# UME legacy dynamics models

These MJCF files are exact copies from Universal-Manipulation-Exoskeleton
commit `e087df5cd3b281418722e155d9975695f163698e`:

- `v6_bimanual/robot.xml`: fixed-base model used for
  `LOCAL_WORLD_ALIGNED` shoulder/wrist rotational Jacobians.
  SHA-256:
  `c185fe505ab52275d1be9c5b563df5c6505a3da81e0e622cffd66324e3839f3b`.
- `v6_imu/robot.xml`: floating-base model used for the original
  `rnea(q, v, 0)` compensation path.
  SHA-256:
  `db1dad82ebca9413edf268a980c5be5a307c990b86654db840098095d8bd5e14`.

The source paths are
`ume/robot/ume/v6_bimanual/models/robot.xml` and
`ume/robot/ume/v6_imu/models/robot.xml`, respectively.

Only the model topology/dynamics parser is used. Pinocchio 3.6
`mjcf::buildModel` and the adapter tests load these files without resolving
their visual STL assets, so no geometry files are duplicated here.

The adapter enforces the model's structural contract. Integrations that require
byte-for-byte model identity must also compare the SHA-256 values above before
arming motion.

The repository's root install rule copies `model/` to the deployment tree at
`bin/model/`.