Atlas DRC (v3)
Boston Dynamics · licence BSD-3-Clause · source: github.com/RobotLocomotion/drake @ 7abea0556
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 cc2aa84fe8b66e48 -->
<robot name="atlas">
<link name="l_clav">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_clav.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_clav_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.084" rpy="0.0 0.0 0.0" />
<mass value="4.466" />
<inertia ixx="0.011" ixy="0.0" ixz="0.0" iyy="0.009" iyz="0.004" izz="0.004" />
</inertial>
</link>
<link name="l_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/l_foot.obj" />
</geometry>
</visual>
<visual>
<origin xyz="-0.0876 0.066 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.01" />
</geometry>
</visual>
<visual>
<origin xyz="-0.0876 -0.0626 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.01" />
</geometry>
</visual>
<visual>
<origin xyz="0.1728 0.066 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.01" />
</geometry>
</visual>
<visual>
<origin xyz="0.1728 -0.0626 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.01" />
</geometry>
</visual>
<visual>
<origin xyz="-0.0426 0.066 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.01" />
</geometry>
</visual>
<visual>
<origin xyz="-0.0426 -0.0626 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.01" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/l_foot_chull.obj" />
</geometry>
</collision>
<collision>
<origin xyz="-0.0876 0.066 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.0" />
</geometry>
</collision>
<collision>
<origin xyz="-0.0876 -0.0626 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.0" />
</geometry>
</collision>
<collision>
<origin xyz="0.1728 0.066 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.0" />
</geometry>
</collision>
<collision>
<origin xyz="0.1728 -0.0626 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.0" />
</geometry>
</collision>
<collision>
<origin xyz="-0.0426 0.066 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.0" />
</geometry>
</collision>
<collision>
<origin xyz="-0.0426 -0.0626 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.0" />
</geometry>
</collision>
<inertial>
<origin xyz="0.027 0.0 -0.067" rpy="0.0 0.0 0.0" />
<mass value="2.41" />
<inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.007" iyz="0.0" izz="0.008" />
</inertial>
</link>
<link name="l_hand">
<inertial>
<origin xyz="0.00016 -0.08159 2e-05" rpy="0.0 0.0 0.0" />
<mass value="0.5839" />
<inertia ixx="0.000388" ixy="0.0" ixz="0.0" iyy="0.000477" iyz="0.0" izz="0.000379" />
</inertial>
</link>
<link name="l_larm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_larm.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_larm_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="3.248" />
<inertia ixx="0.00265" ixy="0.0" ixz="0.0" iyy="0.00446" iyz="0.0" izz="0.00446" />
</inertial>
</link>
<link name="l_lfarm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_hand.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_hand_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00017 -0.02515 0.00163" rpy="0.0 0.0 0.0" />
<mass value="0.648" />
<inertia ixx="0.000764" ixy="0.0" ixz="0.0" iyy="0.000429" iyz="0.0" izz="0.000825" />
</inertial>
</link>
<link name="l_lglut">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/l_lglut.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/l_lglut_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0133341 0.0170484 -0.0312052" rpy="0.0 0.0 0.0" />
<mass value="0.898" />
<inertia ixx="0.000691326" ixy="-2.24344e-05" ixz="2.50508e-06" iyy="0.00126856" iyz="0.000137862" izz="0.00106487" />
</inertial>
</link>
<link name="l_lleg">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/l_lleg.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/l_lleg_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.001 0.0 -0.187" rpy="0.0 0.0 0.0" />
<mass value="4.515" />
<inertia ixx="0.077" ixy="0.0" ixz="-0.003" iyy="0.076" iyz="0.0" izz="0.01" />
</inertial>
</link>
<link name="l_scap">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_scap.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_scap_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="3.899" />
<inertia ixx="0.00319" ixy="0.0" ixz="0.0" iyy="0.00583" iyz="0.0" izz="0.00583" />
</inertial>
</link>
<link name="l_talus">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/l_talus.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.125" />
<inertia ixx="1.01674e-05" ixy="0.0" ixz="0.0" iyy="8.42775e-06" iyz="0.0" izz="1.30101e-05" />
</inertial>
</link>
<link name="l_uarm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_uarm.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_uarm_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.065 0.0" rpy="0.0 0.0 0.0" />
<mass value="4.386" />
<inertia ixx="0.00656" ixy="0.0" ixz="0.0" iyy="0.00358" iyz="0.0" izz="0.00656" />
</inertial>
</link>
<link name="l_ufarm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_farm.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_farm_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00015 0.08296 0.00037" rpy="0.0 0.0 0.0" />
<mass value="2.4798" />
<inertia ixx="0.012731" ixy="0.0" ixz="0.0" iyy="0.002857" iyz="0.0" izz="0.011948" />
</inertial>
</link>
<link name="l_uglut">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/l_uglut.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/l_uglut_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00529262 -0.00344732 0.00313046" rpy="0.0 0.0 0.0" />
<mass value="1.959" />
<inertia ixx="0.00074276" ixy="-3.79607e-08" ixz="-2.79549e-05" iyy="0.000688179" iyz="-3.2735e-08" izz="0.00041242" />
</inertial>
</link>
<link name="l_uleg">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/l_uleg.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/l_uleg_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.21" rpy="0.0 0.0 0.0" />
<mass value="8.204" />
<inertia ixx="0.09" ixy="0.0" ixz="0.0" iyy="0.09" iyz="0.0" izz="0.02" />
</inertial>
</link>
<link name="ltorso">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/ltorso.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.0112984 -3.15366e-06 0.0746835" rpy="0.0 0.0 0.0" />
<mass value="2.27" />
<inertia ixx="0.0039092" ixy="-5.04491e-08" ixz="-0.000342157" iyy="0.00341694" iyz="4.87119e-07" izz="0.00174492" />
</inertial>
</link>
<link name="mtorso">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/mtorso.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.00816266 -0.0131245 0.0305974" rpy="0.0 0.0 0.0" />
<mass value="0.799" />
<inertia ixx="0.000454181" ixy="-6.10764e-05" ixz="3.94009e-05" iyy="0.000483282" iyz="5.27463e-05" izz="0.000444215" />
</inertial>
</link>
<link name="pelvis">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/pelvis.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/pelvis_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0111 0.0 0.0271" rpy="0.0 0.0 0.0" />
<mass value="9.509" />
<inertia ixx="0.1244" ixy="0.0008" ixz="-0.0007" iyy="0.0958" iyz="-0.0005" izz="0.1167" />
</inertial>
</link>
<link name="r_clav">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_clav.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_clav_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.084" rpy="0.0 0.0 0.0" />
<mass value="4.466" />
<inertia ixx="0.011" ixy="0.0" ixz="0.0" iyy="0.009" iyz="0.004" izz="0.004" />
</inertial>
</link>
<link name="r_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_foot.obj" />
</geometry>
</visual>
<visual>
<origin xyz="-0.0876 0.0626 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.01" />
</geometry>
</visual>
<visual>
<origin xyz="-0.0876 -0.066 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.01" />
</geometry>
</visual>
<visual>
<origin xyz="0.1728 0.0626 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.01" />
</geometry>
</visual>
<visual>
<origin xyz="0.1728 -0.066 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.01" />
</geometry>
</visual>
<visual>
<origin xyz="0.0426 0.0626 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.01" />
</geometry>
</visual>
<visual>
<origin xyz="0.0426 -0.066 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.01" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_foot_chull.obj" />
</geometry>
</collision>
<collision>
<origin xyz="-0.0876 0.0626 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.0" />
</geometry>
</collision>
<collision>
<origin xyz="-0.0876 -0.066 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.0" />
</geometry>
</collision>
<collision>
<origin xyz="0.1728 0.0626 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
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</geometry>
</collision>
<collision>
<origin xyz="0.1728 -0.066 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.0" />
</geometry>
</collision>
<collision>
<origin xyz="0.0426 0.0626 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.0" />
</geometry>
</collision>
<collision>
<origin xyz="0.0426 -0.066 -0.07645" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.0" />
</geometry>
</collision>
<inertial>
<origin xyz="0.027 0.0 -0.067" rpy="0.0 0.0 0.0" />
<mass value="2.41" />
<inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.007" iyz="0.0" izz="0.008" />
</inertial>
</link>
<link name="r_hand">
<inertial>
<origin xyz="0.00016 -0.08159 2e-05" rpy="0.0 0.0 0.0" />
<mass value="0.5839" />
<inertia ixx="0.000388" ixy="0.0" ixz="0.0" iyy="0.000477" iyz="0.0" izz="0.000379" />
</inertial>
</link>
<link name="r_larm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_larm.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_larm_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="3.248" />
<inertia ixx="0.00265" ixy="0.0" ixz="0.0" iyy="0.00446" iyz="0.0" izz="0.00446" />
</inertial>
</link>
<link name="r_lfarm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_hand.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_hand_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00017 -0.02515 0.00163" rpy="0.0 0.0 0.0" />
<mass value="0.648" />
<inertia ixx="0.000764" ixy="0.0" ixz="0.0" iyy="0.000429" iyz="0.0" izz="0.000825" />
</inertial>
</link>
<link name="r_lglut">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_lglut.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_lglut_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0133341 -0.0170484 -0.0312052" rpy="0.0 0.0 0.0" />
<mass value="0.898" />
<inertia ixx="0.000691326" ixy="2.24344e-05" ixz="2.50508e-06" iyy="0.00126856" iyz="-0.000137862" izz="0.00106487" />
</inertial>
</link>
<link name="r_lleg">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_lleg.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_lleg_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.001 0.0 -0.187" rpy="0.0 0.0 0.0" />
<mass value="4.515" />
<inertia ixx="0.077" ixy="-0.0" ixz="-0.003" iyy="0.076" iyz="-0.0" izz="0.01" />
</inertial>
</link>
<link name="r_scap">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_scap.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_scap_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="3.899" />
<inertia ixx="0.00319" ixy="0.0" ixz="0.0" iyy="0.00583" iyz="0.0" izz="0.00583" />
</inertial>
</link>
<link name="r_talus">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_talus.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.125" />
<inertia ixx="1.01674e-05" ixy="0.0" ixz="0.0" iyy="8.42775e-06" iyz="0.0" izz="1.30101e-05" />
</inertial>
</link>
<link name="r_uarm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_uarm.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_uarm_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.065 0.0" rpy="0.0 0.0 0.0" />
<mass value="4.386" />
<inertia ixx="0.00656" ixy="0.0" ixz="0.0" iyy="0.00358" iyz="0.0" izz="0.00656" />
</inertial>
</link>
<link name="r_ufarm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_farm.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_farm_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00015 0.08296 0.00037" rpy="0.0 0.0 0.0" />
<mass value="2.4798" />
<inertia ixx="0.012731" ixy="0.0" ixz="0.0" iyy="0.002857" iyz="0.0" izz="0.011948" />
</inertial>
</link>
<link name="r_uglut">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_uglut.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_uglut_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00529262 0.00344732 0.00313046" rpy="0.0 0.0 0.0" />
<mass value="1.959" />
<inertia ixx="0.00074276" ixy="3.79607e-08" ixz="-2.79549e-05" iyy="0.000688179" iyz="3.2735e-08" izz="0.00041242" />
</inertial>
</link>
<link name="r_uleg">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_uleg.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/r_uleg_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.21" rpy="0.0 0.0 0.0" />
<mass value="8.204" />
<inertia ixx="0.09" ixy="0.0" ixz="0.0" iyy="0.09" iyz="0.0" izz="0.02" />
</inertial>
</link>
<link name="utorso">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/utorso.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/utorso_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0622 0.0023 0.3157" rpy="0.0 0.0 0.0" />
<mass value="84.409" />
<inertia ixx="1.577" ixy="-0.032" ixz="0.102" iyy="1.602" iyz="0.047" izz="0.565" />
</inertial>
</link>
<joint name="back_bkx" type="revolute">
<origin xyz="0.0 0.0 0.05" rpy="0.0 0.0 0.0" />
<parent link="mtorso" />
<child link="utorso" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="300.0" velocity="12.0" lower="-0.523599" upper="0.523599" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="back_bky" type="revolute">
<origin xyz="0.0 0.0 0.162" rpy="0.0 0.0 0.0" />
<parent link="ltorso" />
<child link="mtorso" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="445.0" velocity="9.0" lower="-0.219388" upper="0.538783" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="back_bkz" type="revolute">
<origin xyz="-0.0125 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="pelvis" />
<child link="ltorso" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="106.0" velocity="12.0" lower="-0.663225" upper="0.663225" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="l_arm_elx" type="revolute">
<origin xyz="0.0 -0.119 0.0092" rpy="0.0 0.0 0.0" />
<parent link="l_uarm" />
<child link="l_larm" />
<axis xyz="-1.0 -0.0 -0.0" />
<limit effort="112.0" velocity="12.0" lower="0.0" upper="2.35619" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="l_arm_ely" type="revolute">
<origin xyz="0.0 -0.187 -0.016" rpy="0.0 0.0 0.0" />
<parent link="l_scap" />
<child link="l_uarm" />
<axis xyz="-0.0 -1.0 -0.0" />
<limit effort="63.0" velocity="12.0" lower="0.0" upper="3.14159" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="l_arm_shx" type="revolute">
<origin xyz="0.0 -0.11 -0.245" rpy="0.0 0.0 0.0" />
<parent link="l_clav" />
<child link="l_scap" />
<axis xyz="-1.0 -0.0 -0.0" />
<limit effort="99.0" velocity="12.0" lower="-1.5708" upper="1.5708" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="l_arm_shz" type="revolute">
<origin xyz="0.1406 0.2256 0.4776" rpy="0.0 0.0 3.14159265359" />
<parent link="utorso" />
<child link="l_clav" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="87.0" velocity="12.0" lower="-1.5708" upper="0.785398" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="l_arm_mwx" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="l_ufarm" />
<child link="l_lfarm" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="25.0" velocity="10.0" lower="-1.7628" upper="1.7628" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="l_arm_uwy" type="revolute">
<origin xyz="0.0 -0.29955 -0.00921" rpy="0.0 3.14159265359 0.0" />
<parent link="l_larm" />
<child link="l_ufarm" />
<axis xyz="-0.0 -1.0 -0.0" />
<limit effort="25.0" velocity="10.0" lower="-3.011" upper="3.011" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="l_arm_lwy" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 3.14159265359 0.0" />
<parent link="l_lfarm" />
<child link="l_hand" />
<axis xyz="-0.0 -1.0 -0.0" />
<limit effort="25.0" velocity="10.0" lower="-2.9671" upper="2.9671" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="l_leg_akx" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="l_talus" />
<child link="l_foot" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="360.0" velocity="12.0" lower="-0.8" upper="0.8" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="l_leg_aky" type="revolute">
<origin xyz="0.0 0.0 -0.422" rpy="0.0 0.0 0.0" />
<parent link="l_lleg" />
<child link="l_talus" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="740.0" velocity="12.0" lower="-1.0" upper="0.7" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="l_leg_hpx" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="l_uglut" />
<child link="l_lglut" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="530.0" velocity="12.0" lower="-0.523599" upper="0.523599" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="l_leg_hpy" type="revolute">
<origin xyz="0.05 0.0225 -0.066" rpy="0.0 0.0 0.0" />
<parent link="l_lglut" />
<child link="l_uleg" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="840.0" velocity="12.0" lower="-1.61234" upper="0.65764" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="l_leg_hpz" type="revolute">
<origin xyz="0.0 0.089 0.0" rpy="0.0 0.0 0.0" />
<parent link="pelvis" />
<child link="l_uglut" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="275.0" velocity="12.0" lower="-0.174358" upper="0.786794" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="l_leg_kny" type="revolute">
<origin xyz="-0.05 0.0 -0.374" rpy="0.0 0.0 0.0" />
<parent link="l_uleg" />
<child link="l_lleg" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="890.0" velocity="12.0" lower="0.0" upper="2.35637" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="neck_ay" type="revolute">
<origin xyz="0.2546 0.0 0.6215" rpy="0.0 0.0 0.0" />
<parent link="utorso" />
<child link="head" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="25.0" velocity="6.28" lower="-0.602139" upper="1.14319" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="r_arm_elx" type="revolute">
<origin xyz="0.0 -0.119 0.0092" rpy="0.0 0.0 0.0" />
<parent link="r_uarm" />
<child link="r_larm" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="112.0" velocity="12.0" lower="-2.35619" upper="0.0" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="r_arm_ely" type="revolute">
<origin xyz="0.0 -0.187 -0.016" rpy="0.0 0.0 0.0" />
<parent link="r_scap" />
<child link="r_uarm" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="63.0" velocity="12.0" lower="0.0" upper="3.14159" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="r_arm_shx" type="revolute">
<origin xyz="0.0 -0.11 -0.245" rpy="0.0 0.0 0.0" />
<parent link="r_clav" />
<child link="r_scap" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="99.0" velocity="12.0" lower="-1.5708" upper="1.5708" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="r_arm_shz" type="revolute">
<origin xyz="0.1406 -0.2256 0.4776" rpy="0.0 0.0 0.0" />
<parent link="utorso" />
<child link="r_clav" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="87.0" velocity="12.0" lower="-0.785398" upper="1.5708" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="r_arm_mwx" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_ufarm" />
<child link="r_lfarm" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="25.0" velocity="10.0" lower="-1.7628" upper="1.7628" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="r_arm_uwy" type="revolute">
<origin xyz="0.0 -0.29955 -0.00921" rpy="0.0 0.0 0.0" />
<parent link="r_larm" />
<child link="r_ufarm" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="25.0" velocity="10.0" lower="-3.011" upper="3.011" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="r_arm_lwy" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_lfarm" />
<child link="r_hand" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="25.0" velocity="10.0" lower="-2.9671" upper="2.9671" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="r_leg_akx" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_talus" />
<child link="r_foot" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="360.0" velocity="12.0" lower="-0.8" upper="0.8" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="r_leg_aky" type="revolute">
<origin xyz="0.0 0.0 -0.422" rpy="0.0 0.0 0.0" />
<parent link="r_lleg" />
<child link="r_talus" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="740.0" velocity="12.0" lower="-1.0" upper="0.7" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="r_leg_hpx" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_uglut" />
<child link="r_lglut" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="530.0" velocity="12.0" lower="-0.523599" upper="0.523599" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="r_leg_hpy" type="revolute">
<origin xyz="0.05 -0.0225 -0.066" rpy="0.0 0.0 0.0" />
<parent link="r_lglut" />
<child link="r_uleg" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="840.0" velocity="12.0" lower="-1.61234" upper="0.65764" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="r_leg_hpz" type="revolute">
<origin xyz="0.0 -0.089 0.0" rpy="0.0 0.0 0.0" />
<parent link="pelvis" />
<child link="r_uglut" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="275.0" velocity="12.0" lower="-0.786794" upper="0.174358" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="r_leg_kny" type="revolute">
<origin xyz="-0.05 0.0 -0.374" rpy="0.0 0.0 0.0" />
<parent link="r_uleg" />
<child link="r_lleg" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="890.0" velocity="12.0" lower="0.0" upper="2.35637" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<link name="r_situational_awareness_camera_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.1" />
<inertia ixx="1e-05" ixy="0.0" ixz="0.0" iyy="1e-05" iyz="0.0" izz="1e-05" />
</inertial>
</link>
<joint name="r_situational_awareness_camera_joint" type="fixed">
<origin xyz="0.155 -0.121 0.785" rpy="0.0 0.0 -1.309" />
<parent link="utorso" />
<child link="r_situational_awareness_camera_link" />
</joint>
<joint name="r_situational_awareness_camera_optical_frame_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.5708 0.0 -1.5708" />
<parent link="r_situational_awareness_camera_link" />
<child link="r_situational_awareness_camera_optical_frame" />
</joint>
<link name="r_situational_awareness_camera_optical_frame" />
<link name="l_situational_awareness_camera_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.1" />
<inertia ixx="1e-05" ixy="0.0" ixz="0.0" iyy="1e-05" iyz="0.0" izz="1e-05" />
</inertial>
</link>
<joint name="l_situational_awareness_camera_joint" type="fixed">
<origin xyz="0.155 0.121 0.785" rpy="0.0 0.0 1.309" />
<parent link="utorso" />
<child link="l_situational_awareness_camera_link" />
</joint>
<joint name="l_situational_awareness_camera_optical_frame_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.5708 0.0 -1.5708" />
<parent link="l_situational_awareness_camera_link" />
<child link="l_situational_awareness_camera_optical_frame" />
</joint>
<link name="l_situational_awareness_camera_optical_frame" />
<link name="head">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/head_chull.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/head_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.075493 3.3383e-05 0.02774" rpy="0.0 0.0 0.0" />
<mass value="1.4199" />
<inertia ixx="0.0039688" ixy="-1.5797e-06" ixz="-0.00089293" iyy="0.0041178" iyz="-6.8415e-07" izz="0.0035243" />
</inertial>
</link>
<link name="pre_spindle" />
<joint name="pre_spindle_joint" type="fixed">
<origin xyz="-0.0446 0.0 0.088" rpy="0.0 0.0 0.0" />
<parent link="head" />
<child link="pre_spindle" />
</joint>
<link name="pre_spindle_cal_x" />
<link name="pre_spindle_cal_y" />
<link name="pre_spindle_cal_z" />
<link name="pre_spindle_cal_roll" />
<link name="pre_spindle_cal_pitch" />
<link name="pre_spindle_cal_yaw" />
<joint name="pre_spindle_cal_x_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="pre_spindle" />
<child link="pre_spindle_cal_x" />
</joint>
<joint name="pre_spindle_cal_y_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="pre_spindle_cal_x" />
<child link="pre_spindle_cal_y" />
</joint>
<joint name="pre_spindle_cal_z_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="pre_spindle_cal_y" />
<child link="pre_spindle_cal_z" />
</joint>
<joint name="pre_spindle_cal_roll_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="pre_spindle_cal_z" />
<child link="pre_spindle_cal_roll" />
</joint>
<joint name="pre_spindle_cal_pitch_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="pre_spindle_cal_roll" />
<child link="pre_spindle_cal_pitch" />
</joint>
<joint name="pre_spindle_cal_yaw_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="pre_spindle_cal_pitch" />
<child link="pre_spindle_cal_yaw" />
</joint>
<joint name="hokuyo_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="pre_spindle_cal_yaw" />
<child link="post_spindle" />
</joint>
<link name="post_spindle" />
<link name="post_spindle_cal_x" />
<link name="post_spindle_cal_y" />
<link name="post_spindle_cal_z" />
<link name="post_spindle_cal_roll" />
<link name="post_spindle_cal_pitch" />
<joint name="post_spindle_cal_x_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="post_spindle" />
<child link="post_spindle_cal_x" />
</joint>
<joint name="post_spindle_cal_y_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="post_spindle_cal_x" />
<child link="post_spindle_cal_y" />
</joint>
<joint name="post_spindle_cal_z_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="post_spindle_cal_y" />
<child link="post_spindle_cal_z" />
</joint>
<joint name="post_spindle_cal_roll_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="post_spindle_cal_z" />
<child link="post_spindle_cal_roll" />
</joint>
<joint name="post_spindle_cal_pitch_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="post_spindle_cal_roll" />
<child link="post_spindle_cal_pitch" />
</joint>
<joint name="post_spindle_cal_yaw_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="post_spindle_cal_pitch" />
<child link="hokuyo_link" />
</joint>
<link name="hokuyo_link">
<visual>
<origin xyz="0.045 -0.0261018277 -0.08342369" rpy="-0.314 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/head_camera_chull.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.045 -0.0261018277 -0.08342369" rpy="-0.314 0.0 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/head_camera_chull.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.012428 0.0004084 -0.0041835" rpy="0.0 0.0 0.0" />
<mass value="0.057664" />
<inertia ixx="3.7174e-05" ixy="4.9927e-08" ixz="1.1015e-05" iyy="4.2412e-05" iyz="-9.8165e-09" izz="4.167e-05" />
</inertial>
</link>
<joint name="head_hokuyo_fixed_joint" type="fixed">
<origin xyz="0.03 0.0 0.015" rpy="0.0 0.0 0.0" />
<parent link="hokuyo_link" />
<child link="head_hokuyo_frame" />
</joint>
<link name="head_hokuyo_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="1e-05" ixy="0.0" ixz="0.0" iyy="1e-05" iyz="0.0" izz="1e-05" />
</inertial>
</link>
<joint name="left_camera_frame_joint" type="fixed">
<origin xyz="0.0 0.035 -0.002" rpy="0.0 0.0 0.0" />
<parent link="head" />
<child link="left_camera_frame" />
</joint>
<link name="left_camera_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.1" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="left_camera_optical_frame_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.5708 0.0 -1.5708" />
<parent link="left_camera_frame" />
<child link="left_camera_optical_frame" />
</joint>
<link name="left_camera_optical_frame" />
<joint name="right_camera_frame_joint" type="fixed">
<origin xyz="0.0 -0.035 -0.002" rpy="0.0 0.0 0.0" />
<parent link="head" />
<child link="right_camera_frame" />
</joint>
<link name="right_camera_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.1" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="right_camera_optical_frame_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.5708 0.0 -1.5708" />
<parent link="right_camera_frame" />
<child link="right_camera_optical_frame" />
</joint>
<link name="right_camera_optical_frame" />
<joint name="center_top_led_frame_joint" type="fixed">
<origin xyz="0.01125 0.0 0.0105" rpy="0.0 0.0 0.0" />
<parent link="head" />
<child link="center_top_led_frame" />
</joint>
<link name="center_top_led_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.1" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="center_bottom_led_frame_joint" type="fixed">
<origin xyz="0.01125 0.0 -0.0155" rpy="0.0 0.0 0.0" />
<parent link="head" />
<child link="center_bottom_led_frame" />
</joint>
<link name="center_bottom_led_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.1" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="left_led_frame_joint" type="fixed">
<origin xyz="-0.01443 0.07452 0.050346" rpy="0.0 -0.15 0.53" />
<parent link="head" />
<child link="left_led_frame" />
</joint>
<link name="left_led_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.1" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="right_led_frame_joint" type="fixed">
<origin xyz="-0.01443 -0.07452 0.050346" rpy="0.0 -0.15 -0.53" />
<parent link="head" />
<child link="right_led_frame" />
</joint>
<link name="right_led_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.1" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<link name="l_hand_force_torque">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.1" />
<inertia ixx="1e-05" ixy="0.0" ixz="0.0" iyy="1e-05" iyz="0.0" izz="1e-05" />
</inertial>
</link>
<joint name="l_hand_force_torque_joint" type="fixed">
<origin xyz="0.0 -0.1245 0.0" rpy="0.0 0.0 3.141592" />
<parent link="l_hand" />
<child link="l_hand_force_torque" />
</joint>
<link name="r_hand_force_torque">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.1" />
<inertia ixx="1e-05" ixy="0.0" ixz="0.0" iyy="1e-05" iyz="0.0" izz="1e-05" />
</inertial>
</link>
<joint name="r_hand_force_torque_joint" type="fixed">
<origin xyz="0.0 -0.1245 0.0" rpy="0.0 0.0 3.141592" />
<parent link="r_hand" />
<child link="r_hand_force_torque" />
</joint>
<link name="left_palm">
<visual>
<origin xyz="0.0 0.1725 0.0" rpy="-1.57079 -1.57079 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/GRIPPER_OPEN_chull.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.1725 0.0" rpy="-1.57079 -1.57079 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/GRIPPER_OPEN_chull.obj" />
</geometry>
</collision>
</link>
<joint name="left_palm_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="l_hand_force_torque" />
<child link="left_palm" />
</joint>
<link name="right_palm">
<visual>
<origin xyz="0.0 0.1725 0.0" rpy="-1.57079 -1.57079 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/GRIPPER_OPEN_chull.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.1725 0.0" rpy="-1.57079 -1.57079 0.0" />
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/GRIPPER_OPEN_chull.obj" />
</geometry>
</collision>
</link>
<joint name="right_palm_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_hand_force_torque" />
<child link="right_palm" />
</joint>
<joint name="l_hand_face_joint" type="fixed">
<origin xyz="0.0 0.12 0.0" rpy="0.0 0.0 0.0" />
<parent link="l_hand_force_torque" />
<child link="l_hand_face" />
</joint>
<link name="l_hand_face" />
<joint name="l_hand_gripper_joint" type="fixed">
<origin xyz="0.0 0.18 0.0" rpy="0.0 0.0 0.0" />
<parent link="l_hand_force_torque" />
<child link="l_hand_gripper" />
</joint>
<link name="l_hand_gripper" />
<link name="l_hand_camera_link" />
<joint name="l_hand_camera_joint" type="fixed">
<origin xyz="-0.09892 0.01431 0.0" rpy="-1.57079 0.0 1.5708" />
<parent link="l_hand_force_torque" />
<child link="l_hand_camera_link" />
</joint>
<joint name="l_hand_camera_optical_frame_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.57079 0.0 -1.57079" />
<parent link="l_hand_camera_link" />
<child link="l_hand_camera_optical_frame" />
</joint>
<link name="l_hand_camera_optical_frame" />
<joint name="r_hand_face_joint" type="fixed">
<origin xyz="0.0 0.12 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_hand_force_torque" />
<child link="r_hand_face" />
</joint>
<link name="r_hand_face" />
<joint name="r_hand_gripper_joint" type="fixed">
<origin xyz="0.0 0.18 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_hand_force_torque" />
<child link="r_hand_gripper" />
</joint>
<link name="r_hand_gripper" />
<link name="r_hand_camera_link" />
<joint name="r_hand_camera_joint" type="fixed">
<origin xyz="0.09892 0.01431 0.0" rpy="1.57079 0.0 1.5708" />
<parent link="r_hand_force_torque" />
<child link="r_hand_camera_link" />
</joint>
<joint name="r_hand_camera_optical_frame_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.57079 0.0 -1.57079" />
<parent link="r_hand_camera_link" />
<child link="r_hand_camera_optical_frame" />
</joint>
<link name="r_hand_camera_optical_frame" />
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content cc2aa84fe8b66e48 -->
<mujoco model="atlas">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="r_clav" file="drake/examples/atlas/urdf/meshes/r_clav.obj" />
<mesh name="r_clav_chull" file="drake/examples/atlas/urdf/meshes/r_clav_chull.obj" />
<mesh name="l_foot" file="drake/examples/atlas/urdf/meshes/l_foot.obj" />
<mesh name="l_foot_chull" file="drake/examples/atlas/urdf/meshes/l_foot_chull.obj" />
<mesh name="r_larm" file="drake/examples/atlas/urdf/meshes/r_larm.obj" />
<mesh name="r_larm_chull" file="drake/examples/atlas/urdf/meshes/r_larm_chull.obj" />
<mesh name="r_hand" file="drake/examples/atlas/urdf/meshes/r_hand.obj" />
<mesh name="r_hand_chull" file="drake/examples/atlas/urdf/meshes/r_hand_chull.obj" />
<mesh name="l_lglut" file="drake/examples/atlas/urdf/meshes/l_lglut.obj" />
<mesh name="l_lglut_chull" file="drake/examples/atlas/urdf/meshes/l_lglut_chull.obj" />
<mesh name="l_lleg" file="drake/examples/atlas/urdf/meshes/l_lleg.obj" />
<mesh name="l_lleg_chull" file="drake/examples/atlas/urdf/meshes/l_lleg_chull.obj" />
<mesh name="r_scap" file="drake/examples/atlas/urdf/meshes/r_scap.obj" />
<mesh name="r_scap_chull" file="drake/examples/atlas/urdf/meshes/r_scap_chull.obj" />
<mesh name="l_talus" file="drake/examples/atlas/urdf/meshes/l_talus.obj" />
<mesh name="r_uarm" file="drake/examples/atlas/urdf/meshes/r_uarm.obj" />
<mesh name="r_uarm_chull" file="drake/examples/atlas/urdf/meshes/r_uarm_chull.obj" />
<mesh name="r_farm" file="drake/examples/atlas/urdf/meshes/r_farm.obj" />
<mesh name="r_farm_chull" file="drake/examples/atlas/urdf/meshes/r_farm_chull.obj" />
<mesh name="l_uglut" file="drake/examples/atlas/urdf/meshes/l_uglut.obj" />
<mesh name="l_uglut_chull" file="drake/examples/atlas/urdf/meshes/l_uglut_chull.obj" />
<mesh name="l_uleg" file="drake/examples/atlas/urdf/meshes/l_uleg.obj" />
<mesh name="l_uleg_chull" file="drake/examples/atlas/urdf/meshes/l_uleg_chull.obj" />
<mesh name="ltorso" file="drake/examples/atlas/urdf/meshes/ltorso.obj" />
<mesh name="mtorso" file="drake/examples/atlas/urdf/meshes/mtorso.obj" />
<mesh name="pelvis" file="drake/examples/atlas/urdf/meshes/pelvis.obj" />
<mesh name="pelvis_chull" file="drake/examples/atlas/urdf/meshes/pelvis_chull.obj" />
<mesh name="r_foot" file="drake/examples/atlas/urdf/meshes/r_foot.obj" />
<mesh name="r_foot_chull" file="drake/examples/atlas/urdf/meshes/r_foot_chull.obj" />
<mesh name="r_lglut" file="drake/examples/atlas/urdf/meshes/r_lglut.obj" />
<mesh name="r_lglut_chull" file="drake/examples/atlas/urdf/meshes/r_lglut_chull.obj" />
<mesh name="r_lleg" file="drake/examples/atlas/urdf/meshes/r_lleg.obj" />
<mesh name="r_lleg_chull" file="drake/examples/atlas/urdf/meshes/r_lleg_chull.obj" />
<mesh name="r_talus" file="drake/examples/atlas/urdf/meshes/r_talus.obj" />
<mesh name="r_uglut" file="drake/examples/atlas/urdf/meshes/r_uglut.obj" />
<mesh name="r_uglut_chull" file="drake/examples/atlas/urdf/meshes/r_uglut_chull.obj" />
<mesh name="r_uleg" file="drake/examples/atlas/urdf/meshes/r_uleg.obj" />
<mesh name="r_uleg_chull" file="drake/examples/atlas/urdf/meshes/r_uleg_chull.obj" />
<mesh name="utorso" file="drake/examples/atlas/urdf/meshes/utorso.obj" />
<mesh name="utorso_chull" file="drake/examples/atlas/urdf/meshes/utorso_chull.obj" />
<mesh name="head_chull" file="drake/examples/atlas/urdf/meshes/head_chull.obj" />
<mesh name="head_camera_chull" file="drake/examples/atlas/urdf/meshes/head_camera_chull.obj" />
<mesh name="GRIPPER_OPEN_chull" file="drake/examples/atlas/urdf/meshes/GRIPPER_OPEN_chull.obj" />
</asset>
<worldbody>
<body name="pelvis">
<inertial pos="0.0111 0.0 0.0271" mass="9.509" fullinertia="0.1244 0.0958 0.1167 0.0008 -0.0007 -0.0005" />
<geom name="pelvis_vis_0" type="mesh" mesh="pelvis" contype="0" conaffinity="0" group="2" />
<geom name="pelvis_col_0" type="mesh" mesh="pelvis_chull" group="3" />
<body name="ltorso" pos="-0.0125 0.0 0.0">
<joint name="back_bkz" type="hinge" axis="0.0 0.0 1.0" range="-0.663225 0.663225" damping="0.1" />
<inertial pos="-0.0112984 -3.15366e-06 0.0746835" mass="2.27" fullinertia="0.0039092 0.00341694 0.00174492 -5.04491e-08 -0.000342157 4.87119e-07" />
<geom name="ltorso_vis_0" type="mesh" mesh="ltorso" contype="0" conaffinity="0" group="2" />
<body name="mtorso" pos="0.0 0.0 0.162">
<joint name="back_bky" type="hinge" axis="0.0 1.0 0.0" range="-0.219388 0.538783" damping="0.1" />
<inertial pos="-0.00816266 -0.0131245 0.0305974" mass="0.799" fullinertia="0.000454181 0.000483282 0.000444215 -6.10764e-05 3.94009e-05 5.27463e-05" />
<geom name="mtorso_vis_0" type="mesh" mesh="mtorso" contype="0" conaffinity="0" group="2" />
<body name="utorso" pos="0.0 0.0 0.05">
<joint name="back_bkx" type="hinge" axis="1.0 0.0 0.0" range="-0.523599 0.523599" damping="0.1" />
<inertial pos="-0.0622 0.0023 0.3157" mass="84.409" fullinertia="1.577 1.602 0.565 -0.032 0.102 0.047" />
<geom name="utorso_vis_0" type="mesh" mesh="utorso" contype="0" conaffinity="0" group="2" />
<geom name="utorso_col_0" type="mesh" mesh="utorso_chull" group="3" />
<body name="l_clav" pos="0.1406 0.2256 0.4776" quat="-1.0341155355510722e-13 -0.0 0.0 1.0">
<joint name="l_arm_shz" type="hinge" axis="0.0 0.0 1.0" range="-1.5708 0.785398" damping="0.1" />
<inertial pos="0.0 0.0 -0.084" mass="4.466" fullinertia="0.011 0.009 0.004 0.0 0.0 0.004" />
<geom name="l_clav_vis_0" type="mesh" mesh="r_clav" contype="0" conaffinity="0" group="2" />
<geom name="l_clav_col_0" type="mesh" mesh="r_clav_chull" group="3" />
<body name="l_scap" pos="0.0 -0.11 -0.245">
<joint name="l_arm_shx" type="hinge" axis="-1.0 -0.0 -0.0" range="-1.5708 1.5708" damping="0.1" />
<inertial pos="0.0 0.0 0.0" mass="3.899" fullinertia="0.00319 0.00583 0.00583 0.0 0.0 0.0" />
<geom name="l_scap_vis_0" type="mesh" mesh="r_scap" contype="0" conaffinity="0" group="2" />
<geom name="l_scap_col_0" type="mesh" mesh="r_scap_chull" group="3" />
<body name="l_uarm" pos="0.0 -0.187 -0.016">
<joint name="l_arm_ely" type="hinge" axis="-0.0 -1.0 -0.0" range="0.0 3.14159" damping="0.1" />
<inertial pos="0.0 0.065 0.0" mass="4.386" fullinertia="0.00656 0.00358 0.00656 0.0 0.0 0.0" />
<geom name="l_uarm_vis_0" type="mesh" mesh="r_uarm" contype="0" conaffinity="0" group="2" />
<geom name="l_uarm_col_0" type="mesh" mesh="r_uarm_chull" group="3" />
<body name="l_larm" pos="0.0 -0.119 0.0092">
<joint name="l_arm_elx" type="hinge" axis="-1.0 -0.0 -0.0" range="0.0 2.35619" damping="0.1" />
<inertial pos="0.0 0.0 0.0" mass="3.248" fullinertia="0.00265 0.00446 0.00446 0.0 0.0 0.0" />
<geom name="l_larm_vis_0" type="mesh" mesh="r_larm" contype="0" conaffinity="0" group="2" />
<geom name="l_larm_col_0" type="mesh" mesh="r_larm_chull" group="3" />
<body name="l_ufarm" pos="0.0 -0.29955 -0.00921" quat="-1.0341155355510722e-13 -0.0 1.0 -0.0">
<joint name="l_arm_uwy" type="hinge" axis="-0.0 -1.0 -0.0" range="-3.011 3.011" damping="0.1" />
<inertial pos="0.00015 0.08296 0.00037" mass="2.4798" fullinertia="0.012731 0.002857 0.011948 0.0 0.0 0.0" />
<geom name="l_ufarm_vis_0" type="mesh" mesh="r_farm" contype="0" conaffinity="0" group="2" />
<geom name="l_ufarm_col_0" type="mesh" mesh="r_farm_chull" group="3" />
<body name="l_lfarm">
<joint name="l_arm_mwx" type="hinge" axis="1.0 0.0 0.0" range="-1.7628 1.7628" damping="0.1" />
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<geom name="r_foot_vis_5" type="sphere" size="0.01" pos="0.0426 0.0626 -0.07645" contype="0" conaffinity="0" group="2" />
<geom name="r_foot_vis_6" type="sphere" size="0.01" pos="0.0426 -0.066 -0.07645" contype="0" conaffinity="0" group="2" />
<geom name="r_foot_col_0" type="mesh" mesh="r_foot_chull" group="3" />
<geom name="r_foot_col_1" type="sphere" size="0.0" pos="-0.0876 0.0626 -0.07645" group="3" />
<geom name="r_foot_col_2" type="sphere" size="0.0" pos="-0.0876 -0.066 -0.07645" group="3" />
<geom name="r_foot_col_3" type="sphere" size="0.0" pos="0.1728 0.0626 -0.07645" group="3" />
<geom name="r_foot_col_4" type="sphere" size="0.0" pos="0.1728 -0.066 -0.07645" group="3" />
<geom name="r_foot_col_5" type="sphere" size="0.0" pos="0.0426 0.0626 -0.07645" group="3" />
<geom name="r_foot_col_6" type="sphere" size="0.0" pos="0.0426 -0.066 -0.07645" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="mtorso" body2="utorso" />
<exclude body1="ltorso" body2="mtorso" />
<exclude body1="pelvis" body2="ltorso" />
<exclude body1="l_uarm" body2="l_larm" />
<exclude body1="l_scap" body2="l_uarm" />
<exclude body1="l_clav" body2="l_scap" />
<exclude body1="utorso" body2="l_clav" />
<exclude body1="l_ufarm" body2="l_lfarm" />
<exclude body1="l_larm" body2="l_ufarm" />
<exclude body1="l_lfarm" body2="l_hand" />
<exclude body1="l_talus" body2="l_foot" />
<exclude body1="l_lleg" body2="l_talus" />
<exclude body1="l_uglut" body2="l_lglut" />
<exclude body1="l_lglut" body2="l_uleg" />
<exclude body1="pelvis" body2="l_uglut" />
<exclude body1="l_uleg" body2="l_lleg" />
<exclude body1="utorso" body2="head" />
<exclude body1="r_uarm" body2="r_larm" />
<exclude body1="r_scap" body2="r_uarm" />
<exclude body1="r_clav" body2="r_scap" />
<exclude body1="utorso" body2="r_clav" />
<exclude body1="r_ufarm" body2="r_lfarm" />
<exclude body1="r_larm" body2="r_ufarm" />
<exclude body1="r_lfarm" body2="r_hand" />
<exclude body1="r_talus" body2="r_foot" />
<exclude body1="r_lleg" body2="r_talus" />
<exclude body1="r_uglut" body2="r_lglut" />
<exclude body1="r_lglut" body2="r_uleg" />
<exclude body1="pelvis" body2="r_uglut" />
<exclude body1="r_uleg" body2="r_lleg" />
<exclude body1="utorso" body2="r_situational_awareness_camera_link" />
<exclude body1="r_situational_awareness_camera_link" body2="r_situational_awareness_camera_optical_frame" />
<exclude body1="utorso" body2="l_situational_awareness_camera_link" />
<exclude body1="l_situational_awareness_camera_link" body2="l_situational_awareness_camera_optical_frame" />
<exclude body1="head" body2="pre_spindle" />
<exclude body1="pre_spindle" body2="pre_spindle_cal_x" />
<exclude body1="pre_spindle_cal_x" body2="pre_spindle_cal_y" />
<exclude body1="pre_spindle_cal_y" body2="pre_spindle_cal_z" />
<exclude body1="pre_spindle_cal_z" body2="pre_spindle_cal_roll" />
<exclude body1="pre_spindle_cal_roll" body2="pre_spindle_cal_pitch" />
<exclude body1="pre_spindle_cal_pitch" body2="pre_spindle_cal_yaw" />
<exclude body1="pre_spindle_cal_yaw" body2="post_spindle" />
<exclude body1="post_spindle" body2="post_spindle_cal_x" />
<exclude body1="post_spindle_cal_x" body2="post_spindle_cal_y" />
<exclude body1="post_spindle_cal_y" body2="post_spindle_cal_z" />
<exclude body1="post_spindle_cal_z" body2="post_spindle_cal_roll" />
<exclude body1="post_spindle_cal_roll" body2="post_spindle_cal_pitch" />
<exclude body1="post_spindle_cal_pitch" body2="hokuyo_link" />
<exclude body1="hokuyo_link" body2="head_hokuyo_frame" />
<exclude body1="head" body2="left_camera_frame" />
<exclude body1="left_camera_frame" body2="left_camera_optical_frame" />
<exclude body1="head" body2="right_camera_frame" />
<exclude body1="right_camera_frame" body2="right_camera_optical_frame" />
<exclude body1="head" body2="center_top_led_frame" />
<exclude body1="head" body2="center_bottom_led_frame" />
<exclude body1="head" body2="left_led_frame" />
<exclude body1="head" body2="right_led_frame" />
<exclude body1="l_hand" body2="l_hand_force_torque" />
<exclude body1="r_hand" body2="r_hand_force_torque" />
<exclude body1="l_hand_force_torque" body2="left_palm" />
<exclude body1="r_hand_force_torque" body2="right_palm" />
<exclude body1="l_hand_force_torque" body2="l_hand_face" />
<exclude body1="l_hand_force_torque" body2="l_hand_gripper" />
<exclude body1="l_hand_force_torque" body2="l_hand_camera_link" />
<exclude body1="l_hand_camera_link" body2="l_hand_camera_optical_frame" />
<exclude body1="r_hand_force_torque" body2="r_hand_face" />
<exclude body1="r_hand_force_torque" body2="r_hand_gripper" />
<exclude body1="r_hand_force_torque" body2="r_hand_camera_link" />
<exclude body1="r_hand_camera_link" body2="r_hand_camera_optical_frame" />
</contact>
</mujoco>
Import report
Counts
| Links | 70 |
|---|---|
| Joints | 69 |
| Moving joints | 30 |
| Visuals | 48 |
| Collisions | 42 |
| Materials | 0 |
Meshes
Formats: obj.
Asset size: 0.8 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
axis | 15 | fixed joints carry no <axis>; URDF ignores it too |
frame | 4 | <frame> is not part of the URDF subset RobotDescription mirrors |
gazebo | 7 | Gazebo simulator extensions are not part of the description |
limit | 6 | fixed joints carry no <limit>; URDF ignores it too |
material | 4 | anonymous material (empty name) cannot be referenced; its colour is not kept |
transmission | 31 | ROS transmissions (actuator-to-joint wiring) have no RobotDescription field yet |
{http://drake.mit.edu}collision_filter_group | 10 | <{http://drake.mit.edu}collision_filter_group> is not part of the URDF subset RobotDescription mirrors |
Forward-kinematics check
Forward kinematics of 70 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 · 7.5e-16 rad.
MuJoCo
robot.xml did not compile in MuJoCo: Error: size 0 must be positive in geom
Source & licence
| Repository | https://github.com/RobotLocomotion/drake |
|---|---|
| Commit | 7abea0556ede980a5077fe1a8cfbae59b57c7c27 |
| Original file | examples/atlas/urdf/atlas_convex_hull.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.