This package contains the robot description for the JVRC-1 model, a virtual humanoid robot released for education and research.

The model files in this repository come from mc_rtc_data, a collection of robot and environment models distributed with the mc_rtc framework. The JVRC-1 model was initially created in VRML format at jvrc/model and converted to URDF using simtrans.

Feel free to open a PR to share what you have done with this model.

Date	Topic	Screenshot
2019	Docker image of a walking controller in simulation — Snapshot of a whole-body controller used on the HRP-4 humanoid to walk and climb stairs. This image includes a fully functional build and simulation environment where you can try the controller on the JVRC model.
2016	Task-based inverse kinematics in Python — A whole-body inverse kinematics based on the weight-prioritized multi-task framework. Tasks include foot-surface contacts, center of mass or centroidal momentum control. Depends on OpenRAVE.