ANYmal B
ANYbotics · licence BSD-3-Clause · source: github.com/ANYbotics/anymal_b_simple_description @ 988b5df22
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 3796b24104f9ce11 -->
<robot name="anymal">
<material name="anymal_material">
<color rgba="0.7 0.7 0.7 1.0" />
</material>
<link name="base">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_base.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.08" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.531 0.27 0.24" />
</geometry>
</collision>
<collision>
<origin xyz="0.227 0.116 0.0" rpy="0.0 1.57079632679 0.0" />
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</collision>
<collision>
<origin xyz="0.227 -0.116 0.0" rpy="0.0 1.57079632679 0.0" />
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</collision>
<collision>
<origin xyz="-0.227 0.116 0.0" rpy="0.0 1.57079632679 0.0" />
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</collision>
<collision>
<origin xyz="-0.227 -0.116 0.0" rpy="0.0 1.57079632679 0.0" />
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</collision>
<collision>
<origin xyz="0.2155 0.0 -0.09" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.07" />
</geometry>
</collision>
<collision>
<origin xyz="-0.2155 0.0 -0.09" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.07" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.0 -0.09" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.531 0.02 0.07" />
</geometry>
</collision>
</link>
<joint name="base_to_base_inertia" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="base_inertia" />
</joint>
<link name="base_inertia">
<inertial>
<origin xyz="-0.001960558279 -0.001413217745 0.050207125344" rpy="0.0 0.0 0.0" />
<mass value="16.793507758" />
<inertia ixx="0.217391101503" ixy="-0.00132873239126" ixz="-0.00228200226173" iyy="0.639432546734" iyz="-0.00138078263145" izz="0.62414077654" />
</inertial>
</link>
<link name="LF_HIP">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_hip_l.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin xyz="0.0635 -0.009 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.1" radius="0.08" />
</geometry>
</collision>
<collision>
<origin xyz="0.0635 -0.074 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.03" radius="0.045" />
</geometry>
</collision>
<inertial>
<origin xyz="0.064516258147 -0.003787101702 -0.000152184388" rpy="0.0 0.0 0.0" />
<mass value="1.42462064" />
<inertia ixx="0.00243023349564" ixy="-1.53023971e-05" ixz="-2.1819095354e-05" iyy="0.00230257239103" iyz="2.6473021273e-05" izz="0.0019806759227" />
</inertial>
</link>
<joint name="LF_HAA" type="revolute">
<origin xyz="0.277 0.116 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="LF_HIP" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="80.0" velocity="15.0" lower="-9.42" upper="9.42" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LF_THIGH">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_thigh_l.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin xyz="0.0 0.035 -0.125" rpy="0.145 0.0 0.0" />
<geometry>
<box size="0.08 0.04 0.25" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.069 -0.25" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.12" radius="0.06" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 -0.005 0.0" rpy="1.71579632679 0.0 0.0" />
<geometry>
<cylinder length="0.12" radius="0.066" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.003897968082 0.054226618537 -0.214583373795" rpy="0.0 0.0 0.0" />
<mass value="1.634976467" />
<inertia ixx="0.0120367944369" ixy="6.762065206e-05" ixz="0.000287806340448" iyy="0.0120643637939" iyz="-0.00140610131218" izz="0.00249422574881" />
</inertial>
</link>
<joint name="LF_HFE" type="revolute">
<origin xyz="0.0635 0.041 0.0" rpy="0.0 0.0 0.0" />
<parent link="LF_HIP" />
<child link="LF_THIGH" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="80.0" velocity="15.0" lower="-9.42" upper="9.42" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LF_SHANK">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_shank_l.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin xyz="0.065 -0.015 0.01" rpy="0.0 1.57079632679 0.0" />
<geometry>
<box size="0.08 0.07 0.13" />
</geometry>
</collision>
<inertial>
<origin xyz="0.030816858139 -0.004617229294 0.000893125713" rpy="0.0 0.0 0.0" />
<mass value="0.207204302" />
<inertia ixx="0.0002104880248" ixy="-5.6750980345e-05" ixz="1.0127699391e-05" iyy="0.000676270210023" iyz="-8.22869024e-07" izz="0.000545032674924" />
</inertial>
</link>
<joint name="LF_KFE" type="revolute">
<origin xyz="0.0 0.109 -0.25" rpy="0.0 0.0 0.0" />
<parent link="LF_THIGH" />
<child link="LF_SHANK" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="80.0" velocity="15.0" lower="-9.42" upper="9.42" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LF_SHANK_TO_ADAPTER" type="fixed">
<origin xyz="0.1 -0.02 0.0" rpy="0.0 0.0 0.0" />
<parent link="LF_SHANK" />
<child link="LF_ADAPTER" />
</joint>
<link name="LF_ADAPTER">
<visual>
<origin xyz="0.0 0.0 0.032" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_foot.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.160625" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.32125" radius="0.015" />
</geometry>
</collision>
<inertial>
<origin xyz="-8.66e-10 -1.472e-09 -0.244345749188" rpy="0.0 0.0 0.0" />
<mass value="0.140170767" />
<inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05" />
</inertial>
</link>
<joint name="LF_ADAPTER_TO_FOOT" type="fixed">
<origin xyz="0.0 0.0 -0.32125" rpy="0.0 0.0 0.0" />
<parent link="LF_ADAPTER" />
<child link="LF_FOOT" />
</joint>
<link name="LF_FOOT">
<collision>
<origin xyz="0.0 0.0 0.02325" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.031" />
</geometry>
</collision>
</link>
<link name="RF_HIP">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_hip_r.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin xyz="0.0635 0.009 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.1" radius="0.08" />
</geometry>
</collision>
<collision>
<origin xyz="0.0635 0.074 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.03" radius="0.045" />
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</collision>
<inertial>
<origin xyz="0.064516258147 0.003787101702 -0.000152184388" rpy="0.0 0.0 0.0" />
<mass value="1.42462064" />
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</inertial>
</link>
<joint name="RF_HAA" type="revolute">
<origin xyz="0.277 -0.116 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="RF_HIP" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="80.0" velocity="15.0" lower="-9.42" upper="9.42" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RF_THIGH">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_thigh_r.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin xyz="0.0 -0.035 -0.125" rpy="-0.145 0.0 0.0" />
<geometry>
<box size="0.08 0.04 0.25" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 -0.069 -0.25" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.12" radius="0.06" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.005 0.0" rpy="-1.71579632679 0.0 0.0" />
<geometry>
<cylinder length="0.12" radius="0.066" />
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</collision>
<inertial>
<origin xyz="-0.003897968082 -0.054226618537 -0.214583373795" rpy="0.0 0.0 0.0" />
<mass value="1.634976467" />
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</inertial>
</link>
<joint name="RF_HFE" type="revolute">
<origin xyz="0.0635 -0.041 0.0" rpy="0.0 0.0 0.0" />
<parent link="RF_HIP" />
<child link="RF_THIGH" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="80.0" velocity="15.0" lower="-9.42" upper="9.42" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RF_SHANK">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_shank_r.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
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<inertial>
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<mass value="0.207204302" />
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</inertial>
</link>
<joint name="RF_KFE" type="revolute">
<origin xyz="0.0 -0.109 -0.25" rpy="0.0 0.0 0.0" />
<parent link="RF_THIGH" />
<child link="RF_SHANK" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="80.0" velocity="15.0" lower="-9.42" upper="9.42" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RF_SHANK_TO_ADAPTER" type="fixed">
<origin xyz="0.1 0.02 0.0" rpy="-0.0 0.0 -0.0" />
<parent link="RF_SHANK" />
<child link="RF_ADAPTER" />
</joint>
<link name="RF_ADAPTER">
<visual>
<origin xyz="0.0 0.0 0.032" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_foot.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.160625" rpy="0.0 0.0 0.0" />
<geometry>
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</geometry>
</collision>
<inertial>
<origin xyz="-8.66e-10 -1.472e-09 -0.244345749188" rpy="0.0 0.0 0.0" />
<mass value="0.140170767" />
<inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05" />
</inertial>
</link>
<joint name="RF_ADAPTER_TO_FOOT" type="fixed">
<origin xyz="0.0 -0.0 -0.32125" rpy="-0.0 0.0 -0.0" />
<parent link="RF_ADAPTER" />
<child link="RF_FOOT" />
</joint>
<link name="RF_FOOT">
<collision>
<origin xyz="0.0 0.0 0.02325" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.031" />
</geometry>
</collision>
</link>
<link name="LH_HIP">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.14159265359" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_hip_r.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin xyz="-0.0635 -0.009 0.0" rpy="-1.57079632679 0.0 0.0" />
<geometry>
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</collision>
<collision>
<origin xyz="-0.0635 -0.074 0.0" rpy="-1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.03" radius="0.045" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.064516258147 -0.003787101702 -0.000152184388" rpy="0.0 0.0 0.0" />
<mass value="1.42462064" />
<inertia ixx="0.00243023349564" ixy="1.53023971e-05" ixz="2.1819095354e-05" iyy="0.00230257239103" iyz="2.6473021273e-05" izz="0.0019806759227" />
</inertial>
</link>
<joint name="LH_HAA" type="revolute">
<origin xyz="-0.277 0.116 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="LH_HIP" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="80.0" velocity="15.0" lower="-9.42" upper="9.42" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LH_THIGH">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.14159265359" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_thigh_r.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin xyz="0.0 0.035 -0.125" rpy="0.145 0.0 0.0" />
<geometry>
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</collision>
<collision>
<origin xyz="0.0 0.069 -0.25" rpy="1.57079632679 0.0 0.0" />
<geometry>
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</collision>
<collision>
<origin xyz="0.0 -0.005 0.0" rpy="1.71579632679 0.0 0.0" />
<geometry>
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</collision>
<inertial>
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<mass value="1.634976467" />
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</link>
<joint name="LH_HFE" type="revolute">
<origin xyz="-0.0635 0.041 0.0" rpy="0.0 0.0 0.0" />
<parent link="LH_HIP" />
<child link="LH_THIGH" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="80.0" velocity="15.0" lower="-9.42" upper="9.42" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LH_SHANK">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.14159265359" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_shank_r.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin xyz="-0.065 -0.015 0.01" rpy="0.0 1.57079632679 0.0" />
<geometry>
<box size="0.08 0.07 0.13" />
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</collision>
<inertial>
<origin xyz="-0.030816858139 -0.004617229294 0.000893125713" rpy="0.0 0.0 0.0" />
<mass value="0.207204302" />
<inertia ixx="0.0002104880248" ixy="5.6750980345e-05" ixz="-1.0127699391e-05" iyy="0.000676270210023" iyz="-8.22869024e-07" izz="0.000545032674924" />
</inertial>
</link>
<joint name="LH_KFE" type="revolute">
<origin xyz="-0.0 0.109 -0.25" rpy="0.0 0.0 0.0" />
<parent link="LH_THIGH" />
<child link="LH_SHANK" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="80.0" velocity="15.0" lower="-9.42" upper="9.42" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LH_SHANK_TO_ADAPTER" type="fixed">
<origin xyz="-0.1 -0.02 0.0" rpy="0.0 -0.0 -0.0" />
<parent link="LH_SHANK" />
<child link="LH_ADAPTER" />
</joint>
<link name="LH_ADAPTER">
<visual>
<origin xyz="0.0 0.0 0.032" rpy="0.0 0.0 -3.14159265359" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_foot.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.160625" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.32125" radius="0.015" />
</geometry>
</collision>
<inertial>
<origin xyz="-8.66e-10 -1.472e-09 -0.244345749188" rpy="0.0 0.0 0.0" />
<mass value="0.140170767" />
<inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05" />
</inertial>
</link>
<joint name="LH_ADAPTER_TO_FOOT" type="fixed">
<origin xyz="-0.0 0.0 -0.32125" rpy="0.0 -0.0 -0.0" />
<parent link="LH_ADAPTER" />
<child link="LH_FOOT" />
</joint>
<link name="LH_FOOT">
<collision>
<origin xyz="0.0 0.0 0.02325" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.031" />
</geometry>
</collision>
</link>
<link name="RH_HIP">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.14159265359" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_hip_l.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin xyz="-0.0635 0.009 0.0" rpy="-1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.1" radius="0.08" />
</geometry>
</collision>
<collision>
<origin xyz="-0.0635 0.074 0.0" rpy="-1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.03" radius="0.045" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.064516258147 0.003787101702 -0.000152184388" rpy="0.0 0.0 0.0" />
<mass value="1.42462064" />
<inertia ixx="0.00243023349564" ixy="-1.53023971e-05" ixz="2.1819095354e-05" iyy="0.00230257239103" iyz="-2.6473021273e-05" izz="0.0019806759227" />
</inertial>
</link>
<joint name="RH_HAA" type="revolute">
<origin xyz="-0.277 -0.116 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="RH_HIP" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="80.0" velocity="15.0" lower="-9.42" upper="9.42" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RH_THIGH">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.14159265359" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_thigh_l.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin xyz="0.0 -0.035 -0.125" rpy="-0.145 0.0 0.0" />
<geometry>
<box size="0.08 0.04 0.25" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 -0.069 -0.25" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.12" radius="0.06" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.005 0.0" rpy="-1.71579632679 0.0 0.0" />
<geometry>
<cylinder length="0.12" radius="0.066" />
</geometry>
</collision>
<inertial>
<origin xyz="0.003897968082 -0.054226618537 -0.214583373795" rpy="0.0 0.0 0.0" />
<mass value="1.634976467" />
<inertia ixx="0.0120367944369" ixy="6.762065206e-05" ixz="-0.000287806340448" iyy="0.0120643637939" iyz="0.00140610131218" izz="0.00249422574881" />
</inertial>
</link>
<joint name="RH_HFE" type="revolute">
<origin xyz="-0.0635 -0.041 0.0" rpy="0.0 0.0 0.0" />
<parent link="RH_HIP" />
<child link="RH_THIGH" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="80.0" velocity="15.0" lower="-9.42" upper="9.42" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RH_SHANK">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.14159265359" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_shank_l.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin xyz="-0.065 0.015 0.01" rpy="0.0 1.57079632679 0.0" />
<geometry>
<box size="0.08 0.07 0.13" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.030816858139 0.004617229294 0.000893125713" rpy="0.0 0.0 0.0" />
<mass value="0.207204302" />
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</inertial>
</link>
<joint name="RH_KFE" type="revolute">
<origin xyz="-0.0 -0.109 -0.25" rpy="0.0 0.0 0.0" />
<parent link="RH_THIGH" />
<child link="RH_SHANK" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="80.0" velocity="15.0" lower="-9.42" upper="9.42" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RH_SHANK_TO_ADAPTER" type="fixed">
<origin xyz="-0.1 0.02 0.0" rpy="-0.0 -0.0 0.0" />
<parent link="RH_SHANK" />
<child link="RH_ADAPTER" />
</joint>
<link name="RH_ADAPTER">
<visual>
<origin xyz="0.0 0.0 0.032" rpy="0.0 0.0 -3.14159265359" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_foot.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.160625" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.32125" radius="0.015" />
</geometry>
</collision>
<inertial>
<origin xyz="-8.66e-10 -1.472e-09 -0.244345749188" rpy="0.0 0.0 0.0" />
<mass value="0.140170767" />
<inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05" />
</inertial>
</link>
<joint name="RH_ADAPTER_TO_FOOT" type="fixed">
<origin xyz="-0.0 -0.0 -0.32125" rpy="-0.0 -0.0 0.0" />
<parent link="RH_ADAPTER" />
<child link="RH_FOOT" />
</joint>
<link name="RH_FOOT">
<collision>
<origin xyz="0.0 0.0 0.02325" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.031" />
</geometry>
</collision>
</link>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 3796b24104f9ce11 -->
<mujoco model="anymal">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="anymal_material" rgba="0.7 0.7 0.7 1.0" />
<mesh name="anymal_base_0p001_0p001_0p001" file="anymal_b_simple_description/meshes/anymal_base.dae" scale="0.001 0.001 0.001" />
<mesh name="anymal_hip_l_0p001_0p001_0p001" file="anymal_b_simple_description/meshes/anymal_hip_l.dae" scale="0.001 0.001 0.001" />
<mesh name="anymal_thigh_l_0p001_0p001_0p001" file="anymal_b_simple_description/meshes/anymal_thigh_l.dae" scale="0.001 0.001 0.001" />
<mesh name="anymal_shank_l_0p001_0p001_0p001" file="anymal_b_simple_description/meshes/anymal_shank_l.dae" scale="0.001 0.001 0.001" />
<mesh name="anymal_foot_0p001_0p001_0p001" file="anymal_b_simple_description/meshes/anymal_foot.dae" scale="0.001 0.001 0.001" />
<mesh name="anymal_hip_r_0p001_0p001_0p001" file="anymal_b_simple_description/meshes/anymal_hip_r.dae" scale="0.001 0.001 0.001" />
<mesh name="anymal_thigh_r_0p001_0p001_0p001" file="anymal_b_simple_description/meshes/anymal_thigh_r.dae" scale="0.001 0.001 0.001" />
<mesh name="anymal_shank_r_0p001_0p001_0p001" file="anymal_b_simple_description/meshes/anymal_shank_r.dae" scale="0.001 0.001 0.001" />
</asset>
<worldbody>
<body name="base">
<geom name="base_vis_0" type="mesh" mesh="anymal_base_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="anymal_material" />
<geom name="base_col_0" type="box" size="0.2655 0.135 0.12" pos="0.0 0.0 0.08" group="3" />
<geom name="base_col_1" type="cylinder" size="0.05 0.05" pos="0.227 0.116 0.0" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<geom name="base_col_2" type="cylinder" size="0.05 0.05" pos="0.227 -0.116 0.0" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<geom name="base_col_3" type="cylinder" size="0.05 0.05" pos="-0.227 0.116 0.0" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<geom name="base_col_4" type="cylinder" size="0.05 0.05" pos="-0.227 -0.116 0.0" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<geom name="base_col_5" type="box" size="0.05 0.05 0.035" pos="0.2155 0.0 -0.09" group="3" />
<geom name="base_col_6" type="box" size="0.05 0.05 0.035" pos="-0.2155 0.0 -0.09" group="3" />
<geom name="base_col_7" type="box" size="0.2655 0.01 0.035" pos="0.0 0.0 -0.09" group="3" />
<body name="base_inertia">
<inertial pos="-0.001960558279 -0.001413217745 0.050207125344" mass="16.793507758" fullinertia="0.217391101503 0.639432546734 0.62414077654 -0.00132873239126 -0.00228200226173 -0.00138078263145" />
</body>
<body name="LF_HIP" pos="0.277 0.116 0.0">
<joint name="LF_HAA" type="hinge" axis="1.0 0.0 0.0" range="-9.42 9.42" />
<inertial pos="0.064516258147 -0.003787101702 -0.000152184388" mass="1.42462064" fullinertia="0.00243023349564 0.00230257239103 0.0019806759227 -1.53023971e-05 -2.1819095354e-05 2.6473021273e-05" />
<geom name="LF_HIP_vis_0" type="mesh" mesh="anymal_hip_l_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="anymal_material" />
<geom name="LF_HIP_col_0" type="cylinder" size="0.08 0.05" pos="0.0635 -0.009 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
<geom name="LF_HIP_col_1" type="cylinder" size="0.045 0.015" pos="0.0635 -0.074 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
<body name="LF_THIGH" pos="0.0635 0.041 0.0">
<joint name="LF_HFE" type="hinge" axis="0.0 1.0 0.0" range="-9.42 9.42" />
<inertial pos="-0.003897968082 0.054226618537 -0.214583373795" mass="1.634976467" fullinertia="0.0120367944369 0.0120643637939 0.00249422574881 6.762065206e-05 0.000287806340448 -0.00140610131218" />
<geom name="LF_THIGH_vis_0" type="mesh" mesh="anymal_thigh_l_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="anymal_material" />
<geom name="LF_THIGH_col_0" type="box" size="0.04 0.02 0.125" pos="0.0 0.035 -0.125" quat="0.9973730259718263 0.07243650366909361 0.0 0.0" group="3" />
<geom name="LF_THIGH_col_1" type="cylinder" size="0.06 0.06" pos="0.0 0.069 -0.25" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
<geom name="LF_THIGH_col_2" type="cylinder" size="0.066 0.06" pos="0.0 -0.005 0.0" quat="0.6540288870892167 0.7564695729854841 0.0 0.0" group="3" />
<body name="LF_SHANK" pos="0.0 0.109 -0.25">
<joint name="LF_KFE" type="hinge" axis="0.0 1.0 0.0" range="-9.42 9.42" />
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<geom name="LF_SHANK_vis_0" type="mesh" mesh="anymal_shank_l_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="anymal_material" />
<geom name="LF_SHANK_col_0" type="box" size="0.04 0.035 0.065" pos="0.065 -0.015 0.01" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<body name="LF_ADAPTER" pos="0.1 -0.02 0.0">
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<geom name="LF_ADAPTER_vis_0" type="mesh" mesh="anymal_foot_0p001_0p001_0p001" pos="0.0 0.0 0.032" contype="0" conaffinity="0" group="2" material="anymal_material" />
<geom name="LF_ADAPTER_col_0" type="cylinder" size="0.015 0.160625" pos="0.0 0.0 -0.160625" group="3" />
<body name="LF_FOOT" pos="0.0 0.0 -0.32125">
<geom name="LF_FOOT_col_0" type="sphere" size="0.031" pos="0.0 0.0 0.02325" group="3" />
</body>
</body>
</body>
</body>
</body>
<body name="RF_HIP" pos="0.277 -0.116 0.0">
<joint name="RF_HAA" type="hinge" axis="1.0 0.0 0.0" range="-9.42 9.42" />
<inertial pos="0.064516258147 0.003787101702 -0.000152184388" mass="1.42462064" fullinertia="0.00243023349564 0.00230257239103 0.0019806759227 1.53023971e-05 -2.1819095354e-05 -2.6473021273e-05" />
<geom name="RF_HIP_vis_0" type="mesh" mesh="anymal_hip_r_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="anymal_material" />
<geom name="RF_HIP_col_0" type="cylinder" size="0.08 0.05" pos="0.0635 0.009 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
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<body name="RF_THIGH" pos="0.0635 -0.041 0.0">
<joint name="RF_HFE" type="hinge" axis="0.0 1.0 0.0" range="-9.42 9.42" />
<inertial pos="-0.003897968082 -0.054226618537 -0.214583373795" mass="1.634976467" fullinertia="0.0120367944369 0.0120643637939 0.00249422574881 -6.762065206e-05 0.000287806340448 0.00140610131218" />
<geom name="RF_THIGH_vis_0" type="mesh" mesh="anymal_thigh_r_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="anymal_material" />
<geom name="RF_THIGH_col_0" type="box" size="0.04 0.02 0.125" pos="0.0 -0.035 -0.125" quat="0.9973730259718263 -0.07243650366909361 0.0 0.0" group="3" />
<geom name="RF_THIGH_col_1" type="cylinder" size="0.06 0.06" pos="0.0 -0.069 -0.25" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
<geom name="RF_THIGH_col_2" type="cylinder" size="0.066 0.06" pos="0.0 0.005 0.0" quat="0.6540288870892167 -0.7564695729854841 0.0 0.0" group="3" />
<body name="RF_SHANK" pos="0.0 -0.109 -0.25">
<joint name="RF_KFE" type="hinge" axis="0.0 1.0 0.0" range="-9.42 9.42" />
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<geom name="RF_SHANK_vis_0" type="mesh" mesh="anymal_shank_r_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="anymal_material" />
<geom name="RF_SHANK_col_0" type="box" size="0.04 0.035 0.065" pos="0.065 0.015 0.01" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<body name="RF_ADAPTER" pos="0.1 0.02 0.0">
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<geom name="RF_ADAPTER_col_0" type="cylinder" size="0.015 0.160625" pos="0.0 0.0 -0.160625" group="3" />
<body name="RF_FOOT" pos="0.0 -0.0 -0.32125">
<geom name="RF_FOOT_col_0" type="sphere" size="0.031" pos="0.0 0.0 0.02325" group="3" />
</body>
</body>
</body>
</body>
</body>
<body name="LH_HIP" pos="-0.277 0.116 0.0">
<joint name="LH_HAA" type="hinge" axis="1.0 0.0 0.0" range="-9.42 9.42" />
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<body name="LH_SHANK" pos="-0.0 0.109 -0.25">
<joint name="LH_KFE" type="hinge" axis="0.0 1.0 0.0" range="-9.42 9.42" />
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<geom name="LH_SHANK_vis_0" type="mesh" mesh="anymal_shank_r_0p001_0p001_0p001" quat="-1.0341155355510722e-13 0.0 -0.0 -1.0" contype="0" conaffinity="0" group="2" material="anymal_material" />
<geom name="LH_SHANK_col_0" type="box" size="0.04 0.035 0.065" pos="-0.065 -0.015 0.01" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<body name="LH_ADAPTER" pos="-0.1 -0.02 0.0">
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<body name="LH_FOOT" pos="-0.0 0.0 -0.32125">
<geom name="LH_FOOT_col_0" type="sphere" size="0.031" pos="0.0 0.0 0.02325" group="3" />
</body>
</body>
</body>
</body>
</body>
<body name="RH_HIP" pos="-0.277 -0.116 0.0">
<joint name="RH_HAA" type="hinge" axis="1.0 0.0 0.0" range="-9.42 9.42" />
<inertial pos="-0.064516258147 0.003787101702 -0.000152184388" mass="1.42462064" fullinertia="0.00243023349564 0.00230257239103 0.0019806759227 -1.53023971e-05 2.1819095354e-05 -2.6473021273e-05" />
<geom name="RH_HIP_vis_0" type="mesh" mesh="anymal_hip_l_0p001_0p001_0p001" quat="-1.0341155355510722e-13 0.0 -0.0 -1.0" contype="0" conaffinity="0" group="2" material="anymal_material" />
<geom name="RH_HIP_col_0" type="cylinder" size="0.08 0.05" pos="-0.0635 0.009 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0" group="3" />
<geom name="RH_HIP_col_1" type="cylinder" size="0.045 0.015" pos="-0.0635 0.074 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0" group="3" />
<body name="RH_THIGH" pos="-0.0635 -0.041 0.0">
<joint name="RH_HFE" type="hinge" axis="0.0 1.0 0.0" range="-9.42 9.42" />
<inertial pos="0.003897968082 -0.054226618537 -0.214583373795" mass="1.634976467" fullinertia="0.0120367944369 0.0120643637939 0.00249422574881 6.762065206e-05 -0.000287806340448 0.00140610131218" />
<geom name="RH_THIGH_vis_0" type="mesh" mesh="anymal_thigh_l_0p001_0p001_0p001" quat="-1.0341155355510722e-13 0.0 -0.0 -1.0" contype="0" conaffinity="0" group="2" material="anymal_material" />
<geom name="RH_THIGH_col_0" type="box" size="0.04 0.02 0.125" pos="0.0 -0.035 -0.125" quat="0.9973730259718263 -0.07243650366909361 0.0 0.0" group="3" />
<geom name="RH_THIGH_col_1" type="cylinder" size="0.06 0.06" pos="0.0 -0.069 -0.25" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
<geom name="RH_THIGH_col_2" type="cylinder" size="0.066 0.06" pos="0.0 0.005 0.0" quat="0.6540288870892167 -0.7564695729854841 0.0 0.0" group="3" />
<body name="RH_SHANK" pos="-0.0 -0.109 -0.25">
<joint name="RH_KFE" type="hinge" axis="0.0 1.0 0.0" range="-9.42 9.42" />
<inertial pos="-0.030816858139 0.004617229294 0.000893125713" mass="0.207204302" fullinertia="0.0002104880248 0.000676270210023 0.000545032674924 -5.6750980345e-05 -1.0127699391e-05 8.22869024e-07" />
<geom name="RH_SHANK_vis_0" type="mesh" mesh="anymal_shank_l_0p001_0p001_0p001" quat="-1.0341155355510722e-13 0.0 -0.0 -1.0" contype="0" conaffinity="0" group="2" material="anymal_material" />
<geom name="RH_SHANK_col_0" type="box" size="0.04 0.035 0.065" pos="-0.065 0.015 0.01" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<body name="RH_ADAPTER" pos="-0.1 0.02 0.0">
<inertial pos="-8.66e-10 -1.472e-09 -0.244345749188" mass="0.140170767" fullinertia="0.00159938741862 0.00159938741932 5.4423177329e-05 -9.32e-13 1.039e-11 1.7563e-11" />
<geom name="RH_ADAPTER_vis_0" type="mesh" mesh="anymal_foot_0p001_0p001_0p001" pos="0.0 0.0 0.032" quat="-1.0341155355510722e-13 0.0 -0.0 -1.0" contype="0" conaffinity="0" group="2" material="anymal_material" />
<geom name="RH_ADAPTER_col_0" type="cylinder" size="0.015 0.160625" pos="0.0 0.0 -0.160625" group="3" />
<body name="RH_FOOT" pos="-0.0 -0.0 -0.32125">
<geom name="RH_FOOT_col_0" type="sphere" size="0.031" pos="0.0 0.0 0.02325" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base" body2="base_inertia" />
<exclude body1="base" body2="LF_HIP" />
<exclude body1="LF_HIP" body2="LF_THIGH" />
<exclude body1="LF_THIGH" body2="LF_SHANK" />
<exclude body1="LF_SHANK" body2="LF_ADAPTER" />
<exclude body1="LF_ADAPTER" body2="LF_FOOT" />
<exclude body1="base" body2="RF_HIP" />
<exclude body1="RF_HIP" body2="RF_THIGH" />
<exclude body1="RF_THIGH" body2="RF_SHANK" />
<exclude body1="RF_SHANK" body2="RF_ADAPTER" />
<exclude body1="RF_ADAPTER" body2="RF_FOOT" />
<exclude body1="base" body2="LH_HIP" />
<exclude body1="LH_HIP" body2="LH_THIGH" />
<exclude body1="LH_THIGH" body2="LH_SHANK" />
<exclude body1="LH_SHANK" body2="LH_ADAPTER" />
<exclude body1="LH_ADAPTER" body2="LH_FOOT" />
<exclude body1="base" body2="RH_HIP" />
<exclude body1="RH_HIP" body2="RH_THIGH" />
<exclude body1="RH_THIGH" body2="RH_SHANK" />
<exclude body1="RH_SHANK" body2="RH_ADAPTER" />
<exclude body1="RH_ADAPTER" body2="RH_FOOT" />
</contact>
</mujoco>
Import report
Counts
| Links | 22 |
|---|---|
| Joints | 21 |
| Moving joints | 12 |
| Visuals | 17 |
| Collisions | 40 |
| Materials | 1 |
Meshes
Formats: dae.
Asset size: 22.1 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
@command_effort | 12 | attribute 'command_effort' is not part of the URDF subset RobotDescription mirrors |
@current | 12 | attribute 'current' is not part of the URDF subset RobotDescription mirrors |
@gear_velocity | 12 | attribute 'gear_velocity' is not part of the URDF subset RobotDescription mirrors |
gazebo | 4 | Gazebo simulator extensions are not part of the description |
material | 4 | <material> is not part of the URDF subset RobotDescription mirrors |
Forward-kinematics check
Forward kinematics of 22 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 · 2.3e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 12).
Source & licence
| Repository | https://github.com/ANYbotics/anymal_b_simple_description |
|---|---|
| Commit | 988b5df22b84761bdf08111b1c2ccc883793f456 |
| Original file | urdf/anymal.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.