B1
UNITREE Robotics · licence BSD-3-Clause · source: github.com/unitreerobotics/unitree_ros @ 267182b85
What you are looking at is RobotDescription.from_urdf(original).to_urdf_string(): the reference implementation's re-serialisation of the original file, not the original file itself.
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robot.urdf
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 3cf6fd315c1c2462 -->
<robot name="b1_description">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0" />
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0" />
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0" />
</material>
<material name="silver">
<color rgba="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0" />
</material>
<material name="orange">
<color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0" />
</material>
<material name="brown">
<color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0" />
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0" />
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0" />
</material>
<link name="base">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="trunk" />
</joint>
<link name="trunk">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/trunkb.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/trunkb.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.008987 0.002243 0.003013" rpy="0.0 0.0 0.0" />
<mass value="29.45" />
<inertia ixx="0.183142146" ixy="-0.001379002" ixz="-0.027956055" iyy="0.756327752" iyz="0.000193774" izz="0.783777558" />
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="imu_link" />
</joint>
<link name="imu_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
<material name="red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="0.0001" />
</inertial>
</link>
<joint name="left_side_camera_joint" type="fixed">
<origin xyz="-0.1086 0.1371 -0.03077" rpy="-0.331612 0.0 0.0" />
<parent link="trunk" />
<child link="left_side_camera_link" />
</joint>
<link name="left_side_camera_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
</inertial>
</link>
<joint name="right_side_camera_joint" type="fixed">
<origin xyz="-0.1019 -0.1371 -0.03077" rpy="0.331612 0.0 0.0" />
<parent link="trunk" />
<child link="right_side_camera_link" />
</joint>
<link name="right_side_camera_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
</inertial>
</link>
<joint name="head_camera_1_joint" type="fixed">
<origin xyz="0.48883 0.0 0.0255" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="head_camera_1_link" />
</joint>
<link name="head_camera_1_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
</inertial>
</link>
<joint name="head_camera_2_joint" type="fixed">
<origin xyz="0.4543 0.0 -0.081" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="head_camera_2_link" />
</joint>
<link name="head_camera_2_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
</inertial>
</link>
<joint name="tail_camera_joint" type="fixed">
<origin xyz="-0.459 0.0 -0.081" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="tail_camera_link" />
</joint>
<link name="tail_camera_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
</inertial>
</link>
<joint name="FR_hip_joint" type="revolute">
<origin xyz="0.3455 -0.072 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="FR_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="91.0035" velocity="19.69" lower="-0.75" upper="0.75" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="FR_hip_rotor_joint" type="fixed">
<origin xyz="0.1955 -0.072 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="FR_hip_rotor" />
</joint>
<link name="FR_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.141592653589793 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/hipb.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="3.141592653589793 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/hipb.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.020298 -0.009758 0.000109" rpy="0.0 0.0 0.0" />
<mass value="2.15" />
<inertia ixx="0.00406608" ixy="0.000288071" ixz="-4.371e-06" iyy="0.008775259" iyz="-1.811e-06" izz="0.006060348" />
</inertial>
</link>
<link name="FR_hip_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.199" />
<inertia ixx="0.00039249" ixy="0.0" ixz="0.0" iyy="0.000219397" iyz="0.0" izz="0.000219397" />
</inertial>
</link>
<joint name="FR_thigh_joint" type="revolute">
<origin xyz="0.0 -0.12675 0.0" rpy="0.0 0.0 0.0" />
<parent link="FR_hip" />
<child link="FR_thigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="93.33" velocity="23.32" lower="-1.0" upper="3.5" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="FR_thigh_rotor_joint" type="fixed">
<origin xyz="0.0 -0.00935 0.0" rpy="0.0 0.0 0.0" />
<parent link="FR_hip" />
<child link="FR_thigh_rotor" />
</joint>
<link name="FR_thigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/thigh_mirrorb.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/thigh_mirrorb.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000235 0.028704 -0.054169" rpy="0.0 0.0 0.0" />
<mass value="4.3" />
<inertia ixx="0.044459086" ixy="-0.000128738" ixz="-0.002343913" iyy="0.046023457" iyz="-0.006032996" izz="0.008696078" />
</inertial>
</link>
<link name="FR_thigh_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.266" />
<inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657" />
</inertial>
</link>
<joint name="FR_calf_joint" type="revolute">
<origin xyz="0.0 0.0 -0.35" rpy="0.0 0.0 0.0" />
<parent link="FR_thigh" />
<child link="FR_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="140.0" velocity="15.55" lower="-2.6" upper="-0.6" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="FR_calf_rotor_joint" type="fixed">
<origin xyz="0.0 0.0519 0.0" rpy="0.0 0.0 0.0" />
<parent link="FR_thigh" />
<child link="FR_calf_rotor" />
</joint>
<link name="FR_calf">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/calfb.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/calfb.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.005237 0.0 -0.202805" rpy="0.0 0.0 0.0" />
<mass value="1.05" />
<inertia ixx="0.015011003" ixy="5.2e-08" ixz="0.000250042" iyy="0.015159462" iyz="4.61e-07" izz="0.000375749" />
</inertial>
</link>
<link name="FR_calf_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.266" />
<inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657" />
</inertial>
</link>
<joint name="FR_foot_fixed" type="fixed">
<origin xyz="0.0 0.0 -0.35" rpy="0.0 0.0 0.0" />
<parent link="FR_calf" />
<child link="FR_foot" />
</joint>
<link name="FR_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.03" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="3.2000000000000005e-05" ixy="0.0" ixz="0.0" iyy="3.2000000000000005e-05" iyz="0.0" izz="3.2000000000000005e-05" />
</inertial>
</link>
<joint name="FL_hip_joint" type="revolute">
<origin xyz="0.3455 0.072 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="FL_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="91.0035" velocity="19.69" lower="-0.75" upper="0.75" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="FL_hip_rotor_joint" type="fixed">
<origin xyz="0.1955 0.072 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="FL_hip_rotor" />
</joint>
<link name="FL_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/hipb.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/hipb.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.020298 0.009758 0.000109" rpy="0.0 0.0 0.0" />
<mass value="2.15" />
<inertia ixx="0.00406608" ixy="-0.000288071" ixz="-4.371e-06" iyy="0.008775259" iyz="1.811e-06" izz="0.006060348" />
</inertial>
</link>
<link name="FL_hip_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.199" />
<inertia ixx="0.00039249" ixy="0.0" ixz="0.0" iyy="0.000219397" iyz="0.0" izz="0.000219397" />
</inertial>
</link>
<joint name="FL_thigh_joint" type="revolute">
<origin xyz="0.0 0.12675 0.0" rpy="0.0 0.0 0.0" />
<parent link="FL_hip" />
<child link="FL_thigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="93.33" velocity="23.32" lower="-1.0" upper="3.5" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="FL_thigh_rotor_joint" type="fixed">
<origin xyz="0.0 0.00935 0.0" rpy="0.0 0.0 0.0" />
<parent link="FL_hip" />
<child link="FL_thigh_rotor" />
</joint>
<link name="FL_thigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/thighb.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/thighb.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000235 -0.028704 -0.054169" rpy="0.0 0.0 0.0" />
<mass value="4.3" />
<inertia ixx="0.044459086" ixy="0.000128738" ixz="-0.002343913" iyy="0.046023457" iyz="0.006032996" izz="0.008696078" />
</inertial>
</link>
<link name="FL_thigh_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.266" />
<inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657" />
</inertial>
</link>
<joint name="FL_calf_joint" type="revolute">
<origin xyz="0.0 0.0 -0.35" rpy="0.0 0.0 0.0" />
<parent link="FL_thigh" />
<child link="FL_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="140.0" velocity="15.55" lower="-2.6" upper="-0.6" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="FL_calf_rotor_joint" type="fixed">
<origin xyz="0.0 -0.0519 0.0" rpy="0.0 0.0 0.0" />
<parent link="FL_thigh" />
<child link="FL_calf_rotor" />
</joint>
<link name="FL_calf">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/calfb.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/calfb.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.005237 0.0 -0.202805" rpy="0.0 0.0 0.0" />
<mass value="1.05" />
<inertia ixx="0.015011003" ixy="5.2e-08" ixz="0.000250042" iyy="0.015159462" iyz="4.61e-07" izz="0.000375749" />
</inertial>
</link>
<link name="FL_calf_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.266" />
<inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657" />
</inertial>
</link>
<joint name="FL_foot_fixed" type="fixed">
<origin xyz="0.0 0.0 -0.35" rpy="0.0 0.0 0.0" />
<parent link="FL_calf" />
<child link="FL_foot" />
</joint>
<link name="FL_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.03" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="3.2000000000000005e-05" ixy="0.0" ixz="0.0" iyy="3.2000000000000005e-05" iyz="0.0" izz="3.2000000000000005e-05" />
</inertial>
</link>
<joint name="RR_hip_joint" type="revolute">
<origin xyz="-0.3455 -0.072 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="RR_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="91.0035" velocity="19.69" lower="-0.75" upper="0.75" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RR_hip_rotor_joint" type="fixed">
<origin xyz="-0.1955 -0.072 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="RR_hip_rotor" />
</joint>
<link name="RR_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.141592653589793 3.141592653589793 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/hipb.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="3.141592653589793 3.141592653589793 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/hipb.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.020298 -0.009758 0.000109" rpy="0.0 0.0 0.0" />
<mass value="2.15" />
<inertia ixx="0.00406608" ixy="-0.000288071" ixz="4.371e-06" iyy="0.008775259" iyz="-1.811e-06" izz="0.006060348" />
</inertial>
</link>
<link name="RR_hip_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.199" />
<inertia ixx="0.00039249" ixy="0.0" ixz="0.0" iyy="0.000219397" iyz="0.0" izz="0.000219397" />
</inertial>
</link>
<joint name="RR_thigh_joint" type="revolute">
<origin xyz="0.0 -0.12675 0.0" rpy="0.0 0.0 0.0" />
<parent link="RR_hip" />
<child link="RR_thigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="93.33" velocity="23.32" lower="-1.0" upper="3.5" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RR_thigh_rotor_joint" type="fixed">
<origin xyz="0.0 -0.00935 0.0" rpy="0.0 0.0 0.0" />
<parent link="RR_hip" />
<child link="RR_thigh_rotor" />
</joint>
<link name="RR_thigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/thigh_mirrorb.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/thigh_mirrorb.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000235 0.028704 -0.054169" rpy="0.0 0.0 0.0" />
<mass value="4.3" />
<inertia ixx="0.044459086" ixy="-0.000128738" ixz="-0.002343913" iyy="0.046023457" iyz="-0.006032996" izz="0.008696078" />
</inertial>
</link>
<link name="RR_thigh_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.266" />
<inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657" />
</inertial>
</link>
<joint name="RR_calf_joint" type="revolute">
<origin xyz="0.0 0.0 -0.35" rpy="0.0 0.0 0.0" />
<parent link="RR_thigh" />
<child link="RR_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="140.0" velocity="15.55" lower="-2.6" upper="-0.6" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RR_calf_rotor_joint" type="fixed">
<origin xyz="0.0 0.0519 0.0" rpy="0.0 0.0 0.0" />
<parent link="RR_thigh" />
<child link="RR_calf_rotor" />
</joint>
<link name="RR_calf">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/calfb.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/calfb.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.005237 0.0 -0.202805" rpy="0.0 0.0 0.0" />
<mass value="1.05" />
<inertia ixx="0.015011003" ixy="5.2e-08" ixz="0.000250042" iyy="0.015159462" iyz="4.61e-07" izz="0.000375749" />
</inertial>
</link>
<link name="RR_calf_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.266" />
<inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657" />
</inertial>
</link>
<joint name="RR_foot_fixed" type="fixed">
<origin xyz="0.0 0.0 -0.35" rpy="0.0 0.0 0.0" />
<parent link="RR_calf" />
<child link="RR_foot" />
</joint>
<link name="RR_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.03" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="3.2000000000000005e-05" ixy="0.0" ixz="0.0" iyy="3.2000000000000005e-05" iyz="0.0" izz="3.2000000000000005e-05" />
</inertial>
</link>
<joint name="RL_hip_joint" type="revolute">
<origin xyz="-0.3455 0.072 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="RL_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="91.0035" velocity="19.69" lower="-0.75" upper="0.75" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RL_hip_rotor_joint" type="fixed">
<origin xyz="-0.1955 0.072 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="RL_hip_rotor" />
</joint>
<link name="RL_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 3.141592653589793 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/hipb.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 3.141592653589793 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/hipb.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.020298 0.009758 0.000109" rpy="0.0 0.0 0.0" />
<mass value="2.15" />
<inertia ixx="0.00406608" ixy="0.000288071" ixz="4.371e-06" iyy="0.008775259" iyz="1.811e-06" izz="0.006060348" />
</inertial>
</link>
<link name="RL_hip_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.199" />
<inertia ixx="0.00039249" ixy="0.0" ixz="0.0" iyy="0.000219397" iyz="0.0" izz="0.000219397" />
</inertial>
</link>
<joint name="RL_thigh_joint" type="revolute">
<origin xyz="0.0 0.12675 0.0" rpy="0.0 0.0 0.0" />
<parent link="RL_hip" />
<child link="RL_thigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="93.33" velocity="23.32" lower="-1.0" upper="3.5" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RL_thigh_rotor_joint" type="fixed">
<origin xyz="0.0 0.00935 0.0" rpy="0.0 0.0 0.0" />
<parent link="RL_hip" />
<child link="RL_thigh_rotor" />
</joint>
<link name="RL_thigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/thighb.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/thighb.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000235 -0.028704 -0.054169" rpy="0.0 0.0 0.0" />
<mass value="4.3" />
<inertia ixx="0.044459086" ixy="0.000128738" ixz="-0.002343913" iyy="0.046023457" iyz="0.006032996" izz="0.008696078" />
</inertial>
</link>
<link name="RL_thigh_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.266" />
<inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657" />
</inertial>
</link>
<joint name="RL_calf_joint" type="revolute">
<origin xyz="0.0 0.0 -0.35" rpy="0.0 0.0 0.0" />
<parent link="RL_thigh" />
<child link="RL_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="140.0" velocity="15.55" lower="-2.6" upper="-0.6" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RL_calf_rotor_joint" type="fixed">
<origin xyz="0.0 -0.0519 0.0" rpy="0.0 0.0 0.0" />
<parent link="RL_thigh" />
<child link="RL_calf_rotor" />
</joint>
<link name="RL_calf">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/calfb.dae" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b1_description/meshes/calfb.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.005237 0.0 -0.202805" rpy="0.0 0.0 0.0" />
<mass value="1.05" />
<inertia ixx="0.015011003" ixy="5.2e-08" ixz="0.000250042" iyy="0.015159462" iyz="4.61e-07" izz="0.000375749" />
</inertial>
</link>
<link name="RL_calf_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.266" />
<inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657" />
</inertial>
</link>
<joint name="RL_foot_fixed" type="fixed">
<origin xyz="0.0 0.0 -0.35" rpy="0.0 0.0 0.0" />
<parent link="RL_calf" />
<child link="RL_foot" />
</joint>
<link name="RL_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.03" />
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="3.2000000000000005e-05" ixy="0.0" ixz="0.0" iyy="3.2000000000000005e-05" iyz="0.0" izz="3.2000000000000005e-05" />
</inertial>
</link>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 3cf6fd315c1c2462 -->
<mujoco model="b1_description">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="black" rgba="0.0 0.0 0.0 1.0" />
<material name="blue" rgba="0.0 0.0 0.8 1.0" />
<material name="green" rgba="0.0 0.8 0.0 1.0" />
<material name="grey" rgba="0.2 0.2 0.2 1.0" />
<material name="silver" rgba="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0" />
<material name="orange" rgba="1.0 0.4235294117647059 0.0392156862745098 1.0" />
<material name="brown" rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0" />
<material name="red" rgba="0.8 0.0 0.0 1.0" />
<material name="white" rgba="1.0 1.0 1.0 1.0" />
<mesh name="trunkb" file="b1_description/meshes/trunkb.dae" />
<mesh name="hipb" file="b1_description/meshes/hipb.dae" />
<mesh name="thigh_mirrorb" file="b1_description/meshes/thigh_mirrorb.dae" />
<mesh name="calfb" file="b1_description/meshes/calfb.dae" />
<mesh name="thighb" file="b1_description/meshes/thighb.dae" />
</asset>
<worldbody>
<body name="base">
<geom name="base_vis_0" type="box" size="0.0005 0.0005 0.0005" contype="0" conaffinity="0" group="2" />
<body name="trunk">
<inertial pos="0.008987 0.002243 0.003013" mass="29.45" fullinertia="0.183142146 0.756327752 0.783777558 -0.001379002 -0.027956055 0.000193774" />
<geom name="trunk_vis_0" type="mesh" mesh="trunkb" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="trunk_col_0" type="mesh" mesh="trunkb" group="3" />
<body name="imu_link">
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.0001 1e-06 0.0001 0.0 0.0 0.0" />
<geom name="imu_link_vis_0" type="box" size="0.0005 0.0005 0.0005" contype="0" conaffinity="0" group="2" material="red" />
<geom name="imu_link_col_0" type="box" size="0.0005 0.0005 0.0005" group="3" />
</body>
<body name="left_side_camera_link" pos="-0.1086 0.1371 -0.03077" quat="0.9862856475754833 -0.16504733074669684 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.0001 0.0001 0.0001 0.0 0.0 0.0" />
</body>
<body name="right_side_camera_link" pos="-0.1019 -0.1371 -0.03077" quat="0.9862856475754833 0.16504733074669684 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.0001 0.0001 0.0001 0.0 0.0 0.0" />
</body>
<body name="head_camera_1_link" pos="0.48883 0.0 0.0255">
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.0001 0.0001 0.0001 0.0 0.0 0.0" />
</body>
<body name="head_camera_2_link" pos="0.4543 0.0 -0.081">
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.0001 0.0001 0.0001 0.0 0.0 0.0" />
</body>
<body name="tail_camera_link" pos="-0.459 0.0 -0.081">
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.0001 0.0001 0.0001 0.0 0.0 0.0" />
</body>
<body name="FR_hip" pos="0.3455 -0.072 0.0">
<joint name="FR_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.75 0.75" />
<inertial pos="-0.020298 -0.009758 0.000109" mass="2.15" fullinertia="0.00406608 0.008775259 0.006060348 0.000288071 -4.371e-06 -1.811e-06" />
<geom name="FR_hip_vis_0" type="mesh" mesh="hipb" quat="6.123233995736766e-17 1.0 0.0 0.0" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="FR_hip_col_0" type="mesh" mesh="hipb" quat="6.123233995736766e-17 1.0 0.0 0.0" group="3" />
<body name="FR_thigh" pos="0.0 -0.12675 0.0">
<joint name="FR_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.0 3.5" />
<inertial pos="-0.000235 0.028704 -0.054169" mass="4.3" fullinertia="0.044459086 0.046023457 0.008696078 -0.000128738 -0.002343913 -0.006032996" />
<geom name="FR_thigh_vis_0" type="mesh" mesh="thigh_mirrorb" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="FR_thigh_col_0" type="mesh" mesh="thigh_mirrorb" group="3" />
<body name="FR_calf" pos="0.0 0.0 -0.35">
<joint name="FR_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.6 -0.6" />
<inertial pos="0.005237 0.0 -0.202805" mass="1.05" fullinertia="0.015011003 0.015159462 0.000375749 5.2e-08 0.000250042 4.61e-07" />
<geom name="FR_calf_vis_0" type="mesh" mesh="calfb" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="FR_calf_col_0" type="mesh" mesh="calfb" group="3" />
<body name="FR_foot" pos="0.0 0.0 -0.35">
<inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="3.2000000000000005e-05 3.2000000000000005e-05 3.2000000000000005e-05 0.0 0.0 0.0" />
<geom name="FR_foot_vis_0" type="sphere" size="0.03" contype="0" conaffinity="0" group="2" material="green" />
<geom name="FR_foot_col_0" type="sphere" size="0.04" group="3" />
</body>
</body>
<body name="FR_calf_rotor" pos="0.0 0.0519 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.266" fullinertia="0.000485657 0.00091885 0.000485657 0.0 0.0 0.0" />
<geom name="FR_calf_rotor_vis_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="FR_calf_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
</body>
</body>
<body name="FR_thigh_rotor" pos="0.0 -0.00935 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.266" fullinertia="0.000485657 0.00091885 0.000485657 0.0 0.0 0.0" />
<geom name="FR_thigh_rotor_vis_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="FR_thigh_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
</body>
</body>
<body name="FR_hip_rotor" pos="0.1955 -0.072 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.199" fullinertia="0.00039249 0.000219397 0.000219397 0.0 0.0 0.0" />
<geom name="FR_hip_rotor_vis_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="FR_hip_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
</body>
<body name="FL_hip" pos="0.3455 0.072 0.0">
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<inertial pos="-0.020298 0.009758 0.000109" mass="2.15" fullinertia="0.00406608 0.008775259 0.006060348 -0.000288071 -4.371e-06 1.811e-06" />
<geom name="FL_hip_vis_0" type="mesh" mesh="hipb" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="FL_hip_col_0" type="mesh" mesh="hipb" group="3" />
<body name="FL_thigh" pos="0.0 0.12675 0.0">
<joint name="FL_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.0 3.5" />
<inertial pos="-0.000235 -0.028704 -0.054169" mass="4.3" fullinertia="0.044459086 0.046023457 0.008696078 0.000128738 -0.002343913 0.006032996" />
<geom name="FL_thigh_vis_0" type="mesh" mesh="thighb" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="FL_thigh_col_0" type="mesh" mesh="thighb" group="3" />
<body name="FL_calf" pos="0.0 0.0 -0.35">
<joint name="FL_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.6 -0.6" />
<inertial pos="0.005237 0.0 -0.202805" mass="1.05" fullinertia="0.015011003 0.015159462 0.000375749 5.2e-08 0.000250042 4.61e-07" />
<geom name="FL_calf_vis_0" type="mesh" mesh="calfb" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="FL_calf_col_0" type="mesh" mesh="calfb" group="3" />
<body name="FL_foot" pos="0.0 0.0 -0.35">
<inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="3.2000000000000005e-05 3.2000000000000005e-05 3.2000000000000005e-05 0.0 0.0 0.0" />
<geom name="FL_foot_vis_0" type="sphere" size="0.03" contype="0" conaffinity="0" group="2" material="green" />
<geom name="FL_foot_col_0" type="sphere" size="0.04" group="3" />
</body>
</body>
<body name="FL_calf_rotor" pos="0.0 -0.0519 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.266" fullinertia="0.000485657 0.00091885 0.000485657 0.0 0.0 0.0" />
<geom name="FL_calf_rotor_vis_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="FL_calf_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
</body>
</body>
<body name="FL_thigh_rotor" pos="0.0 0.00935 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.266" fullinertia="0.000485657 0.00091885 0.000485657 0.0 0.0 0.0" />
<geom name="FL_thigh_rotor_vis_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="FL_thigh_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
</body>
</body>
<body name="FL_hip_rotor" pos="0.1955 0.072 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.199" fullinertia="0.00039249 0.000219397 0.000219397 0.0 0.0 0.0" />
<geom name="FL_hip_rotor_vis_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="FL_hip_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
</body>
<body name="RR_hip" pos="-0.3455 -0.072 0.0">
<joint name="RR_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.75 0.75" />
<inertial pos="0.020298 -0.009758 0.000109" mass="2.15" fullinertia="0.00406608 0.008775259 0.006060348 -0.000288071 4.371e-06 -1.811e-06" />
<geom name="RR_hip_vis_0" type="mesh" mesh="hipb" quat="3.749399456654644e-33 6.123233995736766e-17 6.123233995736766e-17 -1.0" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="RR_hip_col_0" type="mesh" mesh="hipb" quat="3.749399456654644e-33 6.123233995736766e-17 6.123233995736766e-17 -1.0" group="3" />
<body name="RR_thigh" pos="0.0 -0.12675 0.0">
<joint name="RR_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.0 3.5" />
<inertial pos="-0.000235 0.028704 -0.054169" mass="4.3" fullinertia="0.044459086 0.046023457 0.008696078 -0.000128738 -0.002343913 -0.006032996" />
<geom name="RR_thigh_vis_0" type="mesh" mesh="thigh_mirrorb" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="RR_thigh_col_0" type="mesh" mesh="thigh_mirrorb" group="3" />
<body name="RR_calf" pos="0.0 0.0 -0.35">
<joint name="RR_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.6 -0.6" />
<inertial pos="0.005237 0.0 -0.202805" mass="1.05" fullinertia="0.015011003 0.015159462 0.000375749 5.2e-08 0.000250042 4.61e-07" />
<geom name="RR_calf_vis_0" type="mesh" mesh="calfb" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="RR_calf_col_0" type="mesh" mesh="calfb" group="3" />
<body name="RR_foot" pos="0.0 0.0 -0.35">
<inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="3.2000000000000005e-05 3.2000000000000005e-05 3.2000000000000005e-05 0.0 0.0 0.0" />
<geom name="RR_foot_vis_0" type="sphere" size="0.03" contype="0" conaffinity="0" group="2" material="green" />
<geom name="RR_foot_col_0" type="sphere" size="0.04" group="3" />
</body>
</body>
<body name="RR_calf_rotor" pos="0.0 0.0519 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.266" fullinertia="0.000485657 0.00091885 0.000485657 0.0 0.0 0.0" />
<geom name="RR_calf_rotor_vis_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="RR_calf_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
</body>
</body>
<body name="RR_thigh_rotor" pos="0.0 -0.00935 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.266" fullinertia="0.000485657 0.00091885 0.000485657 0.0 0.0 0.0" />
<geom name="RR_thigh_rotor_vis_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="RR_thigh_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
</body>
</body>
<body name="RR_hip_rotor" pos="-0.1955 -0.072 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.199" fullinertia="0.00039249 0.000219397 0.000219397 0.0 0.0 0.0" />
<geom name="RR_hip_rotor_vis_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="RR_hip_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
</body>
<body name="RL_hip" pos="-0.3455 0.072 0.0">
<joint name="RL_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.75 0.75" />
<inertial pos="0.020298 0.009758 0.000109" mass="2.15" fullinertia="0.00406608 0.008775259 0.006060348 0.000288071 4.371e-06 1.811e-06" />
<geom name="RL_hip_vis_0" type="mesh" mesh="hipb" quat="6.123233995736766e-17 0.0 1.0 0.0" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="RL_hip_col_0" type="mesh" mesh="hipb" quat="6.123233995736766e-17 0.0 1.0 0.0" group="3" />
<body name="RL_thigh" pos="0.0 0.12675 0.0">
<joint name="RL_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.0 3.5" />
<inertial pos="-0.000235 -0.028704 -0.054169" mass="4.3" fullinertia="0.044459086 0.046023457 0.008696078 0.000128738 -0.002343913 0.006032996" />
<geom name="RL_thigh_vis_0" type="mesh" mesh="thighb" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="RL_thigh_col_0" type="mesh" mesh="thighb" group="3" />
<body name="RL_calf" pos="0.0 0.0 -0.35">
<joint name="RL_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.6 -0.6" />
<inertial pos="0.005237 0.0 -0.202805" mass="1.05" fullinertia="0.015011003 0.015159462 0.000375749 5.2e-08 0.000250042 4.61e-07" />
<geom name="RL_calf_vis_0" type="mesh" mesh="calfb" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="RL_calf_col_0" type="mesh" mesh="calfb" group="3" />
<body name="RL_foot" pos="0.0 0.0 -0.35">
<inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="3.2000000000000005e-05 3.2000000000000005e-05 3.2000000000000005e-05 0.0 0.0 0.0" />
<geom name="RL_foot_vis_0" type="sphere" size="0.03" contype="0" conaffinity="0" group="2" material="green" />
<geom name="RL_foot_col_0" type="sphere" size="0.04" group="3" />
</body>
</body>
<body name="RL_calf_rotor" pos="0.0 -0.0519 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.266" fullinertia="0.000485657 0.00091885 0.000485657 0.0 0.0 0.0" />
<geom name="RL_calf_rotor_vis_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="RL_calf_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
</body>
</body>
<body name="RL_thigh_rotor" pos="0.0 0.00935 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.266" fullinertia="0.000485657 0.00091885 0.000485657 0.0 0.0 0.0" />
<geom name="RL_thigh_rotor_vis_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="RL_thigh_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
</body>
</body>
<body name="RL_hip_rotor" pos="-0.1955 0.072 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.199" fullinertia="0.00039249 0.000219397 0.000219397 0.0 0.0 0.0" />
<geom name="RL_hip_rotor_vis_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" contype="0" conaffinity="0" group="2" material="green" />
<geom name="RL_hip_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base" body2="trunk" />
<exclude body1="trunk" body2="imu_link" />
<exclude body1="trunk" body2="left_side_camera_link" />
<exclude body1="trunk" body2="right_side_camera_link" />
<exclude body1="trunk" body2="head_camera_1_link" />
<exclude body1="trunk" body2="head_camera_2_link" />
<exclude body1="trunk" body2="tail_camera_link" />
<exclude body1="trunk" body2="FR_hip" />
<exclude body1="trunk" body2="FR_hip_rotor" />
<exclude body1="FR_hip" body2="FR_thigh" />
<exclude body1="FR_hip" body2="FR_thigh_rotor" />
<exclude body1="FR_thigh" body2="FR_calf" />
<exclude body1="FR_thigh" body2="FR_calf_rotor" />
<exclude body1="FR_calf" body2="FR_foot" />
<exclude body1="trunk" body2="FL_hip" />
<exclude body1="trunk" body2="FL_hip_rotor" />
<exclude body1="FL_hip" body2="FL_thigh" />
<exclude body1="FL_hip" body2="FL_thigh_rotor" />
<exclude body1="FL_thigh" body2="FL_calf" />
<exclude body1="FL_thigh" body2="FL_calf_rotor" />
<exclude body1="FL_calf" body2="FL_foot" />
<exclude body1="trunk" body2="RR_hip" />
<exclude body1="trunk" body2="RR_hip_rotor" />
<exclude body1="RR_hip" body2="RR_thigh" />
<exclude body1="RR_hip" body2="RR_thigh_rotor" />
<exclude body1="RR_thigh" body2="RR_calf" />
<exclude body1="RR_thigh" body2="RR_calf_rotor" />
<exclude body1="RR_calf" body2="RR_foot" />
<exclude body1="trunk" body2="RL_hip" />
<exclude body1="trunk" body2="RL_hip_rotor" />
<exclude body1="RL_hip" body2="RL_thigh" />
<exclude body1="RL_hip" body2="RL_thigh_rotor" />
<exclude body1="RL_thigh" body2="RL_calf" />
<exclude body1="RL_thigh" body2="RL_calf_rotor" />
<exclude body1="RL_calf" body2="RL_foot" />
</contact>
</mujoco>
Import report
Counts
| Links | 36 |
|---|---|
| Joints | 35 |
| Moving joints | 12 |
| Visuals | 31 |
| Collisions | 30 |
| Materials | 9 |
Meshes
Formats: dae.
Asset size: 39.6 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
gazebo | 32 | Gazebo simulator extensions are not part of the description |
transmission | 12 | ROS transmissions (actuator-to-joint wiring) have no RobotDescription field yet |
Forward-kinematics check
Forward kinematics of 36 link frames at 20 random joint positions within limits, original URDF against robot.urdf, computed by pinocchio 3.8.0. Worst difference: 0.0e+00 m · 1.8e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 12).
Source & licence
| Repository | https://github.com/unitreerobotics/unitree_ros |
|---|---|
| Commit | 267182b8521c8d6a631bab1fe63836873237a525 |
| Original file | robots/b1_description/xacro/b1.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.