# Mujoco Humanoid Robot UID: `humanoid` Agent Class Code: [https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/humanoid/humanoid.py](https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/humanoid/humanoid.py) Quality: A (Values are realistic, but have not been properly identified) Degrees of Freedom: 21 Controllers: `pd_joint_pos`, `pd_joint_delta_pos` ## Visuals and Collision Models
humanoid humanoid

Visual Meshes


humanoid humanoid

Collision Meshes (Green = Convex Mesh, Blue = Primitive Shape Mesh)