MuJoCo Robot Models

This directory contains MJCF (MuJoCo XML) robot model files for use in the textbook simulations.

Available Models

Model	File	Description	Modules
2-DOF Arm	2dof-arm.xml	Simple planar two-link arm	03, 05
6-DOF Arm	6dof-arm.xml	Industrial-style manipulator	06, 07
Simple Humanoid	humanoid-simple.xml	Reduced-DOF humanoid for learning	01, 02, 08
Full Humanoid	humanoid.xml	Complete humanoid model	10-14
Mobile Base	mobile-base.xml	Wheeled platform	04, 09

Model Conventions

• All models use SI units (meters, kilograms, seconds)
• Joint limits are defined to prevent self-collision
• Actuator ranges match typical servo specifications
• Default colors: blue (links), red (joints), green (end-effectors)

Adding New Models

1. Create the MJCF XML file
2. Add mesh files to meshes/ subdirectory
3. Update this README with model documentation
4. Test with mujoco.viewer.launch()

References

• MuJoCo MJCF Reference
• MuJoCo Model Gallery