ANYmal C
ANYbotics · licence BSD-3-Clause · source: github.com/ANYbotics/anymal_c_simple_description @ f160b8f7f
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 1f7d704a6f75e92d -->
<robot name="anymal">
<link name="base">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/base.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.58 0.14 0.18" />
</geometry>
</collision>
<collision>
<origin xyz="0.2175 0.07 0.0" rpy="0.0 1.57079632679 0.0" />
<geometry>
<cylinder length="0.145" radius="0.09" />
</geometry>
</collision>
<collision>
<origin xyz="-0.2175 0.07 0.0" rpy="0.0 1.57079632679 0.0" />
<geometry>
<cylinder length="0.145" radius="0.09" />
</geometry>
</collision>
<collision>
<origin xyz="0.2175 -0.07 0.0" rpy="0.0 1.57079632679 0.0" />
<geometry>
<cylinder length="0.145" radius="0.09" />
</geometry>
</collision>
<collision>
<origin xyz="-0.2175 -0.07 0.0" rpy="0.0 1.57079632679 0.0" />
<geometry>
<cylinder length="0.145" radius="0.09" />
</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="-0.018 -0.002 0.024" rpy="0.0 0.0 0.0" />
<mass value="6.222" />
<inertia ixx="0.017938806" ixy="0.00387963" ixz="0.001500772" iyy="0.370887745" iyz="6.8963e-05" izz="0.372497653" />
</inertial>
</link>
<joint name="base_top_shell" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="top_shell" />
</joint>
<link name="top_shell">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/top_shell.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.00777 -0.00013 0.06523" rpy="0.0 0.0 0.0" />
<mass value="0.534" />
<inertia ixx="0.00664789486" ixy="1.247923e-05" ixz="0.00053990097" iyy="0.02587392411" iyz="3.7614e-07" izz="0.03152303792" />
</inertial>
</link>
<joint name="base_bottom_shell" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="bottom_shell" />
</joint>
<link name="bottom_shell">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/bottom_shell.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.00333 1e-05 -0.07705" rpy="0.0 0.0 0.0" />
<mass value="1.15" />
<inertia ixx="0.00927353677" ixy="5.41222e-06" ixz="9.039821e-05" iyy="0.06134388239" iyz="2.3042e-07" izz="0.06853531465" />
</inertial>
</link>
<joint name="base_remote" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="remote" />
</joint>
<link name="remote">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/remote.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.171 0.002 0.096" rpy="0.0 0.0 0.0" />
<mass value="0.3262" />
<inertia ixx="0.000528486" ixy="4.547e-05" ixz="1.10327e-05" iyy="0.001165035" iyz="7.4e-07" izz="0.00124026" />
</inertial>
</link>
<joint name="base_handle" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="handle" />
</joint>
<link name="handle">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/handle.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.37801 0.0 0.1372" rpy="0.0 0.0 0.0" />
<mass value="0.314" />
<inertia ixx="0.001525739" ixy="0.0" ixz="6.272e-05" iyy="0.00071584" iyz="1e-09" izz="0.001164779" />
</inertial>
</link>
<joint name="base_face_front" type="fixed">
<origin xyz="0.4145 0.0 0.0" rpy="0.0 0.0 -0.0" />
<parent link="base" />
<child link="face_front" />
</joint>
<link name="face_front">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/face.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.055 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.11 0.14 0.18" />
</geometry>
</collision>
<collision>
<origin xyz="0.055 0.07 0.0" rpy="0.0 1.57079632679 0.0" />
<geometry>
<cylinder length="0.11" radius="0.09" />
</geometry>
</collision>
<collision>
<origin xyz="0.055 -0.07 0.0" rpy="0.0 1.57079632679 0.0" />
<geometry>
<cylinder length="0.11" radius="0.09" />
</geometry>
</collision>
<inertial>
<origin xyz="0.042 -0.001 0.004" rpy="0.0 0.0 0.0" />
<mass value="0.73" />
<inertia ixx="0.005238611" ixy="1.7609e-05" ixz="7.2167e-05" iyy="0.002643098" iyz="1.9548e-05" izz="0.004325938" />
</inertial>
</link>
<joint name="face_front_to_depth_camera_front_camera" type="fixed">
<origin xyz="0.04715 0.0 -0.0292" rpy="0.0 0.523598775598 0.0" />
<parent link="face_front" />
<child link="depth_camera_front_camera" />
</joint>
<link name="depth_camera_front_camera">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.021 -0.002 0.025" rpy="0.0 0.0 0.0" />
<mass value="0.16043" />
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569" />
</inertial>
</link>
<joint name="depth_camera_front_camera_to_camera_parent" type="fixed">
<origin xyz="0.0255 0.0175 0.0" rpy="0.0 0.0 0.0" />
<parent link="depth_camera_front_camera" />
<child link="depth_camera_front_camera_parent" />
</joint>
<link name="depth_camera_front_camera_parent" />
<joint name="depth_camera_front_camera_parent_to_depth_optical_frame" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
<parent link="depth_camera_front_camera_parent" />
<child link="depth_camera_front_depth_optical_frame" />
</joint>
<link name="depth_camera_front_depth_optical_frame" />
<joint name="depth_camera_front_camera_parent_to_color_frame" type="fixed">
<origin xyz="0.0 0.015 0.0" rpy="0.0 0.0 0.0" />
<parent link="depth_camera_front_camera_parent" />
<child link="depth_camera_front_color_frame" />
</joint>
<link name="depth_camera_front_color_frame" />
<joint name="depth_camera_front_color_frame_to_color_optical_frame" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
<parent link="depth_camera_front_color_frame" />
<child link="depth_camera_front_color_optical_frame" />
</joint>
<link name="depth_camera_front_color_optical_frame" />
<joint name="face_front_to_wide_angle_camera_front_camera" type="fixed">
<origin xyz="0.0985 0.0 0.01497" rpy="0.0 0.0 0.0" />
<parent link="face_front" />
<child link="wide_angle_camera_front_camera" />
</joint>
<link name="wide_angle_camera_front_camera">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/wide_angle_camera.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.053 -0.001 0.025" rpy="0.0 0.0 0.0" />
<mass value="0.287" />
<inertia ixx="0.000559232" ixy="1.6875e-05" ixz="0.000423761" iyy="0.000946504" iyz="1.3234e-07" izz="0.000493052" />
</inertial>
</link>
<joint name="wide_angle_camera_front_camera_to_camera_parent" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
<parent link="wide_angle_camera_front_camera" />
<child link="wide_angle_camera_front_camera_parent" />
</joint>
<link name="wide_angle_camera_front_camera_parent" />
<joint name="base_face_rear" type="fixed">
<origin xyz="-0.4145 0.0 0.0" rpy="0.0 0.0 3.14159265359" />
<parent link="base" />
<child link="face_rear" />
</joint>
<link name="face_rear">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/face.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.055 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.11 0.14 0.18" />
</geometry>
</collision>
<collision>
<origin xyz="0.055 0.07 0.0" rpy="0.0 1.57079632679 0.0" />
<geometry>
<cylinder length="0.11" radius="0.09" />
</geometry>
</collision>
<collision>
<origin xyz="0.055 -0.07 0.0" rpy="0.0 1.57079632679 0.0" />
<geometry>
<cylinder length="0.11" radius="0.09" />
</geometry>
</collision>
<inertial>
<origin xyz="0.042 -0.001 0.004" rpy="0.0 0.0 0.0" />
<mass value="0.73" />
<inertia ixx="0.005238611" ixy="1.7609e-05" ixz="7.2167e-05" iyy="0.002643098" iyz="1.9548e-05" izz="0.004325938" />
</inertial>
</link>
<joint name="face_rear_to_depth_camera_rear_camera" type="fixed">
<origin xyz="0.04715 0.0 -0.0292" rpy="0.0 0.523598775598 0.0" />
<parent link="face_rear" />
<child link="depth_camera_rear_camera" />
</joint>
<link name="depth_camera_rear_camera">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.021 -0.002 0.025" rpy="0.0 0.0 0.0" />
<mass value="0.16043" />
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569" />
</inertial>
</link>
<joint name="depth_camera_rear_camera_to_camera_parent" type="fixed">
<origin xyz="0.0255 0.0175 0.0" rpy="0.0 0.0 0.0" />
<parent link="depth_camera_rear_camera" />
<child link="depth_camera_rear_camera_parent" />
</joint>
<link name="depth_camera_rear_camera_parent" />
<joint name="depth_camera_rear_camera_parent_to_depth_optical_frame" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
<parent link="depth_camera_rear_camera_parent" />
<child link="depth_camera_rear_depth_optical_frame" />
</joint>
<link name="depth_camera_rear_depth_optical_frame" />
<joint name="depth_camera_rear_camera_parent_to_color_frame" type="fixed">
<origin xyz="0.0 0.015 0.0" rpy="0.0 0.0 0.0" />
<parent link="depth_camera_rear_camera_parent" />
<child link="depth_camera_rear_color_frame" />
</joint>
<link name="depth_camera_rear_color_frame" />
<joint name="depth_camera_rear_color_frame_to_color_optical_frame" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
<parent link="depth_camera_rear_color_frame" />
<child link="depth_camera_rear_color_optical_frame" />
</joint>
<link name="depth_camera_rear_color_optical_frame" />
<joint name="face_rear_to_wide_angle_camera_rear_camera" type="fixed">
<origin xyz="0.0985 0.0 0.01497" rpy="0.0 0.0 0.0" />
<parent link="face_rear" />
<child link="wide_angle_camera_rear_camera" />
</joint>
<link name="wide_angle_camera_rear_camera">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/wide_angle_camera.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.053 -0.001 0.025" rpy="0.0 0.0 0.0" />
<mass value="0.287" />
<inertia ixx="0.000559232" ixy="1.6875e-05" ixz="0.000423761" iyy="0.000946504" iyz="1.3234e-07" izz="0.000493052" />
</inertial>
</link>
<joint name="wide_angle_camera_rear_camera_to_camera_parent" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
<parent link="wide_angle_camera_rear_camera" />
<child link="wide_angle_camera_rear_camera_parent" />
</joint>
<link name="wide_angle_camera_rear_camera_parent" />
<joint name="base_battery" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="battery" />
</joint>
<link name="battery">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/battery.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.00067 -0.00023 -0.03362" rpy="0.0 0.0 0.0" />
<mass value="5.53425" />
<inertia ixx="0.00749474794" ixy="0.00016686282" ixz="7.82763e-05" iyy="0.0722338913" iyz="1.42902e-06" izz="0.07482717535" />
</inertial>
</link>
<joint name="base_to_docking_hatch_cover" type="fixed">
<origin xyz="0.343 0.0 -0.07" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="docking_hatch_cover" />
</joint>
<link name="docking_hatch_cover">
<inertial>
<origin xyz="-0.003 0.0 0.005" rpy="0.0 0.0 0.0" />
<mass value="0.065" />
<inertia ixx="0.00063283" ixy="0.0" ixz="3.45e-07" iyy="0.00110971" iyz="0.0" izz="0.00171883" />
</inertial>
</link>
<link name="imu_link">
<visual>
<origin xyz="0.0 0.0 0.005" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.024 0.024 0.01" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.005" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.024 0.024 0.01" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="5.63333333333e-07" ixy="0.0" ixz="0.0" iyy="9.6e-07" iyz="0.0" izz="5.63333333333e-07" />
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<origin xyz="0.2488 0.00835 0.04628" rpy="0.0 0.0 1.57079632679" />
<parent link="base" />
<child link="imu_link" />
</joint>
<joint name="base_to_depth_camera_left_camera" type="fixed">
<origin xyz="0.0 0.07646 0.02905" rpy="0.0 0.523598775598 1.57079632679" />
<parent link="base" />
<child link="depth_camera_left_camera" />
</joint>
<link name="depth_camera_left_camera">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.021 -0.002 0.025" rpy="0.0 0.0 0.0" />
<mass value="0.16043" />
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569" />
</inertial>
</link>
<joint name="depth_camera_left_camera_to_camera_parent" type="fixed">
<origin xyz="0.0255 0.0175 0.0" rpy="0.0 0.0 0.0" />
<parent link="depth_camera_left_camera" />
<child link="depth_camera_left_camera_parent" />
</joint>
<link name="depth_camera_left_camera_parent" />
<joint name="depth_camera_left_camera_parent_to_depth_optical_frame" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
<parent link="depth_camera_left_camera_parent" />
<child link="depth_camera_left_depth_optical_frame" />
</joint>
<link name="depth_camera_left_depth_optical_frame" />
<joint name="depth_camera_left_camera_parent_to_color_frame" type="fixed">
<origin xyz="0.0 0.015 0.0" rpy="0.0 0.0 0.0" />
<parent link="depth_camera_left_camera_parent" />
<child link="depth_camera_left_color_frame" />
</joint>
<link name="depth_camera_left_color_frame" />
<joint name="depth_camera_left_color_frame_to_color_optical_frame" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
<parent link="depth_camera_left_color_frame" />
<child link="depth_camera_left_color_optical_frame" />
</joint>
<link name="depth_camera_left_color_optical_frame" />
<joint name="base_to_depth_camera_right_camera" type="fixed">
<origin xyz="0.0 -0.07646 0.02905" rpy="0.0 0.523598775598 -1.57079632679" />
<parent link="base" />
<child link="depth_camera_right_camera" />
</joint>
<link name="depth_camera_right_camera">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.021 -0.002 0.025" rpy="0.0 0.0 0.0" />
<mass value="0.16043" />
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569" />
</inertial>
</link>
<joint name="depth_camera_right_camera_to_camera_parent" type="fixed">
<origin xyz="0.0255 0.0175 0.0" rpy="0.0 0.0 0.0" />
<parent link="depth_camera_right_camera" />
<child link="depth_camera_right_camera_parent" />
</joint>
<link name="depth_camera_right_camera_parent" />
<joint name="depth_camera_right_camera_parent_to_depth_optical_frame" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
<parent link="depth_camera_right_camera_parent" />
<child link="depth_camera_right_depth_optical_frame" />
</joint>
<link name="depth_camera_right_depth_optical_frame" />
<joint name="depth_camera_right_camera_parent_to_color_frame" type="fixed">
<origin xyz="0.0 0.015 0.0" rpy="0.0 0.0 0.0" />
<parent link="depth_camera_right_camera_parent" />
<child link="depth_camera_right_color_frame" />
</joint>
<link name="depth_camera_right_color_frame" />
<joint name="depth_camera_right_color_frame_to_color_optical_frame" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
<parent link="depth_camera_right_color_frame" />
<child link="depth_camera_right_color_optical_frame" />
</joint>
<link name="depth_camera_right_color_optical_frame" />
<joint name="base_to_lidar_cage" type="fixed">
<origin xyz="-0.364 0.0 0.0735" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="lidar_cage" />
</joint>
<link name="lidar_cage">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/lidar_cage.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.06" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.12" radius="0.07" />
</geometry>
</collision>
<inertial>
<origin xyz="0.002 0.0 0.099" rpy="0.0 0.0 0.0" />
<mass value="0.545" />
<inertia ixx="0.003156254" ixy="0.0" ixz="1.0992e-05" iyy="0.002357216" iyz="0.0" izz="0.001326455" />
</inertial>
</link>
<joint name="lidar_cage_to_lidar" type="fixed">
<origin xyz="0.0 0.0 0.0687" rpy="0.0 0.0 -1.57079632679" />
<parent link="lidar_cage" />
<child link="lidar" />
</joint>
<link name="lidar">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/lidar.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.012 0.001 -0.008" rpy="0.0 0.0 0.0" />
<mass value="0.695" />
<inertia ixx="0.000846765" ixy="6.9565e-05" ixz="0.00027111" iyy="0.001367583" iyz="5.8984e-05" izz="0.001363673" />
</inertial>
</link>
<joint name="base_LF_HAA" type="fixed">
<origin xyz="0.2999 0.104 0.0" rpy="2.61799387799 0.0 0.0" />
<parent link="base" />
<child link="LF_HAA" />
</joint>
<link name="LF_HAA">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
<mass value="2.04" />
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
</inertial>
</link>
<joint name="LF_HAA" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LF_HAA" />
<child link="LF_HIP" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="80.0" velocity="7.5" lower="-0.72" upper="0.49" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LF_HIP">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="LF_HIP_LF_hip_fixed" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-2.61799387799 0.0 0.0" />
<parent link="LF_HIP" />
<child link="LF_hip_fixed" />
</joint>
<link name="LF_hip_fixed">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hip_l.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.048 0.008 -0.003" rpy="0.0 0.0 0.0" />
<mass value="0.74" />
<inertia ixx="0.001393106" ixy="8.4012e-05" ixz="2.3378e-05" iyy="0.003798579" iyz="7.1319e-05" izz="0.003897509" />
</inertial>
</link>
<joint name="LF_hip_fixed_LF_HFE" type="fixed">
<origin xyz="0.0599 0.08381 0.0" rpy="0.0 0.0 1.57079632679" />
<parent link="LF_hip_fixed" />
<child link="LF_HFE" />
</joint>
<link name="LF_HFE">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
</geometry>
</visual>
<collision>
<origin xyz="-0.07 0.0 0.0" rpy="0.0 1.57079632679 0.0" />
<geometry>
<cylinder length="0.14" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
<mass value="2.04" />
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
</inertial>
</link>
<joint name="LF_HFE" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LF_HFE" />
<child link="LF_THIGH" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="80.0" velocity="7.5" lower="-9.42477796077" upper="9.42477796077" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LF_THIGH">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="LF_THIGH_LF_thigh_fixed" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -1.57079632679" />
<parent link="LF_THIGH" />
<child link="LF_thigh_fixed" />
</joint>
<link name="LF_thigh_fixed">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/thigh.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.04 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.08" radius="0.065" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.03 -0.1413135" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.075 0.06 0.282627" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.018 -0.169" rpy="0.0 0.0 0.0" />
<mass value="1.03" />
<inertia ixx="0.018644469" ixy="5.2e-08" ixz="1.0157e-05" iyy="0.019312599" iyz="0.002520077" izz="0.002838361" />
</inertial>
</link>
<joint name="LF_thigh_fixed_LF_KFE" type="fixed">
<origin xyz="0.0 0.1003 -0.285" rpy="0.0 0.0 1.57079632679" />
<parent link="LF_thigh_fixed" />
<child link="LF_KFE" />
</joint>
<link name="LF_KFE">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
</geometry>
</visual>
<collision>
<origin xyz="-0.07 0.0 0.0" rpy="0.0 1.57079632679 0.0" />
<geometry>
<cylinder length="0.14" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
<mass value="2.04" />
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
</inertial>
</link>
<joint name="LF_KFE" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LF_KFE" />
<child link="LF_SHANK" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="80.0" velocity="7.5" lower="-9.42477796077" upper="9.42477796077" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LF_SHANK">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="LF_shank_LF_shank_fixed" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -1.57079632679" />
<parent link="LF_SHANK" />
<child link="LF_shank_fixed" />
</joint>
<link name="LF_shank_fixed">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/shank_l.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.02 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.04" radius="0.06" />
</geometry>
</collision>
<collision>
<origin xyz="0.057499 0.02 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<box size="0.114998 0.0675 0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.03463 0.00688 0.00098" rpy="0.0 0.0 0.0" />
<mass value="0.33742" />
<inertia ixx="0.00032748005" ixy="2.142561e-05" ixz="1.33942e-05" iyy="0.00110974122" iyz="7.601e-08" izz="0.00089388521" />
</inertial>
</link>
<joint name="LF_shank_fixed_LF_FOOT" type="fixed">
<origin xyz="0.08795 0.01305 -0.33797" rpy="0.0 0.0 0.0" />
<parent link="LF_shank_fixed" />
<child link="LF_FOOT" />
</joint>
<link name="LF_FOOT">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -0.785398163397" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/foot.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.168985" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.282504" radius="0.0175" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.0 0.0225" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.03" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00948 -0.00948 0.1468" rpy="0.0 0.0 0.0" />
<mass value="0.25" />
<inertia ixx="0.00317174097" ixy="2.63048e-06" ixz="6.815581e-05" iyy="0.00317174092" iyz="6.815583e-05" izz="8.319196e-05" />
</inertial>
</link>
<joint name="base_RF_HAA" type="fixed">
<origin xyz="0.2999 -0.104 0.0" rpy="-2.61799387799 0.0 0.0" />
<parent link="base" />
<child link="RF_HAA" />
</joint>
<link name="RF_HAA">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
<mass value="2.04" />
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
</inertial>
</link>
<joint name="RF_HAA" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="RF_HAA" />
<child link="RF_HIP" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="80.0" velocity="7.5" lower="-0.49" upper="0.72" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RF_HIP">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="RF_HIP_RF_hip_fixed" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="2.61799387799 0.0 0.0" />
<parent link="RF_HIP" />
<child link="RF_hip_fixed" />
</joint>
<link name="RF_hip_fixed">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hip_r.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.048 -0.008 -0.003" rpy="0.0 0.0 0.0" />
<mass value="0.74" />
<inertia ixx="0.001393106" ixy="-8.4012e-05" ixz="2.3378e-05" iyy="0.003798579" iyz="-7.1319e-05" izz="0.003897509" />
</inertial>
</link>
<joint name="RF_hip_fixed_RF_HFE" type="fixed">
<origin xyz="0.0599 -0.08381 0.0" rpy="0.0 0.0 -1.57079632679" />
<parent link="RF_hip_fixed" />
<child link="RF_HFE" />
</joint>
<link name="RF_HFE">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
</geometry>
</visual>
<collision>
<origin xyz="-0.07 0.0 0.0" rpy="0.0 1.57079632679 0.0" />
<geometry>
<cylinder length="0.14" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
<mass value="2.04" />
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
</inertial>
</link>
<joint name="RF_HFE" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="RF_HFE" />
<child link="RF_THIGH" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="80.0" velocity="7.5" lower="-9.42477796077" upper="9.42477796077" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RF_THIGH">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="RF_THIGH_RF_thigh_fixed" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.57079632679" />
<parent link="RF_THIGH" />
<child link="RF_thigh_fixed" />
</joint>
<link name="RF_thigh_fixed">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.14159265359" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/thigh.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.04 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.08" radius="0.065" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 -0.03 -0.1413135" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.075 0.06 0.282627" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.018 -0.169" rpy="0.0 0.0 0.0" />
<mass value="1.03" />
<inertia ixx="0.018644469" ixy="-5.2e-08" ixz="1.0157e-05" iyy="0.019312599" iyz="-0.002520077" izz="0.002838361" />
</inertial>
</link>
<joint name="RF_thigh_fixed_RF_KFE" type="fixed">
<origin xyz="0.0 -0.1003 -0.285" rpy="0.0 0.0 -1.57079632679" />
<parent link="RF_thigh_fixed" />
<child link="RF_KFE" />
</joint>
<link name="RF_KFE">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
</geometry>
</visual>
<collision>
<origin xyz="-0.07 0.0 0.0" rpy="0.0 1.57079632679 0.0" />
<geometry>
<cylinder length="0.14" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
<mass value="2.04" />
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
</inertial>
</link>
<joint name="RF_KFE" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="RF_KFE" />
<child link="RF_SHANK" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="80.0" velocity="7.5" lower="-9.42477796077" upper="9.42477796077" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RF_SHANK">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="RF_shank_RF_shank_fixed" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.57079632679" />
<parent link="RF_SHANK" />
<child link="RF_shank_fixed" />
</joint>
<link name="RF_shank_fixed">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/shank_r.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.02 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.04" radius="0.06" />
</geometry>
</collision>
<collision>
<origin xyz="0.057499 -0.02 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<box size="0.114998 0.0675 0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.03463 -0.00688 0.00098" rpy="0.0 0.0 0.0" />
<mass value="0.33742" />
<inertia ixx="0.00032748005" ixy="-2.142561e-05" ixz="1.33942e-05" iyy="0.00110974122" iyz="-7.601e-08" izz="0.00089388521" />
</inertial>
</link>
<joint name="RF_shank_fixed_RF_FOOT" type="fixed">
<origin xyz="0.08795 -0.01305 -0.33797" rpy="0.0 0.0 0.0" />
<parent link="RF_shank_fixed" />
<child link="RF_FOOT" />
</joint>
<link name="RF_FOOT">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.785398163397" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/foot.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.168985" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.282504" radius="0.0175" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.0 0.0225" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.03" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00948 0.00948 0.1468" rpy="0.0 0.0 0.0" />
<mass value="0.25" />
<inertia ixx="0.00317174097" ixy="-2.63048e-06" ixz="6.815581e-05" iyy="0.00317174092" iyz="-6.815583e-05" izz="8.319196e-05" />
</inertial>
</link>
<joint name="base_LH_HAA" type="fixed">
<origin xyz="-0.2999 0.104 0.0" rpy="-2.61799387799 0.0 -3.14159265359" />
<parent link="base" />
<child link="LH_HAA" />
</joint>
<link name="LH_HAA">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
<mass value="2.04" />
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
</inertial>
</link>
<joint name="LH_HAA" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LH_HAA" />
<child link="LH_HIP" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="80.0" velocity="7.5" lower="-0.72" upper="0.49" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LH_HIP">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="LH_HIP_LH_hip_fixed" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-2.61799387799 0.0 -3.14159265359" />
<parent link="LH_HIP" />
<child link="LH_hip_fixed" />
</joint>
<link name="LH_hip_fixed">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.14159265359" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hip_r.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.048 0.008 -0.003" rpy="0.0 0.0 0.0" />
<mass value="0.74" />
<inertia ixx="0.001393106" ixy="-8.4012e-05" ixz="-2.3378e-05" iyy="0.003798579" iyz="7.1319e-05" izz="0.003897509" />
</inertial>
</link>
<joint name="LH_hip_fixed_LH_HFE" type="fixed">
<origin xyz="-0.0599 0.08381 0.0" rpy="0.0 0.0 1.57079632679" />
<parent link="LH_hip_fixed" />
<child link="LH_HFE" />
</joint>
<link name="LH_HFE">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
</geometry>
</visual>
<collision>
<origin xyz="-0.07 0.0 0.0" rpy="0.0 1.57079632679 0.0" />
<geometry>
<cylinder length="0.14" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
<mass value="2.04" />
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
</inertial>
</link>
<joint name="LH_HFE" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LH_HFE" />
<child link="LH_THIGH" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="80.0" velocity="7.5" lower="-9.42477796077" upper="9.42477796077" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LH_THIGH">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="LH_THIGH_LH_thigh_fixed" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -1.57079632679" />
<parent link="LH_THIGH" />
<child link="LH_thigh_fixed" />
</joint>
<link name="LH_thigh_fixed">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/thigh.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.04 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.08" radius="0.065" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.03 -0.1413135" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.075 0.06 0.282627" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0 0.018 -0.169" rpy="0.0 0.0 0.0" />
<mass value="1.03" />
<inertia ixx="0.018644469" ixy="-5.2e-08" ixz="-1.0157e-05" iyy="0.019312599" iyz="0.002520077" izz="0.002838361" />
</inertial>
</link>
<joint name="LH_thigh_fixed_LH_KFE" type="fixed">
<origin xyz="-0.0 0.1003 -0.285" rpy="0.0 0.0 1.57079632679" />
<parent link="LH_thigh_fixed" />
<child link="LH_KFE" />
</joint>
<link name="LH_KFE">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
</geometry>
</visual>
<collision>
<origin xyz="-0.07 0.0 0.0" rpy="0.0 1.57079632679 0.0" />
<geometry>
<cylinder length="0.14" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
<mass value="2.04" />
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
</inertial>
</link>
<joint name="LH_KFE" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LH_KFE" />
<child link="LH_SHANK" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="80.0" velocity="7.5" lower="-9.42477796077" upper="9.42477796077" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LH_SHANK">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="LH_shank_LH_shank_fixed" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -1.57079632679" />
<parent link="LH_SHANK" />
<child link="LH_shank_fixed" />
</joint>
<link name="LH_shank_fixed">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.14159265359" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/shank_r.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.02 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.04" radius="0.06" />
</geometry>
</collision>
<collision>
<origin xyz="-0.057499 0.02 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<box size="0.114998 0.0675 0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.03463 0.00688 0.00098" rpy="0.0 0.0 0.0" />
<mass value="0.33742" />
<inertia ixx="0.00032748005" ixy="-2.142561e-05" ixz="-1.33942e-05" iyy="0.00110974122" iyz="7.601e-08" izz="0.00089388521" />
</inertial>
</link>
<joint name="LH_shank_fixed_LH_FOOT" type="fixed">
<origin xyz="-0.08795 0.01305 -0.33797" rpy="0.0 0.0 0.0" />
<parent link="LH_shank_fixed" />
<child link="LH_FOOT" />
</joint>
<link name="LH_FOOT">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -2.35619449019" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/foot.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.168985" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.282504" radius="0.0175" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.0 0.0225" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.03" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00948 -0.00948 0.1468" rpy="0.0 0.0 0.0" />
<mass value="0.25" />
<inertia ixx="0.00317174097" ixy="-2.63048e-06" ixz="-6.815581e-05" iyy="0.00317174092" iyz="6.815583e-05" izz="8.319196e-05" />
</inertial>
</link>
<joint name="base_RH_HAA" type="fixed">
<origin xyz="-0.2999 -0.104 0.0" rpy="2.61799387799 0.0 -3.14159265359" />
<parent link="base" />
<child link="RH_HAA" />
</joint>
<link name="RH_HAA">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
<mass value="2.04" />
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
</inertial>
</link>
<joint name="RH_HAA" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="RH_HAA" />
<child link="RH_HIP" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="80.0" velocity="7.5" lower="-0.49" upper="0.72" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RH_HIP">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="RH_HIP_RH_hip_fixed" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="2.61799387799 0.0 -3.14159265359" />
<parent link="RH_HIP" />
<child link="RH_hip_fixed" />
</joint>
<link name="RH_hip_fixed">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.14159265359" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hip_l.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.048 -0.008 -0.003" rpy="0.0 0.0 0.0" />
<mass value="0.74" />
<inertia ixx="0.001393106" ixy="8.4012e-05" ixz="-2.3378e-05" iyy="0.003798579" iyz="-7.1319e-05" izz="0.003897509" />
</inertial>
</link>
<joint name="RH_hip_fixed_RH_HFE" type="fixed">
<origin xyz="-0.0599 -0.08381 0.0" rpy="0.0 0.0 -1.57079632679" />
<parent link="RH_hip_fixed" />
<child link="RH_HFE" />
</joint>
<link name="RH_HFE">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
</geometry>
</visual>
<collision>
<origin xyz="-0.07 0.0 0.0" rpy="0.0 1.57079632679 0.0" />
<geometry>
<cylinder length="0.14" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
<mass value="2.04" />
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
</inertial>
</link>
<joint name="RH_HFE" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="RH_HFE" />
<child link="RH_THIGH" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="80.0" velocity="7.5" lower="-9.42477796077" upper="9.42477796077" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RH_THIGH">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="RH_THIGH_RH_thigh_fixed" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.57079632679" />
<parent link="RH_THIGH" />
<child link="RH_thigh_fixed" />
</joint>
<link name="RH_thigh_fixed">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.14159265359" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/thigh.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.04 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.08" radius="0.065" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 -0.03 -0.1413135" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.075 0.06 0.282627" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0 -0.018 -0.169" rpy="0.0 0.0 0.0" />
<mass value="1.03" />
<inertia ixx="0.018644469" ixy="5.2e-08" ixz="-1.0157e-05" iyy="0.019312599" iyz="-0.002520077" izz="0.002838361" />
</inertial>
</link>
<joint name="RH_thigh_fixed_RH_KFE" type="fixed">
<origin xyz="-0.0 -0.1003 -0.285" rpy="0.0 0.0 -1.57079632679" />
<parent link="RH_thigh_fixed" />
<child link="RH_KFE" />
</joint>
<link name="RH_KFE">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
</geometry>
</visual>
<collision>
<origin xyz="-0.07 0.0 0.0" rpy="0.0 1.57079632679 0.0" />
<geometry>
<cylinder length="0.14" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
<mass value="2.04" />
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
</inertial>
</link>
<joint name="RH_KFE" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="RH_KFE" />
<child link="RH_SHANK" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="80.0" velocity="7.5" lower="-9.42477796077" upper="9.42477796077" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RH_SHANK">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="RH_shank_RH_shank_fixed" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.57079632679" />
<parent link="RH_SHANK" />
<child link="RH_shank_fixed" />
</joint>
<link name="RH_shank_fixed">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.14159265359" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/shank_l.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.02 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.04" radius="0.06" />
</geometry>
</collision>
<collision>
<origin xyz="-0.057499 -0.02 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<box size="0.114998 0.0675 0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.03463 -0.00688 0.00098" rpy="0.0 0.0 0.0" />
<mass value="0.33742" />
<inertia ixx="0.00032748005" ixy="2.142561e-05" ixz="-1.33942e-05" iyy="0.00110974122" iyz="-7.601e-08" izz="0.00089388521" />
</inertial>
</link>
<joint name="RH_shank_fixed_RH_FOOT" type="fixed">
<origin xyz="-0.08795 -0.01305 -0.33797" rpy="0.0 0.0 0.0" />
<parent link="RH_shank_fixed" />
<child link="RH_FOOT" />
</joint>
<link name="RH_FOOT">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.92699081699" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/foot.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.168985" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.282504" radius="0.0175" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.0 0.0225" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.03" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00948 0.00948 0.1468" rpy="0.0 0.0 0.0" />
<mass value="0.25" />
<inertia ixx="0.00317174097" ixy="2.63048e-06" ixz="-6.815581e-05" iyy="0.00317174092" iyz="-6.815583e-05" izz="8.319196e-05" />
</inertial>
</link>
<joint name="base_hatch" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="hatch" />
</joint>
<link name="hatch">
<visual>
<origin xyz="0.116 0.0 0.073" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hatch.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.116 0.0 0.0758" rpy="0.0 0.0 0.0" />
<mass value="0.142" />
<inertia ixx="0.001" ixy="0.001" ixz="0.001" iyy="0.001" iyz="0.001" izz="0.001" />
</inertial>
</link>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 1f7d704a6f75e92d -->
<mujoco model="anymal">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="base" file="anymal_c_simple_description/meshes/base.dae" />
<mesh name="top_shell" file="anymal_c_simple_description/meshes/top_shell.dae" />
<mesh name="bottom_shell" file="anymal_c_simple_description/meshes/bottom_shell.dae" />
<mesh name="remote" file="anymal_c_simple_description/meshes/remote.dae" />
<mesh name="handle" file="anymal_c_simple_description/meshes/handle.dae" />
<mesh name="face" file="anymal_c_simple_description/meshes/face.dae" />
<mesh name="depth_camera" file="anymal_c_simple_description/meshes/depth_camera.dae" />
<mesh name="wide_angle_camera" file="anymal_c_simple_description/meshes/wide_angle_camera.dae" />
<mesh name="battery" file="anymal_c_simple_description/meshes/battery.dae" />
<mesh name="lidar_cage" file="anymal_c_simple_description/meshes/lidar_cage.dae" />
<mesh name="lidar" file="anymal_c_simple_description/meshes/lidar.dae" />
<mesh name="drive" file="anymal_c_simple_description/meshes/drive.dae" />
<mesh name="hip_l" file="anymal_c_simple_description/meshes/hip_l.dae" />
<mesh name="thigh" file="anymal_c_simple_description/meshes/thigh.dae" />
<mesh name="shank_l" file="anymal_c_simple_description/meshes/shank_l.dae" />
<mesh name="foot" file="anymal_c_simple_description/meshes/foot.dae" />
<mesh name="hip_r" file="anymal_c_simple_description/meshes/hip_r.dae" />
<mesh name="shank_r" file="anymal_c_simple_description/meshes/shank_r.dae" />
<mesh name="hatch" file="anymal_c_simple_description/meshes/hatch.dae" />
</asset>
<worldbody>
<body name="base">
<geom name="base_vis_0" type="mesh" mesh="base" contype="0" conaffinity="0" group="2" />
<geom name="base_col_0" type="box" size="0.29 0.07 0.09" group="3" />
<geom name="base_col_1" type="cylinder" size="0.09 0.0725" pos="0.2175 0.07 0.0" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<geom name="base_col_2" type="cylinder" size="0.09 0.0725" pos="-0.2175 0.07 0.0" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<geom name="base_col_3" type="cylinder" size="0.09 0.0725" pos="0.2175 -0.07 0.0" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<geom name="base_col_4" type="cylinder" size="0.09 0.0725" pos="-0.2175 -0.07 0.0" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<body name="base_inertia">
<inertial pos="-0.018 -0.002 0.024" mass="6.222" fullinertia="0.017938806 0.370887745 0.372497653 0.00387963 0.001500772 6.8963e-05" />
</body>
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<geom name="LH_HFE_vis_0" type="mesh" mesh="drive" contype="0" conaffinity="0" group="2" />
<geom name="LH_HFE_col_0" type="cylinder" size="0.05 0.07" pos="-0.07 0.0 0.0" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<body name="LH_THIGH">
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<body name="LH_thigh_fixed" quat="0.7071067811882787 0.0 0.0 -0.7071067811848163">
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<geom name="LH_thigh_fixed_vis_0" type="mesh" mesh="thigh" contype="0" conaffinity="0" group="2" />
<geom name="LH_thigh_fixed_col_0" type="cylinder" size="0.065 0.04" pos="0.0 0.04 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
<geom name="LH_thigh_fixed_col_1" type="box" size="0.0375 0.03 0.1413135" pos="0.0 0.03 -0.1413135" group="3" />
<body name="LH_KFE" pos="-0.0 0.1003 -0.285" quat="0.7071067811882787 0.0 0.0 0.7071067811848163">
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<geom name="LH_KFE_vis_0" type="mesh" mesh="drive" contype="0" conaffinity="0" group="2" />
<geom name="LH_KFE_col_0" type="cylinder" size="0.05 0.07" pos="-0.07 0.0 0.0" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<body name="LH_SHANK">
<joint name="LH_KFE" type="hinge" axis="1.0 0.0 0.0" range="-9.42477796077 9.42477796077" />
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
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<geom name="LH_shank_fixed_vis_0" type="mesh" mesh="shank_r" quat="-1.0341155355510722e-13 0.0 -0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="LH_shank_fixed_col_0" type="cylinder" size="0.06 0.02" pos="0.0 0.02 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
<geom name="LH_shank_fixed_col_1" type="box" size="0.057499 0.03375 0.02" pos="-0.057499 0.02 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
<body name="LH_FOOT" pos="-0.08795 0.01305 -0.33797">
<inertial pos="-0.00948 -0.00948 0.1468" mass="0.25" fullinertia="0.00317174097 0.00317174092 8.319196e-05 -2.63048e-06 -6.815581e-05 6.815583e-05" />
<geom name="LH_FOOT_vis_0" type="mesh" mesh="foot" quat="0.38268343236617297 0.0 0.0 -0.9238795325108381" contype="0" conaffinity="0" group="2" />
<geom name="LH_FOOT_col_0" type="cylinder" size="0.0175 0.141252" pos="0.0 0.0 0.168985" group="3" />
<geom name="LH_FOOT_col_1" type="sphere" size="0.03" pos="0.0 0.0 0.0225" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="RH_HAA" pos="-0.2999 -0.104 0.0" quat="-2.6764879543775668e-14 -9.988789031553318e-14 -0.9659258262888749 -0.25881904510324244">
<inertial pos="-0.063 7e-05 0.00046" mass="2.04" fullinertia="0.001053013 0.001805509 0.001765827 4.527e-05 8.855e-05 9.909e-05" />
<geom name="RH_HAA_vis_0" type="mesh" mesh="drive" contype="0" conaffinity="0" group="2" />
<body name="RH_HIP">
<joint name="RH_HAA" type="hinge" axis="-1.0 0.0 0.0" range="-0.49 0.72" />
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
<body name="RH_hip_fixed" quat="-2.6764879543775668e-14 -9.988789031553318e-14 -0.9659258262888749 -0.25881904510324244">
<inertial pos="-0.048 -0.008 -0.003" mass="0.74" fullinertia="0.001393106 0.003798579 0.003897509 8.4012e-05 -2.3378e-05 -7.1319e-05" />
<geom name="RH_hip_fixed_vis_0" type="mesh" mesh="hip_l" quat="-1.0341155355510722e-13 0.0 -0.0 -1.0" contype="0" conaffinity="0" group="2" />
<body name="RH_HFE" pos="-0.0599 -0.08381 0.0" quat="0.7071067811882787 0.0 0.0 -0.7071067811848163">
<inertial pos="-0.063 7e-05 0.00046" mass="2.04" fullinertia="0.001053013 0.001805509 0.001765827 4.527e-05 8.855e-05 9.909e-05" />
<geom name="RH_HFE_vis_0" type="mesh" mesh="drive" contype="0" conaffinity="0" group="2" />
<geom name="RH_HFE_col_0" type="cylinder" size="0.05 0.07" pos="-0.07 0.0 0.0" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<body name="RH_THIGH">
<joint name="RH_HFE" type="hinge" axis="-1.0 0.0 0.0" range="-9.42477796077 9.42477796077" />
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
<body name="RH_thigh_fixed" quat="0.7071067811882787 0.0 0.0 0.7071067811848163">
<inertial pos="-0.0 -0.018 -0.169" mass="1.03" fullinertia="0.018644469 0.019312599 0.002838361 5.2e-08 -1.0157e-05 -0.002520077" />
<geom name="RH_thigh_fixed_vis_0" type="mesh" mesh="thigh" quat="-1.0341155355510722e-13 0.0 -0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="RH_thigh_fixed_col_0" type="cylinder" size="0.065 0.04" pos="0.0 -0.04 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
<geom name="RH_thigh_fixed_col_1" type="box" size="0.0375 0.03 0.1413135" pos="0.0 -0.03 -0.1413135" group="3" />
<body name="RH_KFE" pos="-0.0 -0.1003 -0.285" quat="0.7071067811882787 0.0 0.0 -0.7071067811848163">
<inertial pos="-0.063 7e-05 0.00046" mass="2.04" fullinertia="0.001053013 0.001805509 0.001765827 4.527e-05 8.855e-05 9.909e-05" />
<geom name="RH_KFE_vis_0" type="mesh" mesh="drive" contype="0" conaffinity="0" group="2" />
<geom name="RH_KFE_col_0" type="cylinder" size="0.05 0.07" pos="-0.07 0.0 0.0" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<body name="RH_SHANK">
<joint name="RH_KFE" type="hinge" axis="-1.0 0.0 0.0" range="-9.42477796077 9.42477796077" />
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
<body name="RH_shank_fixed" quat="0.7071067811882787 0.0 0.0 0.7071067811848163">
<inertial pos="-0.03463 -0.00688 0.00098" mass="0.33742" fullinertia="0.00032748005 0.00110974122 0.00089388521 2.142561e-05 -1.33942e-05 -7.601e-08" />
<geom name="RH_shank_fixed_vis_0" type="mesh" mesh="shank_l" quat="-1.0341155355510722e-13 0.0 -0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="RH_shank_fixed_col_0" type="cylinder" size="0.06 0.02" pos="0.0 -0.02 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
<geom name="RH_shank_fixed_col_1" type="box" size="0.057499 0.03375 0.02" pos="-0.057499 -0.02 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
<body name="RH_FOOT" pos="-0.08795 -0.01305 -0.33797">
<inertial pos="-0.00948 0.00948 0.1468" mass="0.25" fullinertia="0.00317174097 0.00317174092 8.319196e-05 2.63048e-06 -6.815581e-05 -6.815583e-05" />
<geom name="RH_FOOT_vis_0" type="mesh" mesh="foot" quat="-0.38268343236636404 0.0 -0.0 -0.9238795325107589" contype="0" conaffinity="0" group="2" />
<geom name="RH_FOOT_col_0" type="cylinder" size="0.0175 0.141252" pos="0.0 0.0 0.168985" group="3" />
<geom name="RH_FOOT_col_1" type="sphere" size="0.03" pos="0.0 0.0 0.0225" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="hatch">
<inertial pos="0.116 0.0 0.0758" mass="0.142" fullinertia="0.001 0.001 0.001 0.001 0.001 0.001" />
<geom name="hatch_vis_0" type="mesh" mesh="hatch" pos="0.116 0.0 0.073" contype="0" conaffinity="0" group="2" />
</body>
</body>
</worldbody>
<contact>
<exclude body1="base" body2="base_inertia" />
<exclude body1="base" body2="top_shell" />
<exclude body1="base" body2="bottom_shell" />
<exclude body1="base" body2="remote" />
<exclude body1="base" body2="handle" />
<exclude body1="base" body2="face_front" />
<exclude body1="face_front" body2="depth_camera_front_camera" />
<exclude body1="depth_camera_front_camera" body2="depth_camera_front_camera_parent" />
<exclude body1="depth_camera_front_camera_parent" body2="depth_camera_front_depth_optical_frame" />
<exclude body1="depth_camera_front_camera_parent" body2="depth_camera_front_color_frame" />
<exclude body1="depth_camera_front_color_frame" body2="depth_camera_front_color_optical_frame" />
<exclude body1="face_front" body2="wide_angle_camera_front_camera" />
<exclude body1="wide_angle_camera_front_camera" body2="wide_angle_camera_front_camera_parent" />
<exclude body1="base" body2="face_rear" />
<exclude body1="face_rear" body2="depth_camera_rear_camera" />
<exclude body1="depth_camera_rear_camera" body2="depth_camera_rear_camera_parent" />
<exclude body1="depth_camera_rear_camera_parent" body2="depth_camera_rear_depth_optical_frame" />
<exclude body1="depth_camera_rear_camera_parent" body2="depth_camera_rear_color_frame" />
<exclude body1="depth_camera_rear_color_frame" body2="depth_camera_rear_color_optical_frame" />
<exclude body1="face_rear" body2="wide_angle_camera_rear_camera" />
<exclude body1="wide_angle_camera_rear_camera" body2="wide_angle_camera_rear_camera_parent" />
<exclude body1="base" body2="battery" />
<exclude body1="base" body2="docking_hatch_cover" />
<exclude body1="base" body2="imu_link" />
<exclude body1="base" body2="depth_camera_left_camera" />
<exclude body1="depth_camera_left_camera" body2="depth_camera_left_camera_parent" />
<exclude body1="depth_camera_left_camera_parent" body2="depth_camera_left_depth_optical_frame" />
<exclude body1="depth_camera_left_camera_parent" body2="depth_camera_left_color_frame" />
<exclude body1="depth_camera_left_color_frame" body2="depth_camera_left_color_optical_frame" />
<exclude body1="base" body2="depth_camera_right_camera" />
<exclude body1="depth_camera_right_camera" body2="depth_camera_right_camera_parent" />
<exclude body1="depth_camera_right_camera_parent" body2="depth_camera_right_depth_optical_frame" />
<exclude body1="depth_camera_right_camera_parent" body2="depth_camera_right_color_frame" />
<exclude body1="depth_camera_right_color_frame" body2="depth_camera_right_color_optical_frame" />
<exclude body1="base" body2="lidar_cage" />
<exclude body1="lidar_cage" body2="lidar" />
<exclude body1="base" body2="LF_HAA" />
<exclude body1="LF_HAA" body2="LF_HIP" />
<exclude body1="LF_HIP" body2="LF_hip_fixed" />
<exclude body1="LF_hip_fixed" body2="LF_HFE" />
<exclude body1="LF_HFE" body2="LF_THIGH" />
<exclude body1="LF_THIGH" body2="LF_thigh_fixed" />
<exclude body1="LF_thigh_fixed" body2="LF_KFE" />
<exclude body1="LF_KFE" body2="LF_SHANK" />
<exclude body1="LF_SHANK" body2="LF_shank_fixed" />
<exclude body1="LF_shank_fixed" body2="LF_FOOT" />
<exclude body1="base" body2="RF_HAA" />
<exclude body1="RF_HAA" body2="RF_HIP" />
<exclude body1="RF_HIP" body2="RF_hip_fixed" />
<exclude body1="RF_hip_fixed" body2="RF_HFE" />
<exclude body1="RF_HFE" body2="RF_THIGH" />
<exclude body1="RF_THIGH" body2="RF_thigh_fixed" />
<exclude body1="RF_thigh_fixed" body2="RF_KFE" />
<exclude body1="RF_KFE" body2="RF_SHANK" />
<exclude body1="RF_SHANK" body2="RF_shank_fixed" />
<exclude body1="RF_shank_fixed" body2="RF_FOOT" />
<exclude body1="base" body2="LH_HAA" />
<exclude body1="LH_HAA" body2="LH_HIP" />
<exclude body1="LH_HIP" body2="LH_hip_fixed" />
<exclude body1="LH_hip_fixed" body2="LH_HFE" />
<exclude body1="LH_HFE" body2="LH_THIGH" />
<exclude body1="LH_THIGH" body2="LH_thigh_fixed" />
<exclude body1="LH_thigh_fixed" body2="LH_KFE" />
<exclude body1="LH_KFE" body2="LH_SHANK" />
<exclude body1="LH_SHANK" body2="LH_shank_fixed" />
<exclude body1="LH_shank_fixed" body2="LH_FOOT" />
<exclude body1="base" body2="RH_HAA" />
<exclude body1="RH_HAA" body2="RH_HIP" />
<exclude body1="RH_HIP" body2="RH_hip_fixed" />
<exclude body1="RH_hip_fixed" body2="RH_HFE" />
<exclude body1="RH_HFE" body2="RH_THIGH" />
<exclude body1="RH_THIGH" body2="RH_thigh_fixed" />
<exclude body1="RH_thigh_fixed" body2="RH_KFE" />
<exclude body1="RH_KFE" body2="RH_SHANK" />
<exclude body1="RH_SHANK" body2="RH_shank_fixed" />
<exclude body1="RH_shank_fixed" body2="RH_FOOT" />
<exclude body1="base" body2="hatch" />
</contact>
</mujoco>
Import report
Counts
| Links | 78 |
|---|---|
| Joints | 77 |
| Moving joints | 12 |
| Visuals | 46 |
| Collisions | 45 |
| Materials | 0 |
Meshes
Formats: dae.
Asset size: 8.3 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
self_filter | 1 | <self_filter> is not part of the URDF subset RobotDescription mirrors |
Forward-kinematics check
Forward kinematics of 78 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 · 4.4e-16 rad.
MuJoCo
robot.xml did not compile in MuJoCo: Error: inertia must satisfy A + B >= C; use 'balanceinertia' to fix
Source & licence
| Repository | https://github.com/ANYbotics/anymal_c_simple_description |
|---|---|
| Commit | f160b8f7fed840c47a6febe8e2bc78b32bf43a68 |
| 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.