simple_humanoid_description provides URDF, SRDF model information
for the simple_humnaoid robot.
The URDF file is only available for the default model. It contains the kinematic model of the robot. No meshes are present inside this repository
The SRDF file is only available for the default model. It contains the collision pairs which can be safely disabled and the default robot configuration called "half_sitting". It also contains adiditonnal information like the position of the ankle in the foot frame and the size of the foot.
This package does not provide API.