A1
UNITREE Robotics · licence BSD-3-Clause · source: github.com/unitreerobotics/unitree_ros @ 267182b85
What you are looking at is RobotDescription.from_urdf(original).to_urdf_string(): the reference implementation's re-serialisation of the original file, not the original file itself.
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robot.urdf
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 67b76804e7884c09 -->
<robot name="a1">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0" />
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0" />
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0" />
</material>
<material name="silver">
<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0" />
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0" />
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0" />
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0" />
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0" />
</material>
<link name="base">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="trunk" />
</joint>
<link name="trunk">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://a1_description/meshes/trunk.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.267 0.194 0.114" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0041 -0.0005" rpy="0.0 0.0 0.0" />
<mass value="6.0" />
<inertia ixx="0.0158533" ixy="-3.66e-05" ixz="-6.11e-05" iyy="0.0377999" iyz="-2.75e-05" izz="0.0456542" />
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="imu_link" />
</joint>
<link name="imu_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
<material name="red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
</inertial>
</link>
<joint name="FR_hip_joint" type="revolute">
<origin xyz="0.1805 -0.047 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="FR_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="33.5" velocity="21.0" lower="-0.802851455917" upper="0.802851455917" />
<dynamics damping="0.01" friction="0.2" />
</joint>
<link name="FR_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
<geometry>
<mesh filename="package://a1_description/meshes/hip.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.04" radius="0.046" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.003311 -0.000635 3.1e-05" rpy="0.0 0.0 0.0" />
<mass value="0.696" />
<inertia ixx="0.000469246" ixy="9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929" />
</inertial>
</link>
<joint name="FR_hip_fixed" type="fixed">
<origin xyz="0.0 -0.081 0.0" rpy="0.0 0.0 0.0" />
<parent link="FR_hip" />
<child link="FR_thigh_shoulder" />
</joint>
<link name="FR_thigh_shoulder">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.032" radius="0.041" />
</geometry>
</collision>
</link>
<joint name="FR_thigh_joint" type="revolute">
<origin xyz="0.0 -0.0838 0.0" rpy="0.0 0.0 0.0" />
<parent link="FR_hip" />
<child link="FR_thigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="33.5" velocity="21.0" lower="-1.0471975512" upper="4.18879020479" />
<dynamics damping="0.01" friction="0.2" />
</joint>
<link name="FR_thigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://a1_description/meshes/thigh_mirror.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.1" rpy="0.0 1.57079632679 0.0" />
<geometry>
<box size="0.2 0.0245 0.034" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.003237 0.022327 -0.027326" rpy="0.0 0.0 0.0" />
<mass value="1.013" />
<inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788" />
</inertial>
</link>
<joint name="FR_calf_joint" type="revolute">
<origin xyz="0.0 0.0 -0.2" rpy="0.0 0.0 0.0" />
<parent link="FR_thigh" />
<child link="FR_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="33.5" velocity="21.0" lower="-2.69653369433" upper="-0.916297857297" />
<dynamics damping="0.01" friction="0.2" />
</joint>
<link name="FR_calf">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://a1_description/meshes/calf.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.1" rpy="0.0 1.57079632679 0.0" />
<geometry>
<box size="0.2 0.016 0.016" />
</geometry>
</collision>
<inertial>
<origin xyz="0.006435 0.0 -0.107388" rpy="0.0 0.0 0.0" />
<mass value="0.166" />
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05" />
</inertial>
</link>
<joint name="FR_foot_fixed" type="fixed">
<origin xyz="0.0 0.0 -0.2" rpy="0.0 0.0 0.0" />
<parent link="FR_calf" />
<child link="FR_foot" />
</joint>
<link name="FR_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.01" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.02" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.06" />
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06" />
</inertial>
</link>
<joint name="FL_hip_joint" type="revolute">
<origin xyz="0.1805 0.047 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="FL_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="33.5" velocity="21.0" lower="-0.802851455917" upper="0.802851455917" />
<dynamics damping="0.01" friction="0.2" />
</joint>
<link name="FL_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://a1_description/meshes/hip.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.04" radius="0.046" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.003311 0.000635 3.1e-05" rpy="0.0 0.0 0.0" />
<mass value="0.696" />
<inertia ixx="0.000469246" ixy="-9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929" />
</inertial>
</link>
<joint name="FL_hip_fixed" type="fixed">
<origin xyz="0.0 0.081 0.0" rpy="0.0 0.0 0.0" />
<parent link="FL_hip" />
<child link="FL_thigh_shoulder" />
</joint>
<link name="FL_thigh_shoulder">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.032" radius="0.041" />
</geometry>
</collision>
</link>
<joint name="FL_thigh_joint" type="revolute">
<origin xyz="0.0 0.0838 0.0" rpy="0.0 0.0 0.0" />
<parent link="FL_hip" />
<child link="FL_thigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="33.5" velocity="21.0" lower="-1.0471975512" upper="4.18879020479" />
<dynamics damping="0.01" friction="0.2" />
</joint>
<link name="FL_thigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://a1_description/meshes/thigh.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.1" rpy="0.0 1.57079632679 0.0" />
<geometry>
<box size="0.2 0.0245 0.034" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.003237 -0.022327 -0.027326" rpy="0.0 0.0 0.0" />
<mass value="1.013" />
<inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788" />
</inertial>
</link>
<joint name="FL_calf_joint" type="revolute">
<origin xyz="0.0 0.0 -0.2" rpy="0.0 0.0 0.0" />
<parent link="FL_thigh" />
<child link="FL_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="33.5" velocity="21.0" lower="-2.69653369433" upper="-0.916297857297" />
<dynamics damping="0.01" friction="0.2" />
</joint>
<link name="FL_calf">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://a1_description/meshes/calf.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.1" rpy="0.0 1.57079632679 0.0" />
<geometry>
<box size="0.2 0.016 0.016" />
</geometry>
</collision>
<inertial>
<origin xyz="0.006435 0.0 -0.107388" rpy="0.0 0.0 0.0" />
<mass value="0.166" />
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05" />
</inertial>
</link>
<joint name="FL_foot_fixed" type="fixed">
<origin xyz="0.0 0.0 -0.2" rpy="0.0 0.0 0.0" />
<parent link="FL_calf" />
<child link="FL_foot" />
</joint>
<link name="FL_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.01" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.02" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.06" />
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06" />
</inertial>
</link>
<joint name="RR_hip_joint" type="revolute">
<origin xyz="-0.1805 -0.047 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="RR_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="33.5" velocity="21.0" lower="-0.802851455917" upper="0.802851455917" />
<dynamics damping="0.01" friction="0.2" />
</joint>
<link name="RR_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.14159265359 3.14159265359 0.0" />
<geometry>
<mesh filename="package://a1_description/meshes/hip.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.04" radius="0.046" />
</geometry>
</collision>
<inertial>
<origin xyz="0.003311 -0.000635 3.1e-05" rpy="0.0 0.0 0.0" />
<mass value="0.696" />
<inertia ixx="0.000469246" ixy="-9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929" />
</inertial>
</link>
<joint name="RR_hip_fixed" type="fixed">
<origin xyz="0.0 -0.081 0.0" rpy="0.0 0.0 0.0" />
<parent link="RR_hip" />
<child link="RR_thigh_shoulder" />
</joint>
<link name="RR_thigh_shoulder">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.032" radius="0.041" />
</geometry>
</collision>
</link>
<joint name="RR_thigh_joint" type="revolute">
<origin xyz="0.0 -0.0838 0.0" rpy="0.0 0.0 0.0" />
<parent link="RR_hip" />
<child link="RR_thigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="33.5" velocity="21.0" lower="-1.0471975512" upper="4.18879020479" />
<dynamics damping="0.01" friction="0.2" />
</joint>
<link name="RR_thigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://a1_description/meshes/thigh_mirror.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.1" rpy="0.0 1.57079632679 0.0" />
<geometry>
<box size="0.2 0.0245 0.034" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.003237 0.022327 -0.027326" rpy="0.0 0.0 0.0" />
<mass value="1.013" />
<inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788" />
</inertial>
</link>
<joint name="RR_calf_joint" type="revolute">
<origin xyz="0.0 0.0 -0.2" rpy="0.0 0.0 0.0" />
<parent link="RR_thigh" />
<child link="RR_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="33.5" velocity="21.0" lower="-2.69653369433" upper="-0.916297857297" />
<dynamics damping="0.01" friction="0.2" />
</joint>
<link name="RR_calf">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://a1_description/meshes/calf.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.1" rpy="0.0 1.57079632679 0.0" />
<geometry>
<box size="0.2 0.016 0.016" />
</geometry>
</collision>
<inertial>
<origin xyz="0.006435 0.0 -0.107388" rpy="0.0 0.0 0.0" />
<mass value="0.166" />
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05" />
</inertial>
</link>
<joint name="RR_foot_fixed" type="fixed">
<origin xyz="0.0 0.0 -0.2" rpy="0.0 0.0 0.0" />
<parent link="RR_calf" />
<child link="RR_foot" />
</joint>
<link name="RR_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.01" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.02" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.06" />
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06" />
</inertial>
</link>
<joint name="RL_hip_joint" type="revolute">
<origin xyz="-0.1805 0.047 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="RL_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="33.5" velocity="21.0" lower="-0.802851455917" upper="0.802851455917" />
<dynamics damping="0.01" friction="0.2" />
</joint>
<link name="RL_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 3.14159265359 0.0" />
<geometry>
<mesh filename="package://a1_description/meshes/hip.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.04" radius="0.046" />
</geometry>
</collision>
<inertial>
<origin xyz="0.003311 0.000635 3.1e-05" rpy="0.0 0.0 0.0" />
<mass value="0.696" />
<inertia ixx="0.000469246" ixy="9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929" />
</inertial>
</link>
<joint name="RL_hip_fixed" type="fixed">
<origin xyz="0.0 0.081 0.0" rpy="0.0 0.0 0.0" />
<parent link="RL_hip" />
<child link="RL_thigh_shoulder" />
</joint>
<link name="RL_thigh_shoulder">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.032" radius="0.041" />
</geometry>
</collision>
</link>
<joint name="RL_thigh_joint" type="revolute">
<origin xyz="0.0 0.0838 0.0" rpy="0.0 0.0 0.0" />
<parent link="RL_hip" />
<child link="RL_thigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="33.5" velocity="21.0" lower="-1.0471975512" upper="4.18879020479" />
<dynamics damping="0.01" friction="0.2" />
</joint>
<link name="RL_thigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://a1_description/meshes/thigh.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.1" rpy="0.0 1.57079632679 0.0" />
<geometry>
<box size="0.2 0.0245 0.034" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.003237 -0.022327 -0.027326" rpy="0.0 0.0 0.0" />
<mass value="1.013" />
<inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788" />
</inertial>
</link>
<joint name="RL_calf_joint" type="revolute">
<origin xyz="0.0 0.0 -0.2" rpy="0.0 0.0 0.0" />
<parent link="RL_thigh" />
<child link="RL_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="33.5" velocity="21.0" lower="-2.69653369433" upper="-0.916297857297" />
<dynamics damping="0.01" friction="0.2" />
</joint>
<link name="RL_calf">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://a1_description/meshes/calf.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.1" rpy="0.0 1.57079632679 0.0" />
<geometry>
<box size="0.2 0.016 0.016" />
</geometry>
</collision>
<inertial>
<origin xyz="0.006435 0.0 -0.107388" rpy="0.0 0.0 0.0" />
<mass value="0.166" />
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05" />
</inertial>
</link>
<joint name="RL_foot_fixed" type="fixed">
<origin xyz="0.0 0.0 -0.2" rpy="0.0 0.0 0.0" />
<parent link="RL_calf" />
<child link="RL_foot" />
</joint>
<link name="RL_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.01" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.02" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.06" />
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06" />
</inertial>
</link>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 67b76804e7884c09 -->
<mujoco model="a1">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="black" rgba="0.0 0.0 0.0 1.0" />
<material name="blue" rgba="0.0 0.0 0.8 1.0" />
<material name="green" rgba="0.0 0.8 0.0 1.0" />
<material name="grey" rgba="0.2 0.2 0.2 1.0" />
<material name="silver" rgba="0.913725490196 0.913725490196 0.847058823529 1.0" />
<material name="orange" rgba="1.0 0.423529411765 0.0392156862745 1.0" />
<material name="brown" rgba="0.870588235294 0.811764705882 0.764705882353 1.0" />
<material name="red" rgba="0.8 0.0 0.0 1.0" />
<material name="white" rgba="1.0 1.0 1.0 1.0" />
<mesh name="trunk" file="a1_description/meshes/trunk.dae" />
<mesh name="hip" file="a1_description/meshes/hip.dae" />
<mesh name="thigh_mirror" file="a1_description/meshes/thigh_mirror.dae" />
<mesh name="calf" file="a1_description/meshes/calf.dae" />
<mesh name="thigh" file="a1_description/meshes/thigh.dae" />
</asset>
<worldbody>
<body name="base">
<geom name="base_vis_0" type="box" size="0.0005 0.0005 0.0005" contype="0" conaffinity="0" group="2" />
<body name="trunk">
<inertial pos="0.0 0.0041 -0.0005" mass="6.0" fullinertia="0.0158533 0.0377999 0.0456542 -3.66e-05 -6.11e-05 -2.75e-05" />
<geom name="trunk_vis_0" type="mesh" mesh="trunk" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="trunk_col_0" type="box" size="0.1335 0.097 0.057" group="3" />
<body name="imu_link">
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.0001 0.0001 0.0001 0.0 0.0 0.0" />
<geom name="imu_link_vis_0" type="box" size="0.0005 0.0005 0.0005" contype="0" conaffinity="0" group="2" material="red" />
<geom name="imu_link_col_0" type="box" size="0.0005 0.0005 0.0005" group="3" />
</body>
<body name="FR_hip" pos="0.1805 -0.047 0.0">
<joint name="FR_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.802851455917 0.802851455917" damping="0.01" frictionloss="0.2" />
<inertial pos="-0.003311 -0.000635 3.1e-05" mass="0.696" fullinertia="0.000469246 0.00080749 0.000552929 9.409e-06 -3.42e-07 4.66e-07" />
<geom name="FR_hip_vis_0" type="mesh" mesh="hip" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="FR_hip_col_0" type="cylinder" size="0.046 0.02" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
<body name="FR_thigh_shoulder" pos="0.0 -0.081 0.0">
<geom name="FR_thigh_shoulder_col_0" type="cylinder" size="0.041 0.016" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
</body>
<body name="FR_thigh" pos="0.0 -0.0838 0.0">
<joint name="FR_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.0471975512 4.18879020479" damping="0.01" frictionloss="0.2" />
<inertial pos="-0.003237 0.022327 -0.027326" mass="1.013" fullinertia="0.005529065 0.005139339 0.001367788 -4.825e-06 0.000343869 -2.2448e-05" />
<geom name="FR_thigh_vis_0" type="mesh" mesh="thigh_mirror" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="FR_thigh_col_0" type="box" size="0.1 0.01225 0.017" pos="0.0 0.0 -0.1" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<body name="FR_calf" pos="0.0 0.0 -0.2">
<joint name="FR_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.69653369433 -0.916297857297" damping="0.01" frictionloss="0.2" />
<inertial pos="0.006435 0.0 -0.107388" mass="0.166" fullinertia="0.002997972 0.003014022 3.2426e-05 0.0 -0.000141163 0.0" />
<geom name="FR_calf_vis_0" type="mesh" mesh="calf" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="FR_calf_col_0" type="box" size="0.1 0.008 0.008" pos="0.0 0.0 -0.1" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<body name="FR_foot" pos="0.0 0.0 -0.2">
<inertial pos="0.0 0.0 0.0" mass="0.06" fullinertia="9.6e-06 9.6e-06 9.6e-06 0.0 0.0 0.0" />
<geom name="FR_foot_vis_0" type="sphere" size="0.01" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="FR_foot_col_0" type="sphere" size="0.02" group="3" />
</body>
</body>
</body>
</body>
<body name="FL_hip" pos="0.1805 0.047 0.0">
<joint name="FL_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.802851455917 0.802851455917" damping="0.01" frictionloss="0.2" />
<inertial pos="-0.003311 0.000635 3.1e-05" mass="0.696" fullinertia="0.000469246 0.00080749 0.000552929 -9.409e-06 -3.42e-07 -4.66e-07" />
<geom name="FL_hip_vis_0" type="mesh" mesh="hip" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="FL_hip_col_0" type="cylinder" size="0.046 0.02" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
<body name="FL_thigh_shoulder" pos="0.0 0.081 0.0">
<geom name="FL_thigh_shoulder_col_0" type="cylinder" size="0.041 0.016" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
</body>
<body name="FL_thigh" pos="0.0 0.0838 0.0">
<joint name="FL_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.0471975512 4.18879020479" damping="0.01" frictionloss="0.2" />
<inertial pos="-0.003237 -0.022327 -0.027326" mass="1.013" fullinertia="0.005529065 0.005139339 0.001367788 4.825e-06 0.000343869 2.2448e-05" />
<geom name="FL_thigh_vis_0" type="mesh" mesh="thigh" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="FL_thigh_col_0" type="box" size="0.1 0.01225 0.017" pos="0.0 0.0 -0.1" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<body name="FL_calf" pos="0.0 0.0 -0.2">
<joint name="FL_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.69653369433 -0.916297857297" damping="0.01" frictionloss="0.2" />
<inertial pos="0.006435 0.0 -0.107388" mass="0.166" fullinertia="0.002997972 0.003014022 3.2426e-05 0.0 -0.000141163 0.0" />
<geom name="FL_calf_vis_0" type="mesh" mesh="calf" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="FL_calf_col_0" type="box" size="0.1 0.008 0.008" pos="0.0 0.0 -0.1" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<body name="FL_foot" pos="0.0 0.0 -0.2">
<inertial pos="0.0 0.0 0.0" mass="0.06" fullinertia="9.6e-06 9.6e-06 9.6e-06 0.0 0.0 0.0" />
<geom name="FL_foot_vis_0" type="sphere" size="0.01" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="FL_foot_col_0" type="sphere" size="0.02" group="3" />
</body>
</body>
</body>
</body>
<body name="RR_hip" pos="-0.1805 -0.047 0.0">
<joint name="RR_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.802851455917 0.802851455917" damping="0.01" frictionloss="0.2" />
<inertial pos="0.003311 -0.000635 3.1e-05" mass="0.696" fullinertia="0.000469246 0.00080749 0.000552929 -9.409e-06 3.42e-07 4.66e-07" />
<geom name="RR_hip_vis_0" type="mesh" mesh="hip" quat="1.0693949408680808e-26 -1.0341155355510722e-13 -1.0341155355510722e-13 -1.0" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="RR_hip_col_0" type="cylinder" size="0.046 0.02" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
<body name="RR_thigh_shoulder" pos="0.0 -0.081 0.0">
<geom name="RR_thigh_shoulder_col_0" type="cylinder" size="0.041 0.016" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
</body>
<body name="RR_thigh" pos="0.0 -0.0838 0.0">
<joint name="RR_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.0471975512 4.18879020479" damping="0.01" frictionloss="0.2" />
<inertial pos="-0.003237 0.022327 -0.027326" mass="1.013" fullinertia="0.005529065 0.005139339 0.001367788 -4.825e-06 0.000343869 -2.2448e-05" />
<geom name="RR_thigh_vis_0" type="mesh" mesh="thigh_mirror" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="RR_thigh_col_0" type="box" size="0.1 0.01225 0.017" pos="0.0 0.0 -0.1" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<body name="RR_calf" pos="0.0 0.0 -0.2">
<joint name="RR_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.69653369433 -0.916297857297" damping="0.01" frictionloss="0.2" />
<inertial pos="0.006435 0.0 -0.107388" mass="0.166" fullinertia="0.002997972 0.003014022 3.2426e-05 0.0 -0.000141163 0.0" />
<geom name="RR_calf_vis_0" type="mesh" mesh="calf" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="RR_calf_col_0" type="box" size="0.1 0.008 0.008" pos="0.0 0.0 -0.1" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<body name="RR_foot" pos="0.0 0.0 -0.2">
<inertial pos="0.0 0.0 0.0" mass="0.06" fullinertia="9.6e-06 9.6e-06 9.6e-06 0.0 0.0 0.0" />
<geom name="RR_foot_vis_0" type="sphere" size="0.01" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="RR_foot_col_0" type="sphere" size="0.02" group="3" />
</body>
</body>
</body>
</body>
<body name="RL_hip" pos="-0.1805 0.047 0.0">
<joint name="RL_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.802851455917 0.802851455917" damping="0.01" frictionloss="0.2" />
<inertial pos="0.003311 0.000635 3.1e-05" mass="0.696" fullinertia="0.000469246 0.00080749 0.000552929 9.409e-06 3.42e-07 -4.66e-07" />
<geom name="RL_hip_vis_0" type="mesh" mesh="hip" quat="-1.0341155355510722e-13 -0.0 1.0 -0.0" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="RL_hip_col_0" type="cylinder" size="0.046 0.02" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
<body name="RL_thigh_shoulder" pos="0.0 0.081 0.0">
<geom name="RL_thigh_shoulder_col_0" type="cylinder" size="0.041 0.016" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
</body>
<body name="RL_thigh" pos="0.0 0.0838 0.0">
<joint name="RL_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.0471975512 4.18879020479" damping="0.01" frictionloss="0.2" />
<inertial pos="-0.003237 -0.022327 -0.027326" mass="1.013" fullinertia="0.005529065 0.005139339 0.001367788 4.825e-06 0.000343869 2.2448e-05" />
<geom name="RL_thigh_vis_0" type="mesh" mesh="thigh" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="RL_thigh_col_0" type="box" size="0.1 0.01225 0.017" pos="0.0 0.0 -0.1" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<body name="RL_calf" pos="0.0 0.0 -0.2">
<joint name="RL_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.69653369433 -0.916297857297" damping="0.01" frictionloss="0.2" />
<inertial pos="0.006435 0.0 -0.107388" mass="0.166" fullinertia="0.002997972 0.003014022 3.2426e-05 0.0 -0.000141163 0.0" />
<geom name="RL_calf_vis_0" type="mesh" mesh="calf" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="RL_calf_col_0" type="box" size="0.1 0.008 0.008" pos="0.0 0.0 -0.1" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<body name="RL_foot" pos="0.0 0.0 -0.2">
<inertial pos="0.0 0.0 0.0" mass="0.06" fullinertia="9.6e-06 9.6e-06 9.6e-06 0.0 0.0 0.0" />
<geom name="RL_foot_vis_0" type="sphere" size="0.01" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="RL_foot_col_0" type="sphere" size="0.02" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base" body2="trunk" />
<exclude body1="trunk" body2="imu_link" />
<exclude body1="trunk" body2="FR_hip" />
<exclude body1="FR_hip" body2="FR_thigh_shoulder" />
<exclude body1="FR_hip" body2="FR_thigh" />
<exclude body1="FR_thigh" body2="FR_calf" />
<exclude body1="FR_calf" body2="FR_foot" />
<exclude body1="trunk" body2="FL_hip" />
<exclude body1="FL_hip" body2="FL_thigh_shoulder" />
<exclude body1="FL_hip" body2="FL_thigh" />
<exclude body1="FL_thigh" body2="FL_calf" />
<exclude body1="FL_calf" body2="FL_foot" />
<exclude body1="trunk" body2="RR_hip" />
<exclude body1="RR_hip" body2="RR_thigh_shoulder" />
<exclude body1="RR_hip" body2="RR_thigh" />
<exclude body1="RR_thigh" body2="RR_calf" />
<exclude body1="RR_calf" body2="RR_foot" />
<exclude body1="trunk" body2="RL_hip" />
<exclude body1="RL_hip" body2="RL_thigh_shoulder" />
<exclude body1="RL_hip" body2="RL_thigh" />
<exclude body1="RL_thigh" body2="RL_calf" />
<exclude body1="RL_calf" body2="RL_foot" />
</contact>
</mujoco>
Import report
Counts
| Links | 23 |
|---|---|
| Joints | 22 |
| Moving joints | 12 |
| Visuals | 19 |
| Collisions | 22 |
| Materials | 9 |
Meshes
Formats: dae.
Asset size: 9.1 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
gazebo | 33 | Gazebo simulator extensions are not part of the description |
transmission | 12 | ROS transmissions (actuator-to-joint wiring) have no RobotDescription field yet |
Forward-kinematics check
Forward kinematics of 23 link frames at 20 random joint positions within limits, original URDF against robot.urdf, computed by pinocchio 3.8.0. Worst difference: 0.0e+00 m · 2.0e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 12).
Source & licence
| Repository | https://github.com/unitreerobotics/unitree_ros |
|---|---|
| Commit | 267182b8521c8d6a631bab1fe63836873237a525 |
| Original file | robots/a1_description/urdf/a1.urdf |
| Licence | BSD-3-Clause · the upstream LICENSE file |
| Files | robot.urdf · robot.xml |
Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.