limxdynamics/oli-description

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。快速查看：python -m mujoco.viewer --mjcf=<path-to-xml>。问题与合作请联系 opensource@limxdynamics.com。

Mirrored as-is from limxdynamics/humanoid-description. Download: hf download limxdynamics/oli-description

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_{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.

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 · Quick Start · Specs · Ecosystem · Citation

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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 HU_D03 is no longer maintained — please use HU_D04 for new projects.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

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)

pip install mujoco
python -m mujoco.viewer --mjcf=HU_D04_description/xml/HU_D04_01.xml

Or load it from 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:

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):

roslaunch urdf_tutorial display.launch model:=$(rospack find HU_D04_description)/urdf/HU_D04_01.urdf

View in RViz (ROS 2):

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, 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	Train locomotion policies in Isaac Lab
humanoid-mujoco-sim	MuJoCo simulator for the humanoid
humanoid-rl-deploy-ros	Deploy RL policies with ROS 1
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:

@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.