# MuJoCo Menagerie: berkeley humanoid/berkeley humanoid.xml

Official pinned robot model text for berkeley humanoid/berkeley humanoid.xml. Inspect the upstream package and adjacent assets before use.

ID: `mujoco-menagerie-artifact-berkeley-humanoid-berkeley-humanoid-xml`

Record version: `source-e5b9396bf23dea75c2d58b22091edd07646c6704f9d3626645e75977f527ace1`

Hub commit: `3a81abb601c3b4b8fcb9a8bed5ca270e546f5f1a`

## Access

Inspect this checksum-pinned text in the full upstream checkout. Resolve adjacent definitions/assets and their separate licenses using upstream instructions. The Hub does not load or execute this artifact.

Hub preparation adapter: **false**. Runtime verification: **not_run**.

Upstream setup: https://github.com/google-deepmind/mujoco_menagerie/blob/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/berkeley_humanoid/README.md

## Source and license

- Repository: https://github.com/google-deepmind/mujoco_menagerie
- Pinned source: https://github.com/google-deepmind/mujoco_menagerie/blob/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/berkeley_humanoid/berkeley_humanoid.xml
- Revision: `62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35`
- Path: `berkeley_humanoid/berkeley_humanoid.xml`
- Source SHA256: `e5b9396bf23dea75c2d58b22091edd07646c6704f9d3626645e75977f527ace1`
- Source bytes: 11460
- Original authors: See pinned upstream source and license notices.
- License: [BSD-3-Clause](https://github.com/google-deepmind/mujoco_menagerie/blob/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/berkeley_humanoid/LICENSE)
- License scope: Model/scene description text in this model directory only. Preserve this model-specific license and upstream notices. Included models, meshes, textures, dependencies and trademarks retain their applicable rights; this index does not redistribute them.

License SHA256: `a5a4e7c801bc9673459872f5a86886ac29eee4ba93bb1e907f2e49d4198a1dd0`

## Artifact

```json
{
  "kind": "robot_model",
  "format": "mjcf",
  "role": "Source/configuration reference; not an executable Hub skill",
  "structure": {
    "root": "mujoco",
    "references": [
      "assets",
      "ll_faa.stl",
      "ll_ffe.stl",
      "ll_haa.stl",
      "ll_hfe.stl",
      "ll_hr.stl",
      "ll_kfe.stl",
      "lr_faa.stl",
      "lr_ffe.stl",
      "lr_haa.stl",
      "lr_hfe.stl",
      "lr_hr.stl",
      "lr_kfe.stl",
      "torso.stl"
    ],
    "references_truncated": false
  }
}
```

## Requirements

```json
{
  "python": "Not a Python entrypoint; follow the pinned upstream package requirements",
  "packages": [
    "MuJoCo version specified by the pinned model README",
    "Adjacent upstream meshes and included XML definitions"
  ],
  "display": "Model XML often references adjacent meshes or other model XML. Viewer/rendering and MuJoCo/MJX version requirements are model-specific; this index does not fetch those assets or load a model.",
  "execution_domain": "simulation",
  "source_imports": []
}
```

## Invocation

```json
{
  "entrypoint": "Data/configuration artifact: berkeley_humanoid/berkeley_humanoid.xml; use its upstream loader or package integration after inspection",
  "notes": "This file is not a standalone program. No Xacro expansion, include resolution, model loading, configuration deployment or robot execution was performed."
}
```

## Compatibility

```json
[]
```

Missing environment fields remain unknown. Source discovery labels do not establish robot compatibility.

## Evidence

Level: **source_reviewed**. Runtime verification: **not_run**.

Verified exact source and applicable license SHA-256 bytes. Parsed XML syntax and recorded direct file references; includes, Xacro expressions and model dynamics were not evaluated.

Source review and contributor reports do not establish task completion. Preserve upstream attribution and licenses.