Aliengo
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 b003865db035f218 -->
<robot name="aliengo">
<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="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0" />
</material>
<material name="orange">
<color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0" />
</material>
<material name="brown">
<color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 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://aliengo_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="0.647 0.15 0.112" />
</geometry>
</collision>
<inertial>
<origin xyz="0.008811 0.003839 0.000273" rpy="0.0 0.0 0.0" />
<mass value="11.644" />
<inertia ixx="0.051944892" ixy="0.001703617" ixz="0.000235941" iyy="0.24693924" iyz="0.000119783" izz="0.270948307" />
</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="1e-06" iyz="0.0" izz="0.0001" />
</inertial>
</link>
<joint name="FR_hip_joint" type="revolute">
<origin xyz="0.2407 -0.051 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="35.278" velocity="20.0" lower="-1.2217304763960306" upper="1.2217304763960306" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="FR_hip_rotor_joint" type="fixed">
<origin xyz="0.139985 -0.051 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="FR_hip_rotor" />
</joint>
<link name="FR_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.141592653589793 0.0 0.0" />
<geometry>
<mesh filename="package://aliengo_description/meshes/hip.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 -0.083 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.0418" radius="0.046" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.022191 -0.015144 -1.5e-05" rpy="0.0 0.0 0.0" />
<mass value="1.993" />
<inertia ixx="0.002446735" ixy="0.00059805" ixz="1.945e-06" iyy="0.003925876" iyz="-1.284e-06" izz="0.004148145" />
</inertial>
</link>
<link name="FR_hip_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.146" />
<inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05" />
</inertial>
</link>
<joint name="FR_thigh_joint" type="continuous">
<origin xyz="0.0 -0.0868 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="35.278" velocity="20.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="FR_thigh_rotor_joint" type="fixed">
<origin xyz="0.0 -0.0298 0.0" rpy="0.0 0.0 0.0" />
<parent link="FR_hip" />
<child link="FR_thigh_rotor" />
</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://aliengo_description/meshes/thigh_mirror.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.125" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<box size="0.25 0.0374 0.043" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.005607 0.003877 -0.048199" rpy="0.0 0.0 0.0" />
<mass value="0.639" />
<inertia ixx="0.004173855" ixy="-1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="-0.000109233" izz="0.000340136" />
</inertial>
</link>
<link name="FR_thigh_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.146" />
<inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05" />
</inertial>
</link>
<joint name="FR_calf_joint" type="revolute">
<origin xyz="0.0 0.0 -0.25" 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="44.4" velocity="15.89" lower="-2.775073510670984" upper="-0.6457718232379019" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="FR_calf_rotor_joint" type="fixed">
<origin xyz="0.0 0.0997 0.0" rpy="0.0 0.0 0.0" />
<parent link="FR_thigh" />
<child link="FR_calf_rotor" />
</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://aliengo_description/meshes/calf.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.125" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<box size="0.25 0.0208 0.016" />
</geometry>
</collision>
<inertial>
<origin xyz="0.002781 6.3e-05 -0.142518" rpy="0.0 0.0 0.0" />
<mass value="0.207" />
<inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05" />
</inertial>
</link>
<link name="FR_calf_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.132" />
<inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463" />
</inertial>
</link>
<joint name="FR_foot_fixed" type="fixed">
<origin xyz="0.0 0.0 -0.25" 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="0.0165" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.0265" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.06" />
<inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05" />
</inertial>
</link>
<joint name="FL_hip_joint" type="revolute">
<origin xyz="0.2407 0.051 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="35.278" velocity="20.0" lower="-1.2217304763960306" upper="1.2217304763960306" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="FL_hip_rotor_joint" type="fixed">
<origin xyz="0.139985 0.051 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="FL_hip_rotor" />
</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://aliengo_description/meshes/hip.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.083 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.0418" radius="0.046" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.022191 0.015144 -1.5e-05" rpy="0.0 0.0 0.0" />
<mass value="1.993" />
<inertia ixx="0.002446735" ixy="-0.00059805" ixz="1.945e-06" iyy="0.003925876" iyz="1.284e-06" izz="0.004148145" />
</inertial>
</link>
<link name="FL_hip_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.146" />
<inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05" />
</inertial>
</link>
<joint name="FL_thigh_joint" type="continuous">
<origin xyz="0.0 0.0868 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="35.278" velocity="20.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="FL_thigh_rotor_joint" type="fixed">
<origin xyz="0.0 0.0298 0.0" rpy="0.0 0.0 0.0" />
<parent link="FL_hip" />
<child link="FL_thigh_rotor" />
</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://aliengo_description/meshes/thigh.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.125" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<box size="0.25 0.0374 0.043" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.005607 -0.003877 -0.048199" rpy="0.0 0.0 0.0" />
<mass value="0.639" />
<inertia ixx="0.004173855" ixy="1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="0.000109233" izz="0.000340136" />
</inertial>
</link>
<link name="FL_thigh_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.146" />
<inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05" />
</inertial>
</link>
<joint name="FL_calf_joint" type="revolute">
<origin xyz="0.0 0.0 -0.25" 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="44.4" velocity="15.89" lower="-2.775073510670984" upper="-0.6457718232379019" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="FL_calf_rotor_joint" type="fixed">
<origin xyz="0.0 -0.0997 0.0" rpy="0.0 0.0 0.0" />
<parent link="FL_thigh" />
<child link="FL_calf_rotor" />
</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://aliengo_description/meshes/calf.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.125" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<box size="0.25 0.0208 0.016" />
</geometry>
</collision>
<inertial>
<origin xyz="0.002781 6.3e-05 -0.142518" rpy="0.0 0.0 0.0" />
<mass value="0.207" />
<inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05" />
</inertial>
</link>
<link name="FL_calf_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.132" />
<inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463" />
</inertial>
</link>
<joint name="FL_foot_fixed" type="fixed">
<origin xyz="0.0 0.0 -0.25" 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="0.0165" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.0265" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.06" />
<inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05" />
</inertial>
</link>
<joint name="RR_hip_joint" type="revolute">
<origin xyz="-0.2407 -0.051 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="35.278" velocity="20.0" lower="-1.2217304763960306" upper="1.2217304763960306" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RR_hip_rotor_joint" type="fixed">
<origin xyz="-0.139985 -0.051 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="RR_hip_rotor" />
</joint>
<link name="RR_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.141592653589793 3.141592653589793 0.0" />
<geometry>
<mesh filename="package://aliengo_description/meshes/hip.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 -0.083 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.0418" radius="0.046" />
</geometry>
</collision>
<inertial>
<origin xyz="0.022191 -0.015144 -1.5e-05" rpy="0.0 0.0 0.0" />
<mass value="1.993" />
<inertia ixx="0.002446735" ixy="-0.00059805" ixz="-1.945e-06" iyy="0.003925876" iyz="-1.284e-06" izz="0.004148145" />
</inertial>
</link>
<link name="RR_hip_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.146" />
<inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05" />
</inertial>
</link>
<joint name="RR_thigh_joint" type="continuous">
<origin xyz="0.0 -0.0868 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="35.278" velocity="20.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RR_thigh_rotor_joint" type="fixed">
<origin xyz="0.0 -0.0298 0.0" rpy="0.0 0.0 0.0" />
<parent link="RR_hip" />
<child link="RR_thigh_rotor" />
</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://aliengo_description/meshes/thigh_mirror.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.125" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<box size="0.25 0.0374 0.043" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.005607 0.003877 -0.048199" rpy="0.0 0.0 0.0" />
<mass value="0.639" />
<inertia ixx="0.004173855" ixy="-1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="-0.000109233" izz="0.000340136" />
</inertial>
</link>
<link name="RR_thigh_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.146" />
<inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05" />
</inertial>
</link>
<joint name="RR_calf_joint" type="revolute">
<origin xyz="0.0 0.0 -0.25" 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="44.4" velocity="15.89" lower="-2.775073510670984" upper="-0.6457718232379019" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RR_calf_rotor_joint" type="fixed">
<origin xyz="0.0 0.0997 0.0" rpy="0.0 0.0 0.0" />
<parent link="RR_thigh" />
<child link="RR_calf_rotor" />
</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://aliengo_description/meshes/calf.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.125" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<box size="0.25 0.0208 0.016" />
</geometry>
</collision>
<inertial>
<origin xyz="0.002781 6.3e-05 -0.142518" rpy="0.0 0.0 0.0" />
<mass value="0.207" />
<inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05" />
</inertial>
</link>
<link name="RR_calf_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.132" />
<inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463" />
</inertial>
</link>
<joint name="RR_foot_fixed" type="fixed">
<origin xyz="0.0 0.0 -0.25" 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="0.0165" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.0265" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.06" />
<inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05" />
</inertial>
</link>
<joint name="RL_hip_joint" type="revolute">
<origin xyz="-0.2407 0.051 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="35.278" velocity="20.0" lower="-1.2217304763960306" upper="1.2217304763960306" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RL_hip_rotor_joint" type="fixed">
<origin xyz="-0.139985 0.051 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="RL_hip_rotor" />
</joint>
<link name="RL_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 3.141592653589793 0.0" />
<geometry>
<mesh filename="package://aliengo_description/meshes/hip.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.083 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.0418" radius="0.046" />
</geometry>
</collision>
<inertial>
<origin xyz="0.022191 0.015144 -1.5e-05" rpy="0.0 0.0 0.0" />
<mass value="1.993" />
<inertia ixx="0.002446735" ixy="0.00059805" ixz="-1.945e-06" iyy="0.003925876" iyz="1.284e-06" izz="0.004148145" />
</inertial>
</link>
<link name="RL_hip_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.146" />
<inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05" />
</inertial>
</link>
<joint name="RL_thigh_joint" type="continuous">
<origin xyz="0.0 0.0868 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="35.278" velocity="20.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RL_thigh_rotor_joint" type="fixed">
<origin xyz="0.0 0.0298 0.0" rpy="0.0 0.0 0.0" />
<parent link="RL_hip" />
<child link="RL_thigh_rotor" />
</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://aliengo_description/meshes/thigh.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.125" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<box size="0.25 0.0374 0.043" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.005607 -0.003877 -0.048199" rpy="0.0 0.0 0.0" />
<mass value="0.639" />
<inertia ixx="0.004173855" ixy="1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="0.000109233" izz="0.000340136" />
</inertial>
</link>
<link name="RL_thigh_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.146" />
<inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05" />
</inertial>
</link>
<joint name="RL_calf_joint" type="revolute">
<origin xyz="0.0 0.0 -0.25" 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="44.4" velocity="15.89" lower="-2.775073510670984" upper="-0.6457718232379019" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RL_calf_rotor_joint" type="fixed">
<origin xyz="0.0 -0.0997 0.0" rpy="0.0 0.0 0.0" />
<parent link="RL_thigh" />
<child link="RL_calf_rotor" />
</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://aliengo_description/meshes/calf.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.125" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<box size="0.25 0.0208 0.016" />
</geometry>
</collision>
<inertial>
<origin xyz="0.002781 6.3e-05 -0.142518" rpy="0.0 0.0 0.0" />
<mass value="0.207" />
<inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05" />
</inertial>
</link>
<link name="RL_calf_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.035" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.132" />
<inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463" />
</inertial>
</link>
<joint name="RL_foot_fixed" type="fixed">
<origin xyz="0.0 0.0 -0.25" 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="0.0165" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.0265" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.06" />
<inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05" />
</inertial>
</link>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content b003865db035f218 -->
<mujoco model="aliengo">
<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="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0" />
<material name="orange" rgba="1.0 0.4235294117647059 0.0392156862745098 1.0" />
<material name="brown" rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 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="aliengo_description/meshes/trunk.dae" />
<mesh name="hip" file="aliengo_description/meshes/hip.dae" />
<mesh name="thigh_mirror" file="aliengo_description/meshes/thigh_mirror.dae" />
<mesh name="calf" file="aliengo_description/meshes/calf.dae" />
<mesh name="thigh" file="aliengo_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="0.008811 0.003839 0.000273" mass="11.644" fullinertia="0.051944892 0.24693924 0.270948307 0.001703617 0.000235941 0.000119783" />
<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="0.3235 0.075 0.056" group="3" />
<body name="imu_link">
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.0001 1e-06 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="0.2407 -0.051 0.0">
<joint name="FR_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.2217304763960306 1.2217304763960306" />
<inertial pos="-0.022191 -0.015144 -1.5e-05" mass="1.993" fullinertia="0.002446735 0.003925876 0.004148145 0.00059805 1.945e-06 -1.284e-06" />
<geom name="FR_hip_vis_0" type="mesh" mesh="hip" quat="6.123233995736766e-17 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 0.0209" pos="0.0 -0.083 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
<body name="FR_thigh" pos="0.0 -0.0868 0.0">
<joint name="FR_thigh_joint" type="hinge" axis="0.0 1.0 0.0" limited="false" />
<inertial pos="-0.005607 0.003877 -0.048199" mass="0.639" fullinertia="0.004173855 0.004343802 0.000340136 -1.0284e-05 -0.000318874 -0.000109233" />
<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="0.125 0.0187 0.0215" pos="0.0 0.0 -0.125" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
<body name="FR_calf" pos="0.0 0.0 -0.25">
<joint name="FR_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.775073510670984 -0.6457718232379019" />
<inertial pos="0.002781 6.3e-05 -0.142518" mass="0.207" fullinertia="0.002129279 0.002141463 3.7583e-05 3.9e-08 5.757e-06 -5.16e-07" />
<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="0.125 0.0104 0.008" pos="0.0 0.0 -0.125" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
<body name="FR_foot" pos="0.0 0.0 -0.25">
<inertial pos="0.0 0.0 0.0" mass="0.06" fullinertia="1.6853999999999998e-05 1.6853999999999998e-05 1.6853999999999998e-05 0.0 0.0 0.0" />
<geom name="FR_foot_vis_0" type="sphere" size="0.0165" contype="0" conaffinity="0" group="2" material="green" />
<geom name="FR_foot_col_0" type="sphere" size="0.0265" group="3" />
</body>
</body>
<body name="FR_calf_rotor" pos="0.0 0.0997 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.132" fullinertia="0.000145463 0.000133031 0.000145463 0.0 0.0 0.0" />
<geom name="FR_calf_rotor_vis_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="FR_calf_rotor_col_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
</body>
</body>
<body name="FR_thigh_rotor" pos="0.0 -0.0298 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.146" fullinertia="8.3352e-05 0.000138702 8.3352e-05 0.0 0.0 0.0" />
<geom name="FR_thigh_rotor_vis_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="FR_thigh_rotor_col_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
</body>
</body>
<body name="FR_hip_rotor" pos="0.139985 -0.051 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.146" fullinertia="0.000138702 8.3352e-05 8.3352e-05 0.0 0.0 0.0" />
<geom name="FR_hip_rotor_vis_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="FR_hip_rotor_col_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
</body>
<body name="FL_hip" pos="0.2407 0.051 0.0">
<joint name="FL_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.2217304763960306 1.2217304763960306" />
<inertial pos="-0.022191 0.015144 -1.5e-05" mass="1.993" fullinertia="0.002446735 0.003925876 0.004148145 -0.00059805 1.945e-06 1.284e-06" />
<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 0.0209" pos="0.0 0.083 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
<body name="FL_thigh" pos="0.0 0.0868 0.0">
<joint name="FL_thigh_joint" type="hinge" axis="0.0 1.0 0.0" limited="false" />
<inertial pos="-0.005607 -0.003877 -0.048199" mass="0.639" fullinertia="0.004173855 0.004343802 0.000340136 1.0284e-05 -0.000318874 0.000109233" />
<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="0.125 0.0187 0.0215" pos="0.0 0.0 -0.125" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
<body name="FL_calf" pos="0.0 0.0 -0.25">
<joint name="FL_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.775073510670984 -0.6457718232379019" />
<inertial pos="0.002781 6.3e-05 -0.142518" mass="0.207" fullinertia="0.002129279 0.002141463 3.7583e-05 3.9e-08 5.757e-06 -5.16e-07" />
<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="0.125 0.0104 0.008" pos="0.0 0.0 -0.125" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
<body name="FL_foot" pos="0.0 0.0 -0.25">
<inertial pos="0.0 0.0 0.0" mass="0.06" fullinertia="1.6853999999999998e-05 1.6853999999999998e-05 1.6853999999999998e-05 0.0 0.0 0.0" />
<geom name="FL_foot_vis_0" type="sphere" size="0.0165" contype="0" conaffinity="0" group="2" material="green" />
<geom name="FL_foot_col_0" type="sphere" size="0.0265" group="3" />
</body>
</body>
<body name="FL_calf_rotor" pos="0.0 -0.0997 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.132" fullinertia="0.000145463 0.000133031 0.000145463 0.0 0.0 0.0" />
<geom name="FL_calf_rotor_vis_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="FL_calf_rotor_col_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
</body>
</body>
<body name="FL_thigh_rotor" pos="0.0 0.0298 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.146" fullinertia="8.3352e-05 0.000138702 8.3352e-05 0.0 0.0 0.0" />
<geom name="FL_thigh_rotor_vis_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="FL_thigh_rotor_col_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
</body>
</body>
<body name="FL_hip_rotor" pos="0.139985 0.051 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.146" fullinertia="0.000138702 8.3352e-05 8.3352e-05 0.0 0.0 0.0" />
<geom name="FL_hip_rotor_vis_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="FL_hip_rotor_col_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
</body>
<body name="RR_hip" pos="-0.2407 -0.051 0.0">
<joint name="RR_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.2217304763960306 1.2217304763960306" />
<inertial pos="0.022191 -0.015144 -1.5e-05" mass="1.993" fullinertia="0.002446735 0.003925876 0.004148145 -0.00059805 -1.945e-06 -1.284e-06" />
<geom name="RR_hip_vis_0" type="mesh" mesh="hip" quat="3.749399456654644e-33 6.123233995736766e-17 6.123233995736766e-17 -1.0" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="RR_hip_col_0" type="cylinder" size="0.046 0.0209" pos="0.0 -0.083 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
<body name="RR_thigh" pos="0.0 -0.0868 0.0">
<joint name="RR_thigh_joint" type="hinge" axis="0.0 1.0 0.0" limited="false" />
<inertial pos="-0.005607 0.003877 -0.048199" mass="0.639" fullinertia="0.004173855 0.004343802 0.000340136 -1.0284e-05 -0.000318874 -0.000109233" />
<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="0.125 0.0187 0.0215" pos="0.0 0.0 -0.125" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
<body name="RR_calf" pos="0.0 0.0 -0.25">
<joint name="RR_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.775073510670984 -0.6457718232379019" />
<inertial pos="0.002781 6.3e-05 -0.142518" mass="0.207" fullinertia="0.002129279 0.002141463 3.7583e-05 3.9e-08 5.757e-06 -5.16e-07" />
<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="0.125 0.0104 0.008" pos="0.0 0.0 -0.125" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
<body name="RR_foot" pos="0.0 0.0 -0.25">
<inertial pos="0.0 0.0 0.0" mass="0.06" fullinertia="1.6853999999999998e-05 1.6853999999999998e-05 1.6853999999999998e-05 0.0 0.0 0.0" />
<geom name="RR_foot_vis_0" type="sphere" size="0.0165" contype="0" conaffinity="0" group="2" material="green" />
<geom name="RR_foot_col_0" type="sphere" size="0.0265" group="3" />
</body>
</body>
<body name="RR_calf_rotor" pos="0.0 0.0997 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.132" fullinertia="0.000145463 0.000133031 0.000145463 0.0 0.0 0.0" />
<geom name="RR_calf_rotor_vis_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="RR_calf_rotor_col_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
</body>
</body>
<body name="RR_thigh_rotor" pos="0.0 -0.0298 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.146" fullinertia="8.3352e-05 0.000138702 8.3352e-05 0.0 0.0 0.0" />
<geom name="RR_thigh_rotor_vis_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="RR_thigh_rotor_col_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
</body>
</body>
<body name="RR_hip_rotor" pos="-0.139985 -0.051 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.146" fullinertia="0.000138702 8.3352e-05 8.3352e-05 0.0 0.0 0.0" />
<geom name="RR_hip_rotor_vis_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="RR_hip_rotor_col_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
</body>
<body name="RL_hip" pos="-0.2407 0.051 0.0">
<joint name="RL_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.2217304763960306 1.2217304763960306" />
<inertial pos="0.022191 0.015144 -1.5e-05" mass="1.993" fullinertia="0.002446735 0.003925876 0.004148145 0.00059805 -1.945e-06 1.284e-06" />
<geom name="RL_hip_vis_0" type="mesh" mesh="hip" quat="6.123233995736766e-17 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 0.0209" pos="0.0 0.083 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
<body name="RL_thigh" pos="0.0 0.0868 0.0">
<joint name="RL_thigh_joint" type="hinge" axis="0.0 1.0 0.0" limited="false" />
<inertial pos="-0.005607 -0.003877 -0.048199" mass="0.639" fullinertia="0.004173855 0.004343802 0.000340136 1.0284e-05 -0.000318874 0.000109233" />
<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="0.125 0.0187 0.0215" pos="0.0 0.0 -0.125" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
<body name="RL_calf" pos="0.0 0.0 -0.25">
<joint name="RL_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.775073510670984 -0.6457718232379019" />
<inertial pos="0.002781 6.3e-05 -0.142518" mass="0.207" fullinertia="0.002129279 0.002141463 3.7583e-05 3.9e-08 5.757e-06 -5.16e-07" />
<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="0.125 0.0104 0.008" pos="0.0 0.0 -0.125" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
<body name="RL_foot" pos="0.0 0.0 -0.25">
<inertial pos="0.0 0.0 0.0" mass="0.06" fullinertia="1.6853999999999998e-05 1.6853999999999998e-05 1.6853999999999998e-05 0.0 0.0 0.0" />
<geom name="RL_foot_vis_0" type="sphere" size="0.0165" contype="0" conaffinity="0" group="2" material="green" />
<geom name="RL_foot_col_0" type="sphere" size="0.0265" group="3" />
</body>
</body>
<body name="RL_calf_rotor" pos="0.0 -0.0997 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.132" fullinertia="0.000145463 0.000133031 0.000145463 0.0 0.0 0.0" />
<geom name="RL_calf_rotor_vis_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="RL_calf_rotor_col_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
</body>
</body>
<body name="RL_thigh_rotor" pos="0.0 0.0298 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.146" fullinertia="8.3352e-05 0.000138702 8.3352e-05 0.0 0.0 0.0" />
<geom name="RL_thigh_rotor_vis_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="RL_thigh_rotor_col_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
</body>
</body>
<body name="RL_hip_rotor" pos="-0.139985 0.051 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.146" fullinertia="0.000138702 8.3352e-05 8.3352e-05 0.0 0.0 0.0" />
<geom name="RL_hip_rotor_vis_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="RL_hip_rotor_col_0" type="cylinder" size="0.035 0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base" body2="trunk" />
<exclude body1="trunk" body2="imu_link" />
<exclude body1="trunk" body2="FR_hip" />
<exclude body1="trunk" body2="FR_hip_rotor" />
<exclude body1="FR_hip" body2="FR_thigh" />
<exclude body1="FR_hip" body2="FR_thigh_rotor" />
<exclude body1="FR_thigh" body2="FR_calf" />
<exclude body1="FR_thigh" body2="FR_calf_rotor" />
<exclude body1="FR_calf" body2="FR_foot" />
<exclude body1="trunk" body2="FL_hip" />
<exclude body1="trunk" body2="FL_hip_rotor" />
<exclude body1="FL_hip" body2="FL_thigh" />
<exclude body1="FL_hip" body2="FL_thigh_rotor" />
<exclude body1="FL_thigh" body2="FL_calf" />
<exclude body1="FL_thigh" body2="FL_calf_rotor" />
<exclude body1="FL_calf" body2="FL_foot" />
<exclude body1="trunk" body2="RR_hip" />
<exclude body1="trunk" body2="RR_hip_rotor" />
<exclude body1="RR_hip" body2="RR_thigh" />
<exclude body1="RR_hip" body2="RR_thigh_rotor" />
<exclude body1="RR_thigh" body2="RR_calf" />
<exclude body1="RR_thigh" body2="RR_calf_rotor" />
<exclude body1="RR_calf" body2="RR_foot" />
<exclude body1="trunk" body2="RL_hip" />
<exclude body1="trunk" body2="RL_hip_rotor" />
<exclude body1="RL_hip" body2="RL_thigh" />
<exclude body1="RL_hip" body2="RL_thigh_rotor" />
<exclude body1="RL_thigh" body2="RL_calf" />
<exclude body1="RL_thigh" body2="RL_calf_rotor" />
<exclude body1="RL_calf" body2="RL_foot" />
</contact>
</mujoco>
Import report
Counts
| Links | 31 |
|---|---|
| Joints | 30 |
| Moving joints | 12 |
| Visuals | 31 |
| Collisions | 30 |
| Materials | 9 |
Meshes
Formats: dae.
Asset size: 6.3 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
gazebo | 32 | 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 31 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 · 1.8e-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/aliengo_description/urdf/aliengo.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.