Robot-Feeding

Wheeled humanoid robot model for feeding assistance research.
Contains URDF, STL meshes, and Isaac Lab USD assets.

Robot Overview

• Type: Wheeled humanoid (differential drive base + dual 7-DOF arms)
• Total DOF: 20 (waist ×3, chest ×1, neck ×1, head ×1, left arm ×7, right arm ×7)
• Base: Two-wheeled chassis with integrated wheel geometry (chassis.STL)

Joint List

#	Joint	Group
1	waist_link1	Waist
2	waist_link2	Waist
3	waist_link3	Waist
4	chest_joint	Torso
5–11	AR5-5_07L_joint_1~7	Left Arm
12	neck_joint	Head
13	head_joint	Head
14–20	AR5-5_07R_joint_1~7	Right Arm

File Structure

robot_model_v2/
├── urdf/
│   └── wheel_robot.urdf        # Main robot description (26 links, 25 joints)
├── meshes/
│   ├── chassis.STL             # Chassis with integrated wheel geometry (14 MB)
│   ├── body.STL                # Upper body (20 MB)
│   ├── AR5_P_L/                # Left arm meshes (11 MB)
│   ├── AR5_P_R/                # Right arm meshes (11 MB)
│   ├── chest.STL
│   ├── head.STL
│   ├── waist_link1~3.STL
│   ├── neck.stl
│   └── base_link.STL
├── usd/
│   └── wheel_robot_lab.usd     # Isaac Lab USD asset
└── README.md

Usage

Isaac Gym

# Clone and install Isaac Gym, then:
conda activate gym
python isaacgym_visualize.py --animate --motion-mode sequential --duration 33 --fps 30

Isaac Lab

conda activate sim4
python isaaclab_record_demo.py usd/wheel_robot_lab.usd \
  --headless --enable_cameras --motion-mode sequential --duration 20 --fps 24

Load URDF in Python

import yourparser  # e.g. urdfpy, yourdfpy, pybullet
robot = yourparser.load("robot_model_v2/urdf/wheel_robot.urdf")