In this model, MapleSim's multibody components are used to model Aldebaran's humanoid robot, NAO. NAO's left shoulder pitch joint is being actuated with a servomotor, powered by a lithium ion battery pack. The battery component comes from MapleSim’s battery library which features both electrochemical and equivalent circuit representations. The robot plays volleyball, where the contact between volleyball, NAO's hand, and ground are modeled using two different custom components.