--- license: apache-2.0 pipeline_tag: robotics library_name: limx-dynamics tags: - robotics - humanoid - urdf - mjcf - usd - mujoco - isaac-sim - ros - limx-dynamics - oli language: - en - zh --- > **中文说明**：LimX Oli（型号 HU_D04）人形机器人的机器人描述文件，包含 URDF / MJCF / USD 模型与网格，可直接用于 MuJoCo、Isaac Sim、ROS 等仿真与开发。本仓库镜像自 GitHub [limxdynamics/humanoid-description](https://github.com/limxdynamics/humanoid-description)。快速查看：`python -m mujoco.viewer --mjcf=`。问题与合作请联系 opensource@limxdynamics.com。 > > Mirrored as-is from [limxdynamics/humanoid-description](https://github.com/limxdynamics/humanoid-description). Download: `hf download limxdynamics/oli-description`

humanoid-description: the LimX Oli humanoid HU_D04 in its base, gripper and dexterous-hand variants

**English** | [中文](README_cn.md) [![License](https://img.shields.io/badge/License-Apache_2.0-blue.svg)](LICENSE) [![ROS](https://img.shields.io/badge/ROS-1%20%7C%202-22314E?logo=ros)](#ros-1--ros-2) [![MuJoCo](https://img.shields.io/badge/MuJoCo-MJCF-0A7BBB)](#mujoco-30-seconds) [![Isaac Sim](https://img.shields.io/badge/Isaac%20Sim-USD-76B900?logo=nvidia&logoColor=white)](#isaac-sim--isaac-lab) [![Hugging Face](https://img.shields.io/badge/Hugging%20Face-limxdynamics-FFD21E?logo=huggingface&logoColor=black)](https://huggingface.co/limxdynamics) [![WeChat Community](https://img.shields.io/badge/WeChat-Developer%20Community-07C160?logo=wechat&logoColor=white)](https://github.com/limxdynamics/limxdynamics/blob/main/doc/wechat_qr.png)

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)
--- ## 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 | |:-:|---|---|:-:|---| | | **HU_D04** full-size humanoid | `HU_D04_01` | 31 | URDF · MJCF · USD | | | **HU_D04 + Gripper** | `HU_D04_01_with_gripper` | 39
35 independent | URDF · USD | | | **HU_D04 + Dexterous Hand** | `HU_D04_01_with_hand` | 53
43 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 |
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`.
## 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).