metadata
license: mit
tags:
- robotics
- urdf
- robot-model
- isaac-gym
- isaac-lab
- wheeled-humanoid
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")