Atlas v4
Boston Dynamics · licence MIT · source: github.com/openai/roboschool @ 1.0.49
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 54a1e0b84d35f3ec -->
<robot name="multisense_sl">
<link name="head">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://multisense_sl_description/meshes/head.dae" />
</geometry>
</visual>
<collision>
<origin xyz="-0.0503 0.0 -0.00195" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1311 0.12 0.0591" />
</geometry>
</collision>
<collision>
<origin xyz="-0.093 0.0 0.0868" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0468 0.12 0.1184" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.075493 3.3383e-05 0.02774" rpy="0.0 0.0 0.0" />
<mass value="1.41984" />
<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="l_clav">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://atlas_description/meshes_unplugged/r_clav.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.11 -0.248" rpy="0.0 1.5707963267949 0.0" />
<geometry>
<cylinder length="0.1525" radius="0.0555" />
</geometry>
</collision>
<collision>
<origin xyz="0.005 -0.015 -0.08" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.26" radius="0.067" />
</geometry>
</collision>
<collision>
<origin xyz="0.004 -0.064 -0.247" rpy="1.05 0.0 0.0" />
<geometry>
<box size="0.1 0.07 0.072" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.048 -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_ufarm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://atlas_description/meshes_v3/r_farm.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.13 0.004" rpy="0.0 1.5708 0.0" />
<geometry>
<cylinder length="0.125" radius="0.045" />
</geometry>
</collision>
<collision>
<origin xyz="0.001 -0.053 -0.002" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.135 0.1 0.045" />
</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_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://atlas_description/meshes_unplugged/l_foot.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.023 0.0 -0.049119" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.227 0.133887 0.05" />
</geometry>
</collision>
<collision>
<origin xyz="0.1225 0.0 -0.0641" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.08 0.02" />
</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_lfarm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 3.14159265359 0.0" />
<geometry>
<mesh filename="package://atlas_description/meshes_v3/r_hand.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.001 -0.1 -0.01" rpy="1.5707963267949 0.0 0.0" />
<geometry>
<cylinder length="0.05" radius="0.03" />
</geometry>
</collision>
<collision>
<origin xyz="0.001 -0.05 -0.01" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.13 0.09 0.07" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<mass value="2.509" />
<inertia ixx="0.00265" ixy="0.0" ixz="0.0" iyy="0.00446" iyz="0.0" izz="0.00446" />
</inertial>
</link>
<material name="dark">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
<link name="l_hand">
<visual>
<origin xyz="0.0 -0.15 0.01" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.03" />
</geometry>
<material name="dark" />
</visual>
<collision>
<origin xyz="0.0 -0.15 0.01" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.03" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1.0" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
</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://atlas_description/meshes_v3/r_larm.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.001 -0.127 0.0" rpy="1.5707963267949 0.0 0.0" />
<geometry>
<cylinder length="0.125" radius="0.045" />
</geometry>
</collision>
<collision>
<origin xyz="0.001 -0.051 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.135 0.15 0.06" />
</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_lglut">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://atlas_description/meshes_unplugged/l_lglut.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.015 0.026 -0.028" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.125 0.05 0.08" />
</geometry>
</collision>
<collision>
<origin xyz="0.05 0.027488 -0.067" rpy="1.5707963267949 0.0 0.0" />
<geometry>
<cylinder length="0.060306" radius="0.02009687" />
</geometry>
</collision>
<collision>
<origin xyz="0.0115 0.0 0.0" rpy="0.0 1.5707963267949 0.0" />
<geometry>
<cylinder length="0.144" radius="0.02" />
</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://atlas_description/meshes_unplugged/l_lleg.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.02 0.00295 -0.182" rpy="0.0 0.1 0.0" />
<geometry>
<cylinder length="0.4" radius="0.07" />
</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://atlas_description/meshes_unplugged/r_scap.dae" />
</geometry>
</visual>
<collision>
<origin xyz="-0.005 -0.115 -0.014" rpy="1.5707963267949 0.0 0.0" />
<geometry>
<cylinder length="0.105" radius="0.057" />
</geometry>
</collision>
<collision>
<origin xyz="-0.005 -0.075 -0.015" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.16 0.17 0.08" />
</geometry>
</collision>
<collision>
<origin xyz="0.076 -0.0615 0.0128" rpy="2.25 0.0 0.0" />
<geometry>
<box size="0.02 0.029 0.018" />
</geometry>
</collision>
<collision>
<origin xyz="-0.075 0.015 0.019" rpy="1.0 0.0 0.0" />
<geometry>
<box size="0.028 0.09 0.05" />
</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://atlas_description/meshes_unplugged/l_talus.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267949 0.0" />
<geometry>
<cylinder length="0.029542" radius="0.010181" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267949 0.0 0.0" />
<geometry>
<cylinder length="0.010059" radius="0.010348" />
</geometry>
</collision>
<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://atlas_description/meshes_unplugged/r_uarm.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.035 0.0" rpy="1.5708 0.0 0.0" />
<geometry>
<cylinder length="0.11" radius="0.065" />
</geometry>
</collision>
<collision>
<origin xyz="-0.005 -0.111 0.017" rpy="0.0 1.5708 0.0" />
<geometry>
<cylinder length="0.142" radius="0.047" />
</geometry>
</collision>
<collision>
<origin xyz="-0.001 -0.043 0.01" rpy="0.0 1.5707963267949 0.0" />
<geometry>
<box size="0.05 0.07 0.15" />
</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_uglut">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://atlas_description/meshes_unplugged/l_uglut.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.01 0.005 0.0" rpy="0.52539 0.0 0.0" />
<geometry>
<box size="0.05 0.1 0.1" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.080842" radius="0.019841" />
</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://atlas_description/meshes_unplugged/l_uleg.dae" />
</geometry>
</visual>
<collision>
<origin xyz="-0.0199 0.00585 -0.122" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.15" radius="0.09" />
</geometry>
</collision>
<collision>
<origin xyz="-0.032 -0.005 -0.224" rpy="0.0 -0.3 0.0" />
<geometry>
<cylinder length="0.15" radius="0.07" />
</geometry>
</collision>
<collision>
<origin xyz="0.003 0.015 -0.254" rpy="-0.15 0.13 0.0" />
<geometry>
<cylinder length="0.15" radius="0.05" />
</geometry>
</collision>
<collision>
<origin xyz="-0.007 -0.053 -0.052" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.07 0.038 0.15" />
</geometry>
</collision>
<collision>
<origin xyz="-0.017 0.0595 -0.049" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.07 0.038 0.14" />
</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://atlas_description/meshes_unplugged/ltorso.dae" />
</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://atlas_description/meshes_unplugged/mtorso.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.02" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.15" radius="0.02" />
</geometry>
</collision>
<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://atlas_description/meshes_unplugged/pelvis.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.046 0.0 0.01" rpy="1.5707963267949 0.0 0.0" />
<geometry>
<cylinder length="0.06" radius="0.11" />
</geometry>
</collision>
<collision>
<origin xyz="-0.03 0.0 0.01" rpy="1.5707963267949 0.0 0.0" />
<geometry>
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</geometry>
</collision>
<collision>
<origin xyz="0.01 0.042 0.09" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.05" radius="0.16" />
</geometry>
</collision>
<collision>
<origin xyz="0.01 -0.042 0.09" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.05" radius="0.16" />
</geometry>
</collision>
<collision>
<origin xyz="-0.1 0.0 -0.02" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.15 0.2" />
</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://atlas_description/meshes_unplugged/r_clav.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.11 -0.248" rpy="0.0 1.5707963267949 0.0" />
<geometry>
<cylinder length="0.1525" radius="0.0555" />
</geometry>
</collision>
<collision>
<origin xyz="0.005 -0.015 -0.08" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.26" radius="0.067" />
</geometry>
</collision>
<collision>
<origin xyz="0.004 -0.064 -0.247" rpy="1.05 0.0 0.0" />
<geometry>
<box size="0.1 0.07 0.072" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.048 -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_ufarm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://atlas_description/meshes_v3/r_farm.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.13 0.004" rpy="0.0 1.5708 0.0" />
<geometry>
<cylinder length="0.125" radius="0.045" />
</geometry>
</collision>
<collision>
<origin xyz="0.001 -0.053 -0.002" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.135 0.1 0.045" />
</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_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://atlas_description/meshes_unplugged/r_foot.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.023 0.0 -0.049119" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.227 0.133887 0.05" />
</geometry>
</collision>
<collision>
<origin xyz="0.1225 0.0 -0.0641" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.08 0.02" />
</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_lfarm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 3.14159265359 0.0" />
<geometry>
<mesh filename="package://atlas_description/meshes_v3/r_hand.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.001 -0.1 -0.01" rpy="1.5707963267949 0.0 0.0" />
<geometry>
<cylinder length="0.05" radius="0.03" />
</geometry>
</collision>
<collision>
<origin xyz="0.001 -0.05 -0.01" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.13 0.09 0.07" />
</geometry>
</collision>
<inertial>
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<mass value="2.509" />
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<geometry>
<sphere radius="0.03" />
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<material name="dark" />
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<sphere radius="0.03" />
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<link name="r_larm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
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</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://atlas_description/meshes_unplugged/r_lglut.dae" />
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</visual>
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<origin xyz="0.05 -0.027488 -0.067" rpy="1.5707963267949 0.0 0.0" />
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<geometry>
<cylinder length="0.142" radius="0.02" />
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<origin xyz="0.0133341 -0.0170484 -0.0312052" rpy="0.0 -0.0 0.0" />
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<link name="r_lleg">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://atlas_description/meshes_unplugged/r_lleg.dae" />
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<origin xyz="0.02 -0.00295 -0.182" rpy="0.0 0.1 0.0" />
<geometry>
<cylinder length="0.4" radius="0.07" />
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<origin xyz="0.001 0.0 -0.187" rpy="0.0 -0.0 0.0" />
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<link name="r_scap">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://atlas_description/meshes_unplugged/r_scap.dae" />
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<geometry>
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<collision>
<origin xyz="-0.005 -0.075 -0.015" rpy="0.0 0.0 0.0" />
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<box size="0.16 0.17 0.08" />
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<collision>
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<link name="r_talus">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://atlas_description/meshes_unplugged/r_talus.dae" />
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<inertia ixx="1.01674e-05" ixy="0.0" ixz="0.0" iyy="8.42775e-06" iyz="0.0" izz="1.30101e-05" />
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<link name="r_uarm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://atlas_description/meshes_unplugged/r_uarm.dae" />
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<origin xyz="0.0 -0.035 0.0" rpy="1.5708 0.0 0.0" />
<geometry>
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<collision>
<origin xyz="-0.005 -0.111 0.017" rpy="0.0 1.5708 0.0" />
<geometry>
<cylinder length="0.142" radius="0.047" />
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<collision>
<origin xyz="-0.001 -0.043 0.01" rpy="0.0 1.5707963267949 0.0" />
<geometry>
<box size="0.05 0.07 0.15" />
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<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" />
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<link name="r_uglut">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://atlas_description/meshes_unplugged/r_uglut.dae" />
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<origin xyz="0.01 -0.005 0.0" rpy="-0.52539 0.0 0.0" />
<geometry>
<box size="0.05 0.1 0.1" />
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</collision>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.080842" radius="0.019841" />
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</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://atlas_description/meshes_unplugged/r_uleg.dae" />
</geometry>
</visual>
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<origin xyz="-0.0199 -0.00585 -0.122" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.15" radius="0.09" />
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</collision>
<collision>
<origin xyz="-0.032 0.005 -0.224" rpy="0.0 -0.3 0.0" />
<geometry>
<cylinder length="0.15" radius="0.07" />
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</collision>
<collision>
<origin xyz="0.003 -0.015 -0.254" rpy="0.15 0.13 0.0" />
<geometry>
<cylinder length="0.15" radius="0.05" />
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</collision>
<collision>
<origin xyz="-0.007 0.053 -0.052" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.07 0.038 0.15" />
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</collision>
<collision>
<origin xyz="-0.017 -0.0595 -0.049" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.07 0.038 0.14" />
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<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://atlas_description/meshes_unplugged/utorso.dae" />
</geometry>
</visual>
<collision>
<origin xyz="-0.102 0.0 0.25" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.4 0.35 0.5" />
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</collision>
<collision>
<origin xyz="0.2 0.0 0.46" rpy="0.0 1.5707 0.0" />
<geometry>
<box size="0.13 0.5 0.1" />
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</collision>
<collision>
<origin xyz="0.2 0.0 0.285" rpy="0.0 1.7 0.0" />
<geometry>
<box size="0.2 0.23 0.1" />
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</collision>
<collision>
<origin xyz="0.15 0.0 0.1" rpy="0.0 2.0 0.0" />
<geometry>
<box size="0.2 0.18 0.1" />
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</collision>
<collision>
<origin xyz="-0.035 0.0 0.6265" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.506306 0.341719 0.12" />
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</collision>
<collision>
<origin xyz="0.208 0.0 0.8215" rpy="1.5707 0.0 0.0" />
<geometry>
<cylinder length="0.13" radius="0.008" />
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</collision>
<collision>
<origin xyz="0.208 -0.125 0.745" rpy="-0.38535 0.0 0.0" />
<geometry>
<cylinder length="0.15" radius="0.008" />
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</collision>
<collision>
<origin xyz="0.208 0.125 0.745" rpy="0.38535 0.0 0.0" />
<geometry>
<cylinder length="0.15" radius="0.008" />
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</collision>
<collision>
<origin xyz="0.063 -0.125 0.745" rpy="-0.38535 0.0 0.0" />
<geometry>
<cylinder length="0.15" radius="0.008" />
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</collision>
<collision>
<origin xyz="0.063 0.125 0.745" rpy="0.38535 0.0 0.0" />
<geometry>
<cylinder length="0.15" radius="0.008" />
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</collision>
<collision>
<origin xyz="0.14 0.06 0.8215" rpy="1.5707 0.0 1.5707" />
<geometry>
<cylinder length="0.15" radius="0.008" />
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</collision>
<collision>
<origin xyz="0.14 -0.06 0.8215" rpy="1.5707 0.0 1.5707" />
<geometry>
<cylinder length="0.15" radius="0.008" />
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</collision>
<collision>
<origin xyz="-0.029 0.0 0.731" rpy="0.0 -0.65 0.0" />
<geometry>
<box size="0.2 0.25 0.01" />
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</collision>
<collision>
<origin xyz="0.063 0.0 0.8215" rpy="1.5707 0.0 0.0" />
<geometry>
<cylinder length="0.13" radius="0.008" />
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</collision>
<collision>
<origin xyz="0.261 0.156 0.6215" rpy="1.5707 0.0 0.0" />
<geometry>
<cylinder length="0.016" radius="0.055" />
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</collision>
<collision>
<origin xyz="0.261 -0.156 0.6215" rpy="1.5707 0.0 0.0" />
<geometry>
<cylinder length="0.016" radius="0.055" />
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</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="0.2" 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="0.2" 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_wrx" type="revolute">
<origin xyz="0.0 -0.119 0.0092" 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="12.0" lower="-1.1781" upper="1.1781" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="l_arm_wry" type="revolute">
<origin xyz="0.0 -0.187 -0.0092" 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="12.0" lower="0.0" upper="3.14159" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="l_arm_wry2" 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="5.0" velocity="1.0" lower="-0.001" upper="0.001" />
<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="45.0" 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="92.0" 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="0.2" friction="0.0" />
</joint>
<joint name="neck_ry" 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="5.0" 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="0.2" 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="0.2" 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_wrx" type="revolute">
<origin xyz="0.0 -0.119 0.0092" 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="12.0" lower="-1.1781" upper="1.1781" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="r_arm_wry" type="revolute">
<origin xyz="0.0 -0.187 -0.0092" 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="12.0" lower="0.0" upper="3.14159" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="r_arm_wry2" 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="5.0" velocity="1.0" lower="-0.001" upper="0.001" />
<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="45.0" 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="92.0" 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="0.2" friction="0.0" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 54a1e0b84d35f3ec -->
<mujoco model="multisense_sl">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="dark" rgba="0.5 0.5 0.5 1.0" />
<mesh name="head" file="multisense_sl_description/meshes/head.dae" />
<mesh name="r_clav" file="atlas_description/meshes_unplugged/r_clav.dae" />
<mesh name="r_farm" file="atlas_description/meshes_v3/r_farm.dae" />
<mesh name="l_foot" file="atlas_description/meshes_unplugged/l_foot.dae" />
<mesh name="r_hand" file="atlas_description/meshes_v3/r_hand.dae" />
<mesh name="r_larm" file="atlas_description/meshes_v3/r_larm.dae" />
<mesh name="l_lglut" file="atlas_description/meshes_unplugged/l_lglut.dae" />
<mesh name="l_lleg" file="atlas_description/meshes_unplugged/l_lleg.dae" />
<mesh name="r_scap" file="atlas_description/meshes_unplugged/r_scap.dae" />
<mesh name="l_talus" file="atlas_description/meshes_unplugged/l_talus.dae" />
<mesh name="r_uarm" file="atlas_description/meshes_unplugged/r_uarm.dae" />
<mesh name="l_uglut" file="atlas_description/meshes_unplugged/l_uglut.dae" />
<mesh name="l_uleg" file="atlas_description/meshes_unplugged/l_uleg.dae" />
<mesh name="ltorso" file="atlas_description/meshes_unplugged/ltorso.dae" />
<mesh name="mtorso" file="atlas_description/meshes_unplugged/mtorso.dae" />
<mesh name="pelvis" file="atlas_description/meshes_unplugged/pelvis.dae" />
<mesh name="r_foot" file="atlas_description/meshes_unplugged/r_foot.dae" />
<mesh name="r_lglut" file="atlas_description/meshes_unplugged/r_lglut.dae" />
<mesh name="r_lleg" file="atlas_description/meshes_unplugged/r_lleg.dae" />
<mesh name="r_talus" file="atlas_description/meshes_unplugged/r_talus.dae" />
<mesh name="r_uglut" file="atlas_description/meshes_unplugged/r_uglut.dae" />
<mesh name="r_uleg" file="atlas_description/meshes_unplugged/r_uleg.dae" />
<mesh name="utorso" file="atlas_description/meshes_unplugged/utorso.dae" />
</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="cylinder" size="0.11 0.03" pos="0.046 0.0 0.01" quat="0.7071067811865462 0.7071067811865488 0.0 0.0" group="3" />
<geom name="pelvis_col_1" type="cylinder" size="0.11 0.03" pos="-0.03 0.0 0.01" quat="0.7071067811865462 0.7071067811865488 0.0 0.0" group="3" />
<geom name="pelvis_col_2" type="cylinder" size="0.16 0.025" pos="0.01 0.042 0.09" group="3" />
<geom name="pelvis_col_3" type="cylinder" size="0.16 0.025" pos="0.01 -0.042 0.09" group="3" />
<geom name="pelvis_col_4" type="box" size="0.05 0.075 0.1" pos="-0.1 0.0 -0.02" 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" />
<geom name="mtorso_col_0" type="cylinder" size="0.02 0.075" pos="0.0 0.0 0.02" group="3" />
<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="box" size="0.2 0.175 0.25" pos="-0.102 0.0 0.25" group="3" />
<geom name="utorso_col_1" type="box" size="0.065 0.25 0.05" pos="0.2 0.0 0.46" quat="0.7071408370313327 0.0 0.7070727237014777 0.0" group="3" />
<geom name="utorso_col_2" type="box" size="0.1 0.115 0.05" pos="0.2 0.0 0.285" quat="0.6599831458849822 0.0 0.7512804051402927 0.0" group="3" />
<geom name="utorso_col_3" type="box" size="0.1 0.09 0.05" pos="0.15 0.0 0.1" quat="0.5403023058681398 0.0 0.8414709848078965 0.0" group="3" />
<geom name="utorso_col_4" type="box" size="0.253153 0.1708595 0.06" pos="-0.035 0.0 0.6265" group="3" />
<geom name="utorso_col_5" type="cylinder" size="0.008 0.065" pos="0.208 0.0 0.8215" quat="0.7071408370313327 0.7070727237014777 0.0 0.0" group="3" />
<geom name="utorso_col_6" type="cylinder" size="0.008 0.075" pos="0.208 -0.125 0.745" quat="0.9814955247507763 -0.19148507747132237 0.0 0.0" group="3" />
<geom name="utorso_col_7" type="cylinder" size="0.008 0.075" pos="0.208 0.125 0.745" quat="0.9814955247507763 0.19148507747132237 0.0 0.0" group="3" />
<geom name="utorso_col_8" type="cylinder" size="0.008 0.075" pos="0.063 -0.125 0.745" quat="0.9814955247507763 -0.19148507747132237 0.0 0.0" group="3" />
<geom name="utorso_col_9" type="cylinder" size="0.008 0.075" pos="0.063 0.125 0.745" quat="0.9814955247507763 0.19148507747132237 0.0 0.0" group="3" />
<geom name="utorso_col_10" type="cylinder" size="0.008 0.075" pos="0.14 0.06 0.8215" quat="0.5000481633973738 0.49999999768028713 0.49995183660262615 0.49999999768028713" group="3" />
<geom name="utorso_col_11" type="cylinder" size="0.008 0.075" pos="0.14 -0.06 0.8215" quat="0.5000481633973738 0.49999999768028713 0.49995183660262615 0.49999999768028713" group="3" />
<geom name="utorso_col_12" type="box" size="0.1 0.125 0.005" pos="-0.029 0.0 0.731" quat="0.9476507264148157 0.0 -0.31930878585700095 0.0" group="3" />
<geom name="utorso_col_13" type="cylinder" size="0.008 0.065" pos="0.063 0.0 0.8215" quat="0.7071408370313327 0.7070727237014777 0.0 0.0" group="3" />
<geom name="utorso_col_14" type="cylinder" size="0.055 0.008" pos="0.261 0.156 0.6215" quat="0.7071408370313327 0.7070727237014777 0.0 0.0" group="3" />
<geom name="utorso_col_15" type="cylinder" size="0.055 0.008" pos="0.261 -0.156 0.6215" quat="0.7071408370313327 0.7070727237014777 0.0 0.0" 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 -0.048 -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="cylinder" size="0.0555 0.07625" pos="0.0 -0.11 -0.248" quat="0.7071067811865462 0.0 0.7071067811865488 0.0" group="3" />
<geom name="l_clav_col_1" type="cylinder" size="0.067 0.13" pos="0.005 -0.015 -0.08" group="3" />
<geom name="l_clav_col_2" type="box" size="0.05 0.035 0.036" pos="0.004 -0.064 -0.247" quat="0.8653239416229412 0.5012130046737979 0.0 0.0" 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="cylinder" size="0.057 0.0525" pos="-0.005 -0.115 -0.014" quat="0.7071067811865462 0.7071067811865488 0.0 0.0" group="3" />
<geom name="l_scap_col_1" type="box" size="0.08 0.085 0.04" pos="-0.005 -0.075 -0.015" group="3" />
<geom name="l_scap_col_2" type="box" size="0.01 0.0145 0.009" pos="0.076 -0.0615 0.0128" quat="0.4311765167986662 0.9022675940990952 0.0 0.0" group="3" />
<geom name="l_scap_col_3" type="box" size="0.014 0.045 0.025" pos="-0.075 0.015 0.019" quat="0.8775825618903728 0.479425538604203 0.0 0.0" 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="0.2" />
<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="cylinder" size="0.065 0.055" pos="0.0 -0.035 0.0" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" group="3" />
<geom name="l_uarm_col_1" type="cylinder" size="0.047 0.071" pos="-0.005 -0.111 0.017" quat="0.7071054825112363 0.0 0.7071080798594735 0.0" group="3" />
<geom name="l_uarm_col_2" type="box" size="0.025 0.035 0.075" pos="-0.001 -0.043 0.01" quat="0.7071067811865462 0.0 0.7071067811865488 0.0" 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="0.2" />
<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="cylinder" size="0.045 0.0625" pos="0.001 -0.127 0.0" quat="0.7071067811865462 0.7071067811865488 0.0 0.0" group="3" />
<geom name="l_larm_col_1" type="box" size="0.0675 0.075 0.03" pos="0.001 -0.051 0.0" group="3" />
<body name="l_ufarm" pos="0.0 -0.187 -0.0092" quat="-1.0341155355510722e-13 -0.0 1.0 -0.0">
<joint name="l_arm_wry" 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_ufarm_vis_0" type="mesh" mesh="r_farm" contype="0" conaffinity="0" group="2" />
<geom name="l_ufarm_col_0" type="cylinder" size="0.045 0.0625" pos="0.0 -0.13 0.004" quat="0.7071054825112363 0.0 0.7071080798594735 0.0" group="3" />
<geom name="l_ufarm_col_1" type="box" size="0.0675 0.05 0.0225" pos="0.001 -0.053 -0.002" group="3" />
<body name="l_lfarm" pos="0.0 -0.119 0.0092">
<joint name="l_arm_wrx" type="hinge" axis="1.0 0.0 0.0" range="-1.1781 1.1781" damping="0.1" />
<inertial pos="0.0 0.0 0.0" mass="2.509" fullinertia="0.00265 0.00446 0.00446 0.0 0.0 0.0" />
<geom name="l_lfarm_vis_0" type="mesh" mesh="r_hand" quat="-1.0341155355510722e-13 -0.0 1.0 -0.0" contype="0" conaffinity="0" group="2" />
<geom name="l_lfarm_col_0" type="cylinder" size="0.03 0.025" pos="0.001 -0.1 -0.01" quat="0.7071067811865462 0.7071067811865488 0.0 0.0" group="3" />
<geom name="l_lfarm_col_1" type="box" size="0.065 0.045 0.035" pos="0.001 -0.05 -0.01" group="3" />
<body name="l_hand" quat="-1.0341155355510722e-13 -0.0 1.0 -0.0">
<joint name="l_arm_wry2" type="hinge" axis="0.0 1.0 0.0" range="-0.001 0.001" damping="0.1" />
<inertial pos="0.0 0.0 0.0" mass="1.0" fullinertia="0.0001 0.0001 0.0001 0.0 0.0 0.0" />
<geom name="l_hand_vis_0" type="sphere" size="0.03" pos="0.0 -0.15 0.01" contype="0" conaffinity="0" group="2" material="dark" />
<geom name="l_hand_col_0" type="sphere" size="0.03" pos="0.0 -0.15 0.01" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="head" pos="0.2546 0.0 0.6215">
<joint name="neck_ry" type="hinge" axis="0.0 1.0 0.0" range="-0.602139 1.14319" damping="0.1" />
<inertial pos="-0.075493 3.3383e-05 0.02774" mass="1.41984" fullinertia="0.0039688 0.0041178 0.0035243 -1.5797e-06 -0.00089293 -6.8415e-07" />
<geom name="head_vis_0" type="mesh" mesh="head" contype="0" conaffinity="0" group="2" />
<geom name="head_col_0" type="box" size="0.06555 0.06 0.02955" pos="-0.0503 0.0 -0.00195" group="3" />
<geom name="head_col_1" type="box" size="0.0234 0.06 0.0592" pos="-0.093 0.0 0.0868" group="3" />
</body>
<body name="r_clav" pos="0.1406 -0.2256 0.4776">
<joint name="r_arm_shz" type="hinge" axis="0.0 0.0 1.0" range="-0.785398 1.5708" damping="0.1" />
<inertial pos="0.0 -0.048 -0.084" mass="4.466" fullinertia="0.011 0.009 0.004 0.0 0.0 0.004" />
<geom name="r_clav_vis_0" type="mesh" mesh="r_clav" contype="0" conaffinity="0" group="2" />
<geom name="r_clav_col_0" type="cylinder" size="0.0555 0.07625" pos="0.0 -0.11 -0.248" quat="0.7071067811865462 0.0 0.7071067811865488 0.0" group="3" />
<geom name="r_clav_col_1" type="cylinder" size="0.067 0.13" pos="0.005 -0.015 -0.08" group="3" />
<geom name="r_clav_col_2" type="box" size="0.05 0.035 0.036" pos="0.004 -0.064 -0.247" quat="0.8653239416229412 0.5012130046737979 0.0 0.0" group="3" />
<body name="r_scap" pos="0.0 -0.11 -0.245">
<joint name="r_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="r_scap_vis_0" type="mesh" mesh="r_scap" contype="0" conaffinity="0" group="2" />
<geom name="r_scap_col_0" type="cylinder" size="0.057 0.0525" pos="-0.005 -0.115 -0.014" quat="0.7071067811865462 0.7071067811865488 0.0 0.0" group="3" />
<geom name="r_scap_col_1" type="box" size="0.08 0.085 0.04" pos="-0.005 -0.075 -0.015" group="3" />
<geom name="r_scap_col_2" type="box" size="0.01 0.0145 0.009" pos="0.076 -0.0615 0.0128" quat="0.4311765167986662 0.9022675940990952 0.0 0.0" group="3" />
<geom name="r_scap_col_3" type="box" size="0.014 0.045 0.025" pos="-0.075 0.015 0.019" quat="0.8775825618903728 0.479425538604203 0.0 0.0" group="3" />
<body name="r_uarm" pos="0.0 -0.187 -0.016">
<joint name="r_arm_ely" type="hinge" axis="0.0 1.0 0.0" range="0.0 3.14159" damping="0.2" />
<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="r_uarm_vis_0" type="mesh" mesh="r_uarm" contype="0" conaffinity="0" group="2" />
<geom name="r_uarm_col_0" type="cylinder" size="0.065 0.055" pos="0.0 -0.035 0.0" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" group="3" />
<geom name="r_uarm_col_1" type="cylinder" size="0.047 0.071" pos="-0.005 -0.111 0.017" quat="0.7071054825112363 0.0 0.7071080798594735 0.0" group="3" />
<geom name="r_uarm_col_2" type="box" size="0.025 0.035 0.075" pos="-0.001 -0.043 0.01" quat="0.7071067811865462 0.0 0.7071067811865488 0.0" group="3" />
<body name="r_larm" pos="0.0 -0.119 0.0092">
<joint name="r_arm_elx" type="hinge" axis="1.0 0.0 0.0" range="-2.35619 0.0" damping="0.2" />
<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="r_larm_vis_0" type="mesh" mesh="r_larm" contype="0" conaffinity="0" group="2" />
<geom name="r_larm_col_0" type="cylinder" size="0.045 0.0625" pos="0.001 -0.127 0.0" quat="0.7071067811865462 0.7071067811865488 0.0 0.0" group="3" />
<geom name="r_larm_col_1" type="box" size="0.0675 0.075 0.03" pos="0.001 -0.051 0.0" group="3" />
<body name="r_ufarm" pos="0.0 -0.187 -0.0092">
<joint name="r_arm_wry" 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="r_ufarm_vis_0" type="mesh" mesh="r_farm" contype="0" conaffinity="0" group="2" />
<geom name="r_ufarm_col_0" type="cylinder" size="0.045 0.0625" pos="0.0 -0.13 0.004" quat="0.7071054825112363 0.0 0.7071080798594735 0.0" group="3" />
<geom name="r_ufarm_col_1" type="box" size="0.0675 0.05 0.0225" pos="0.001 -0.053 -0.002" group="3" />
<body name="r_lfarm" pos="0.0 -0.119 0.0092">
<joint name="r_arm_wrx" type="hinge" axis="1.0 0.0 0.0" range="-1.1781 1.1781" damping="0.1" />
<inertial pos="0.0 0.0 0.0" mass="2.509" fullinertia="0.00265 0.00446 0.00446 0.0 0.0 0.0" />
<geom name="r_lfarm_vis_0" type="mesh" mesh="r_hand" quat="-1.0341155355510722e-13 -0.0 1.0 -0.0" contype="0" conaffinity="0" group="2" />
<geom name="r_lfarm_col_0" type="cylinder" size="0.03 0.025" pos="0.001 -0.1 -0.01" quat="0.7071067811865462 0.7071067811865488 0.0 0.0" group="3" />
<geom name="r_lfarm_col_1" type="box" size="0.065 0.045 0.035" pos="0.001 -0.05 -0.01" group="3" />
<body name="r_hand">
<joint name="r_arm_wry2" type="hinge" axis="0.0 1.0 0.0" range="-0.001 0.001" damping="0.1" />
<inertial pos="0.0 0.0 0.0" mass="1.0" fullinertia="0.0001 0.0001 0.0001 0.0 0.0 0.0" />
<geom name="r_hand_vis_0" type="sphere" size="0.03" pos="0.0 -0.15 -0.01" contype="0" conaffinity="0" group="2" material="dark" />
<geom name="r_hand_col_0" type="sphere" size="0.03" pos="0.0 -0.15 -0.01" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="l_uglut" pos="0.0 0.089 0.0">
<joint name="l_leg_hpz" type="hinge" axis="0.0 0.0 1.0" range="-0.174358 0.786794" damping="0.1" />
<inertial pos="0.00529262 -0.00344732 0.00313046" mass="1.959" fullinertia="0.00074276 0.000688179 0.00041242 -3.79607e-08 -2.79549e-05 -3.2735e-08" />
<geom name="l_uglut_vis_0" type="mesh" mesh="l_uglut" contype="0" conaffinity="0" group="2" />
<geom name="l_uglut_col_0" type="box" size="0.025 0.05 0.05" pos="0.01 0.005 0.0" quat="0.9656936374306784 0.25968403613989366 0.0 0.0" group="3" />
<geom name="l_uglut_col_1" type="cylinder" size="0.019841 0.040421" group="3" />
<body name="l_lglut">
<joint name="l_leg_hpx" type="hinge" axis="1.0 0.0 0.0" range="-0.523599 0.523599" damping="0.1" />
<inertial pos="0.0133341 0.0170484 -0.0312052" mass="0.898" fullinertia="0.000691326 0.00126856 0.00106487 -2.24344e-05 2.50508e-06 0.000137862" />
<geom name="l_lglut_vis_0" type="mesh" mesh="l_lglut" contype="0" conaffinity="0" group="2" />
<geom name="l_lglut_col_0" type="box" size="0.0625 0.025 0.04" pos="0.015 0.026 -0.028" group="3" />
<geom name="l_lglut_col_1" type="cylinder" size="0.02009687 0.030153" pos="0.05 0.027488 -0.067" quat="0.7071067811865462 0.7071067811865488 0.0 0.0" group="3" />
<geom name="l_lglut_col_2" type="cylinder" size="0.02 0.072" pos="0.0115 0.0 0.0" quat="0.7071067811865462 0.0 0.7071067811865488 0.0" group="3" />
<body name="l_uleg" pos="0.05 0.0225 -0.066">
<joint name="l_leg_hpy" type="hinge" axis="0.0 1.0 0.0" range="-1.61234 0.65764" damping="0.1" />
<inertial pos="0.0 0.0 -0.21" mass="8.204" fullinertia="0.09 0.09 0.02 0.0 0.0 0.0" />
<geom name="l_uleg_vis_0" type="mesh" mesh="l_uleg" contype="0" conaffinity="0" group="2" />
<geom name="l_uleg_col_0" type="cylinder" size="0.09 0.075" pos="-0.0199 0.00585 -0.122" group="3" />
<geom name="l_uleg_col_1" type="cylinder" size="0.07 0.075" pos="-0.032 -0.005 -0.224" quat="0.9887710779360422 0.0 -0.14943813247359922 0.0" group="3" />
<geom name="l_uleg_col_2" type="cylinder" size="0.05 0.075" pos="0.003 0.015 -0.254" quat="0.9950829983146513 -0.07477147398920157 0.0647716406550349 0.004867002102014053" group="3" />
<geom name="l_uleg_col_3" type="box" size="0.035 0.019 0.075" pos="-0.007 -0.053 -0.052" group="3" />
<geom name="l_uleg_col_4" type="box" size="0.035 0.019 0.07" pos="-0.017 0.0595 -0.049" group="3" />
<body name="l_lleg" pos="-0.05 0.0 -0.374">
<joint name="l_leg_kny" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.35637" damping="0.2" />
<inertial pos="0.001 0.0 -0.187" mass="4.515" fullinertia="0.077 0.076 0.01 0.0 -0.003 0.0" />
<geom name="l_lleg_vis_0" type="mesh" mesh="l_lleg" contype="0" conaffinity="0" group="2" />
<geom name="l_lleg_col_0" type="cylinder" size="0.07 0.2" pos="0.02 0.00295 -0.182" quat="0.9987502603949663 0.0 0.04997916927067833 0.0" group="3" />
<body name="l_talus" pos="0.0 0.0 -0.422">
<joint name="l_leg_aky" type="hinge" axis="0.0 1.0 0.0" range="-1.0 0.7" damping="0.1" />
<inertial pos="0.0 0.0 0.0" mass="0.125" fullinertia="1.01674e-05 8.42775e-06 1.30101e-05 0.0 0.0 0.0" />
<geom name="l_talus_vis_0" type="mesh" mesh="l_talus" contype="0" conaffinity="0" group="2" />
<geom name="l_talus_col_0" type="cylinder" size="0.010181 0.014771" quat="0.7071067811865462 0.0 0.7071067811865488 0.0" group="3" />
<geom name="l_talus_col_1" type="cylinder" size="0.010348 0.0050295" quat="0.7071067811865462 0.7071067811865488 0.0 0.0" group="3" />
<body name="l_foot">
<joint name="l_leg_akx" type="hinge" axis="1.0 0.0 0.0" range="-0.8 0.8" damping="0.1" />
<inertial pos="0.027 0.0 -0.067" mass="2.41" fullinertia="0.002 0.007 0.008 0.0 0.0 0.0" />
<geom name="l_foot_vis_0" type="mesh" mesh="l_foot" contype="0" conaffinity="0" group="2" />
<geom name="l_foot_col_0" type="box" size="0.1135 0.0669435 0.025" pos="0.023 0.0 -0.049119" group="3" />
<geom name="l_foot_col_1" type="box" size="0.05 0.04 0.01" pos="0.1225 0.0 -0.0641" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="r_uglut" pos="0.0 -0.089 0.0">
<joint name="r_leg_hpz" type="hinge" axis="0.0 0.0 1.0" range="-0.786794 0.174358" damping="0.1" />
<inertial pos="0.00529262 0.00344732 0.00313046" mass="1.959" fullinertia="0.00074276 0.000688179 0.00041242 3.79607e-08 -2.79549e-05 3.2735e-08" />
<geom name="r_uglut_vis_0" type="mesh" mesh="r_uglut" contype="0" conaffinity="0" group="2" />
<geom name="r_uglut_col_0" type="box" size="0.025 0.05 0.05" pos="0.01 -0.005 0.0" quat="0.9656936374306784 -0.25968403613989366 0.0 0.0" group="3" />
<geom name="r_uglut_col_1" type="cylinder" size="0.019841 0.040421" group="3" />
<body name="r_lglut">
<joint name="r_leg_hpx" type="hinge" axis="1.0 0.0 0.0" range="-0.523599 0.523599" damping="0.1" />
<inertial pos="0.0133341 -0.0170484 -0.0312052" mass="0.898" fullinertia="0.000691326 0.00126856 0.00106487 2.24344e-05 2.50508e-06 -0.000137862" />
<geom name="r_lglut_vis_0" type="mesh" mesh="r_lglut" contype="0" conaffinity="0" group="2" />
<geom name="r_lglut_col_0" type="box" size="0.0625 0.025 0.04" pos="0.015 -0.026 -0.028" group="3" />
<geom name="r_lglut_col_1" type="cylinder" size="0.02009687 0.030153" pos="0.05 -0.027488 -0.067" quat="0.7071067811865462 0.7071067811865488 0.0 0.0" group="3" />
<geom name="r_lglut_col_2" type="cylinder" size="0.02 0.071" pos="0.0105 0.0 0.0" quat="0.7071067811865462 0.0 0.7071067811865488 0.0" group="3" />
<body name="r_uleg" pos="0.05 -0.0225 -0.066">
<joint name="r_leg_hpy" type="hinge" axis="0.0 1.0 0.0" range="-1.61234 0.65764" damping="0.1" />
<inertial pos="0.0 0.0 -0.21" mass="8.204" fullinertia="0.09 0.09 0.02 0.0 0.0 0.0" />
<geom name="r_uleg_vis_0" type="mesh" mesh="r_uleg" contype="0" conaffinity="0" group="2" />
<geom name="r_uleg_col_0" type="cylinder" size="0.09 0.075" pos="-0.0199 -0.00585 -0.122" group="3" />
<geom name="r_uleg_col_1" type="cylinder" size="0.07 0.075" pos="-0.032 0.005 -0.224" quat="0.9887710779360422 0.0 -0.14943813247359922 0.0" group="3" />
<geom name="r_uleg_col_2" type="cylinder" size="0.05 0.075" pos="0.003 -0.015 -0.254" quat="0.9950829983146513 0.07477147398920157 0.0647716406550349 -0.004867002102014053" group="3" />
<geom name="r_uleg_col_3" type="box" size="0.035 0.019 0.075" pos="-0.007 0.053 -0.052" group="3" />
<geom name="r_uleg_col_4" type="box" size="0.035 0.019 0.07" pos="-0.017 -0.0595 -0.049" group="3" />
<body name="r_lleg" pos="-0.05 0.0 -0.374">
<joint name="r_leg_kny" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.35637" damping="0.2" />
<inertial pos="0.001 0.0 -0.187" mass="4.515" fullinertia="0.077 0.076 0.01 -0.0 -0.003 -0.0" />
<geom name="r_lleg_vis_0" type="mesh" mesh="r_lleg" contype="0" conaffinity="0" group="2" />
<geom name="r_lleg_col_0" type="cylinder" size="0.07 0.2" pos="0.02 -0.00295 -0.182" quat="0.9987502603949663 0.0 0.04997916927067833 0.0" group="3" />
<body name="r_talus" pos="0.0 0.0 -0.422">
<joint name="r_leg_aky" type="hinge" axis="0.0 1.0 0.0" range="-1.0 0.7" damping="0.1" />
<inertial pos="0.0 0.0 0.0" mass="0.125" fullinertia="1.01674e-05 8.42775e-06 1.30101e-05 0.0 0.0 0.0" />
<geom name="r_talus_vis_0" type="mesh" mesh="r_talus" contype="0" conaffinity="0" group="2" />
<geom name="r_talus_col_0" type="cylinder" size="0.010181 0.014771" quat="0.7071067811865462 0.0 0.7071067811865488 0.0" group="3" />
<geom name="r_talus_col_1" type="cylinder" size="0.010348 0.0050295" quat="0.7071067811865462 0.7071067811865488 0.0 0.0" group="3" />
<body name="r_foot">
<joint name="r_leg_akx" type="hinge" axis="1.0 0.0 0.0" range="-0.8 0.8" damping="0.1" />
<inertial pos="0.027 0.0 -0.067" mass="2.41" fullinertia="0.002 0.007 0.008 0.0 0.0 0.0" />
<geom name="r_foot_vis_0" type="mesh" mesh="r_foot" contype="0" conaffinity="0" group="2" />
<geom name="r_foot_col_0" type="box" size="0.1135 0.0669435 0.025" pos="0.023 0.0 -0.049119" group="3" />
<geom name="r_foot_col_1" type="box" size="0.05 0.04 0.01" pos="0.1225 0.0 -0.0641" 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" />
</contact>
</mujoco>
Import report
Counts
| Links | 31 |
|---|---|
| Joints | 30 |
| Moving joints | 30 |
| Visuals | 31 |
| Collisions | 88 |
| Materials | 1 |
Meshes
Formats: dae.
Asset size: 6.9 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
material | 1 | anonymous material (empty name) cannot be referenced; its colour is not kept |
safety_controller | 30 | soft limits (safety_controller) are not representable yet |
Forward-kinematics check
Forward kinematics of 31 link frames at 20 random joint positions within limits, original URDF against robot.urdf, computed by pinocchio 3.8.0. Worst difference: 0.0e+00 m · 4.2e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 30).
Source & licence
| Repository | https://github.com/openai/roboschool |
|---|---|
| Commit | 1.0.49 |
| Original file | roboschool/models_robot/atlas_description/urdf/atlas_v4_with_multisense.urdf |
| Licence | MIT · 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.