝关节和腰部，并用等式约束闭合运动链，而不是理想化的串联近似。
+- **真实执行器数据** —— SRDF 给出每个关节的转子惯量和减速比，对 sim-to-real 迁移至关重要。
+- **开箱即仿** —— MJCF 自带 31 个力矩执行器、IMU（姿态 / 陀螺仪 / 加速度计）共 65 个传感器；USD 按 base / physics / sensor 分层，直接用于 Isaac Sim。
+- **可商用** —— Apache 2.0 许可证。
+
+## 模型一览
+
+| | 类型 | 型号 | 关节数 | 格式 |
+|:-:|---|---|:-:|---|
+| 合作采购请联系 opensource@limxdynamics.com
+ +# LimX 人形机器人描述文件 + +> **Oli 人形机器人开源生态的一部分。** 上手路线和其他 Oli 仓库：[Oli 快速上手](https://github.com/limxdynamics/limxdynamics/blob/main/doc/quickstart_cn.md#oli)。 + +**真实全尺寸人形机器人的开箱即用仿真模型 —— URDF、MuJoCo MJCF、USD 三种格式齐全。** + +几分钟内把逐际动力 Oli 人形机器人（HU_D04）接入 ROS、MuJoCo 或 NVIDIA Isaac Sim，自带真实执行器参数与并联踝关节结构。 + +[模型一览](#模型一览) · [快速开始](#快速开始) · [规格参数](#规格参数) · [生态](#生态) · [引用](#引用) + + | **HU_D04** 全尺寸人形 | `HU_D04_01` | 31 | URDF · MJCF · USD |
+| | **HU_D04 + 夹爪** | `HU_D04_01_with_gripper` | 3935 个独立 | URDF · USD | +|
| **HU_D04 + 灵巧手** | `HU_D04_01_with_hand` | 5343 个独立 | URDF · USD | +|
| HU_D03 *（已停止维护）* | `HU_D03_03` | 31 | URDF · MJCF · USD |
+
+> **注意：** 目前仅基础款 HU_D04 提供 MuJoCo MJCF。HU_D03 已停止维护，新项目请使用 HU_D04。
+
+## 快速开始
+
+```bash
+git clone --depth 1 https://github.com/limxdynamics/humanoid-description.git
+cd humanoid-description
+```
+
+> 建议加 `--depth 1`：网格和 USD 文件较大，完整历史体积不小。
+
+### MuJoCo（30 秒上手）
+
+```bash
+pip install mujoco
+python -m mujoco.viewer --mjcf=HU_D04_description/xml/HU_D04_01.xml
+```
+
+或在 Python 中加载：
+
+```python
+import mujoco
+
+model = mujoco.MjModel.from_xml_path("HU_D04_description/xml/HU_D04_01.xml")
+data = mujoco.MjData(model)
+print(f"{model.nu} actuators, {model.nsensor} sensors") # 31 actuators, 65 sensors
+
+for _ in range(1000):
+ data.ctrl[:] = 0.0 # 关节力矩（N·m）—— 在这里接入你的控制器
+ mujoco.mj_step(model, data)
+```
+
+> `HU_D04_01.xml` 是完整仿真模型（执行器、传感器、闭链连杆）；`HU_D04_01_vis.xml` 是仅用于可视化的轻量版本。
+
+### ROS 1 / ROS 2
+
+克隆到工作空间后直接编译 —— 每个 `HU_D0x_description` 目录都是同时兼容 catkin 和 colcon 的 ROS 包：
+
+```bash
+cd ~/ros_ws/src
+git clone --depth 1 https://github.com/limxdynamics/humanoid-description.git
+cd ..
+catkin_make # ROS 1
+colcon build # ROS 2
+```
+
+在 RViz 中查看（ROS 1，需安装 `urdf_tutorial`）：
+
+```bash
+roslaunch urdf_tutorial display.launch model:=$(rospack find HU_D04_description)/urdf/HU_D04_01.urdf
+```
+
+在 RViz 中查看（ROS 2）：
+
+```bash
+URDF=$(ros2 pkg prefix HU_D04_description)/share/HU_D04_description/urdf/HU_D04_01.urdf
+ros2 run robot_state_publisher robot_state_publisher --ros-args -p robot_description:="$(cat $URDF)" &
+ros2 run joint_state_publisher_gui joint_state_publisher_gui &
+rviz2 # Add → RobotModel，Fixed Frame 设为 base_link
+```
+
+### Isaac Sim / Isaac Lab
+
+在 Isaac Sim 中直接打开 `HU_D04_description/usd/HU_D04_01.usd`（**File → Open**），或作为 reference 添加到场景中。顶层 USD 会自动组合 `usd/configuration/` 中的各层（`sensor → physics → base`），请保持该目录与其在同一位置。
+
+强化学习训练请参考 [humanoid-rl-isaaclab](https://github.com/limxdynamics/humanoid-rl-isaaclab)，可直接使用本仓库模型。
+
+## 规格参数
+
+以下数值读取自 HU_D04 模型文件。
+
+| | HU_D04 |
+| --- | --- |
+| 身高（模型） | ≈ 1.65 m |
+| 质量（URDF，基础款） | ≈ 52.5 kg |
+| 腿部 | 2 × 6 自由度（髋 pitch / roll / yaw、膝、踝 pitch / roll） |
+| 腰部 | 3 自由度（yaw / roll / pitch） |
+| 手臂 | 2 × 7 自由度（肩 pitch / roll / yaw、肘、腕 yaw / pitch / roll） |
+| 头部 | 2 自由度（yaw / pitch） |
+| 灵巧手 | 每只手 11 个关节，6 个独立 |
+| 并联连杆 | 踝关节（A/B 推杆）、腰部 roll / pitch |
+
+
+
+ +仅列出左侧，右侧对称。 + +| 关节 | 角度范围（°） | 力矩（N·m） | 速度（rad/s） | 减速比 | +| --- | --- | --- | --- | --- | +| hip_pitch | −150 ~ 150 | 140 | 5 | 25 | +| hip_roll | −50 ~ 120 | 140 | 5 | 25 | +| hip_yaw | −150 ~ 150 | 140 | 5 | 25 | +| knee | −5 ~ 148 | 140 | 5 | 25 | +| ankle_pitch | −58 ~ 35 | 42 | 13.6 | 36 | +| ankle_roll | −25 ~ 25 | 42 | 13.6 | 36 | +| waist_yaw | −150 ~ 150 | 42 | 13.6 | 36 | +| waist_roll | −30 ~ 30 | 42 | 13.6 | 36 | +| waist_pitch | −30 ~ 45 | 42 | 13.6 | 36 | +| shoulder_pitch | −160 ~ 160 | 42 | 19.6 | 25 | +| shoulder_roll | −5 ~ 185 | 42 | 19.6 | 25 | +| shoulder_yaw | −195 ~ 90 | 42 | 19.6 | 25 | +| elbow | −140 ~ 90 | 42 | 19.6 | 25 | +| wrist_yaw / pitch / roll | −135 ~ 45 / −90 ~ 90 / −90 ~ 90 | 19 | 13 | 28.17 | +| head_yaw / pitch | −45 ~ 45 / −30 ~ 45 | 19 | 13 | 28.17 | + +各关节转子惯量见 `urdf/HU_D04_01.srdf`。 + +
+
+## 目录结构
+
+```
+humanoid-description/
+├── HU_D04_description/ # ROS 包（catkin + ament）
+│ ├── urdf/ # URDF 各版本 + SRDF（转子惯量、减速比）
+│ ├── xml/ # MuJoCo MJCF（完整仿真版 + 纯可视化版）
+│ ├── usd/ # Isaac Sim USD + configuration/ 分层
+│ ├── meshes/ # STL 网格
+│ ├── world/ # Gazebo（SDF）空世界
+│ ├── CMakeLists.txt
+│ └── package.xml
+└── HU_D03_description/ # 旧型号，结构相同
+```
+
+## 生态
+
+这些模型是逐际动力开源人形机器人工具链的基础 —— 训练策略、在第二个仿真器中验证、再部署到真机：
+
+| 仓库 | 用途 |
+| --- | --- |
+| [humanoid-rl-isaaclab](https://github.com/limxdynamics/humanoid-rl-isaaclab) | 在 Isaac Lab 中训练运动策略 |
+| [humanoid-mujoco-sim](https://github.com/limxdynamics/humanoid-mujoco-sim) | 人形机器人 MuJoCo 仿真器 |
+| [humanoid-rl-deploy-ros](https://github.com/limxdynamics/humanoid-rl-deploy-ros) | 基于 ROS 1 部署 RL 策略 |
+| [humanoid-rl-deploy-ros2](https://github.com/limxdynamics/humanoid-rl-deploy-ros2) | 基于 ROS 2 部署 RL 策略 |
+
+## 验证
+
+2026-11-02 使用 MuJoCo 3.x 与 Python 检查：
+
+- 四个 MJCF 文件均可加载。`HU_D04_01.xml` 含 31 个执行器、65 个传感器和 6 个等式约束（踝关节与腰部连杆）；`HU_D04_01_vis.xml` 含 31 个关节，无执行器。
+- 三个 HU_D04 URDF 和 HU_D03 URDF 引用的网格文件在 `meshes/` 下都存在；`HU_D04_01_with_hand.urdf` 中四处 `../meshes/` 相对路径已改为 `package://`，在 ROS 中也能找到。
+- 上表的关节数（31 / 39 含 4 个 mimic / 53 含 10 个 mimic）以及关节限位、力矩、速度和减速比与 URDF、SRDF 一致；身高按 MJCF 模型测得。
+- `HU_D04_01_with_hand.urdf` 目前无法直接用 MuJoCo 的 URDF 导入器加载：10 个 `*_tip_link` 坐标系质量为 1 g、惯量为 1.6e-15 kg·m²，低于 MuJoCo 的下限。此项检查不涉及 ROS 和 Isaac Sim。
+- 本次未运行 ROS 编译和 Isaac Sim 加载。
+
+## 引用
+
+如果这些模型对你的研究有帮助，请引用：
+
+```bibtex
+@misc{limx_humanoid_description,
+ title = {LimX Humanoid Description: URDF, MJCF and USD Models for LimX Humanoid Robots},
+ author = {{LimX Dynamics}},
+ year = {2025},
+ howpublished = {\url{https://github.com/limxdynamics/humanoid-description}}
+}
+```
+
+## 许可证
+
+基于 [Apache License 2.0](LICENSE) 发布。
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diff --git a/docs/images/hu_d04_hand.png b/docs/images/hu_d04_hand.png
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关节限位与执行器参数（点击展开）
+ ++ +仅列出左侧，右侧对称。 + +| 关节 | 角度范围（°） | 力矩（N·m） | 速度（rad/s） | 减速比 | +| --- | --- | --- | --- | --- | +| hip_pitch | −150 ~ 150 | 140 | 5 | 25 | +| hip_roll | −50 ~ 120 | 140 | 5 | 25 | +| hip_yaw | −150 ~ 150 | 140 | 5 | 25 | +| knee | −5 ~ 148 | 140 | 5 | 25 | +| ankle_pitch | −58 ~ 35 | 42 | 13.6 | 36 | +| ankle_roll | −25 ~ 25 | 42 | 13.6 | 36 | +| waist_yaw | −150 ~ 150 | 42 | 13.6 | 36 | +| waist_roll | −30 ~ 30 | 42 | 13.6 | 36 | +| waist_pitch | −30 ~ 45 | 42 | 13.6 | 36 | +| shoulder_pitch | −160 ~ 160 | 42 | 19.6 | 25 | +| shoulder_roll | −5 ~ 185 | 42 | 19.6 | 25 | +| shoulder_yaw | −195 ~ 90 | 42 | 19.6 | 25 | +| elbow | −140 ~ 90 | 42 | 19.6 | 25 | +| wrist_yaw / pitch / roll | −135 ~ 45 / −90 ~ 90 / −90 ~ 90 | 19 | 13 | 28.17 | +| head_yaw / pitch | −45 ~ 45 / −30 ~ 45 | 19 | 13 | 28.17 | + +各关节转子惯量见 `urdf/HU_D04_01.srdf`。 + +