B2
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 837bfc0dfc24b22b -->
<robot name="b2_description">
<material name="磨砂铝合金_011-effect">
<color rgba="0.74876 0.74876 0.74876 1.0" />
</material>
<link name="base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b2_description/meshes/base_link.dae" />
</geometry>
<material name="磨砂铝合金_011-effect" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.5 0.28 0.15" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000458 0.005261 0.000665" rpy="0.0 0.0 0.0" />
<mass value="35.86" />
<inertia ixx="0.27466" ixy="-0.000622" ixz="0.00315" iyy="1.0618" iyz="-0.00139" izz="1.1825" />
</inertial>
</link>
<link name="lidar_link">
<collision>
<origin xyz="0.0 0.0 -0.02" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.16" radius="0.076" />
</geometry>
</collision>
<inertial>
<origin xyz="0.34218 0.0 0.17851" rpy="0.0 0.0 0.0" />
<mass value="4.19e-15" />
<inertia ixx="1.68e-27" ixy="-3.2e-45" ixz="7.68e-44" iyy="1.68e-27" iyz="-9.26e-47" izz="1.68e-27" />
</inertial>
</link>
<joint name="joint_lidar" type="fixed">
<origin xyz="0.34218 0.0 0.17851" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="lidar_link" />
</joint>
<link name="f_dc_link">
<inertial>
<origin xyz="3.47e-18 0.0 5.55e-17" rpy="0.0 0.0 0.0" />
<mass value="4.19e-15" />
<inertia ixx="1.68e-27" ixy="-9.81e-45" ixz="-2.54e-44" iyy="1.68e-27" iyz="0.0" izz="1.68e-27" />
</inertial>
</link>
<joint name="joint_f_dc" type="fixed">
<origin xyz="0.41251 0.024997 0.04765" rpy="-2.3562 0.0 -1.5708" />
<parent link="base_link" />
<child link="f_dc_link" />
</joint>
<link name="r_dc_link">
<inertial>
<origin xyz="-7.46e-16 -3.33e-16 -1.11e-15" rpy="0.0 0.0 0.0" />
<mass value="4.19e-15" />
<inertia ixx="1.68e-27" ixy="-4.31e-44" ixz="2.48e-45" iyy="1.68e-27" iyz="0.0" izz="1.68e-27" />
</inertial>
</link>
<joint name="joint_r_dc" type="fixed">
<origin xyz="-0.4081 -0.025 0.024861" rpy="-2.3557 0.0 1.5708" />
<parent link="base_link" />
<child link="r_dc_link" />
</joint>
<link name="imu_link">
<inertial>
<origin xyz="-2.02e-17 1.73e-17 -1.39e-17" rpy="0.0 0.0 0.0" />
<mass value="4.19e-15" />
<inertia ixx="1.68e-27" ixy="1.84e-44" ixz="-7.35e-44" iyy="1.68e-27" iyz="-3.67e-44" izz="1.68e-27" />
</inertial>
</link>
<joint name="joint_imu" type="fixed">
<origin xyz="0.0 -0.02341 0.04927" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="imu_link" />
</joint>
<link name="head_Link">
<collision>
<origin xyz="0.41 0.0 0.005" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.04 0.12 0.14" />
</geometry>
</collision>
<inertial>
<origin xyz="0.33989 -0.000168 0.12029" rpy="0.0 0.0 0.0" />
<mass value="3.6885" />
<inertia ixx="0.026455" ixy="3.15e-05" ixz="0.00166" iyy="0.029221" iyz="-3.27e-05" izz="0.010918" />
</inertial>
</link>
<joint name="joint_head" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="head_Link" />
</joint>
<link name="tail_link">
<collision>
<origin xyz="-0.405 0.0 0.005" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.025 0.12 0.14" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.37448 0.000488 0.006495" rpy="0.0 0.0 0.0" />
<mass value="0.795" />
<inertia ixx="0.0028118" ixy="1.95e-05" ixz="-7.87e-06" iyy="0.0047506" iyz="-1.57e-05" izz="0.0029154" />
</inertial>
</link>
<joint name="joint_tail" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="tail_link" />
</joint>
<material name="磨砂铝合金_008-effect">
<color rgba="0.85 0.85 0.85 1.0" />
</material>
<link name="FL_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b2_description/meshes/FL_hip.dae" />
</geometry>
<material name="磨砂铝合金_008-effect" />
</visual>
<collision>
<origin xyz="0.0 0.12 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.05" radius="0.07" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.003841 -0.009068 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.673" />
<inertia ixx="0.0033188" ixy="7.16e-05" ixz="-3.77e-07" iyy="0.0048743" iyz="4e-09" izz="0.0037087" />
</inertial>
</link>
<joint name="FL_hip_joint" type="revolute">
<origin xyz="0.3285 0.072 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="FL_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="200.0" velocity="23.0" lower="-0.87" upper="0.87" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FL_hip_rotor">
<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="0.2734" />
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
</inertial>
</link>
<joint name="FL_hip_rotor_joint" type="fixed">
<origin xyz="0.20205 0.072 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="FL_hip_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://b2_description/meshes/FL_thigh.dae" />
</geometry>
<material name="磨砂铝合金_008-effect" />
</visual>
<collision>
<origin xyz="-0.025 0.0 -0.16" rpy="0.0 1.57 0.0" />
<geometry>
<box size="0.32 0.0445 0.054" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.006279 -0.032049 -0.057835" rpy="0.0 0.0 0.0" />
<mass value="4.536" />
<inertia ixx="0.062299" ixy="0.00087781" ixz="-0.0036475" iyy="0.061399" iyz="0.0083537" izz="0.0081997" />
</inertial>
</link>
<joint name="FL_thigh_joint" type="revolute">
<origin xyz="0.0 0.11973 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="200.0" velocity="23.0" lower="-0.94" upper="4.69" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FL_thigh_rotor">
<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="0.2734" />
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
</inertial>
</link>
<joint name="FL_thigh_rotor_joint" type="fixed">
<origin xyz="0.0 -0.00798 0.0" rpy="0.0 0.0 0.0" />
<parent link="FL_hip" />
<child link="FL_thigh_rotor" />
</joint>
<material name="磨砂铝合金_018-effect">
<color rgba="0.74876 0.74876 0.74876 1.0" />
</material>
<link name="FL_calf">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b2_description/meshes/FL_calf.dae" />
</geometry>
<material name="磨砂铝合金_018-effect" />
</visual>
<collision>
<origin xyz="-0.002 0.0 -0.03" rpy="0.0 1.2 0.0" />
<geometry>
<box size="0.1 0.0245 0.018" />
</geometry>
</collision>
<collision>
<origin xyz="0.022 0.0 -0.1" rpy="0.0 1.35 0.0" />
<geometry>
<box size="0.1 0.0245 0.018" />
</geometry>
</collision>
<collision>
<origin xyz="0.036 0.0 -0.225" rpy="0.0 1.53 0.0" />
<geometry>
<box size="0.15 0.0245 0.015" />
</geometry>
</collision>
<collision>
<origin xyz="0.023 0.0 -0.31" rpy="0.0 2.0 0.0" />
<geometry>
<box size="0.05 0.028 0.035" />
</geometry>
</collision>
<inertial>
<origin xyz="0.012422 0.0 -0.12499" rpy="0.0 0.0 0.0" />
<mass value="0.404" />
<inertia ixx="0.01143" ixy="0.0" ixz="0.000643" iyy="0.011534" iyz="0.0" izz="0.000331" />
</inertial>
</link>
<joint name="FL_calf_joint" type="revolute">
<origin xyz="0.0 -8.6984e-05 -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="320.0" velocity="14.0" lower="-2.82" upper="-0.43" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FL_calf_rotor">
<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="0.2734" />
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
</inertial>
</link>
<joint name="FL_calf_rotor_joint" type="fixed">
<origin xyz="0.0 -0.05788 0.0" rpy="0.0 0.0 0.0" />
<parent link="FL_thigh" />
<child link="FL_calf_rotor" />
</joint>
<link name="FL_foot">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 0.0" />
<geometry>
<sphere radius="0.032" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.006511 0.0 -0.010144" rpy="0.0 0.0 0.0" />
<mass value="0.126" />
<inertia ixx="3.8e-05" ixy="0.0" ixz="1.1e-05" iyy="4.1e-05" iyz="0.0" izz="4.2e-05" />
</inertial>
</link>
<joint name="FL_foot_joint" 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="FR_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b2_description/meshes/FR_hip.dae" />
</geometry>
<material name="磨砂铝合金_008-effect" />
</visual>
<collision>
<origin xyz="0.0 -0.12 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.05" radius="0.07" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.009305 0.010228 0.000264" rpy="0.0 0.0 0.0" />
<mass value="2.673" />
<inertia ixx="0.0026431" ixy="-0.00019234" ixz="-6.76e-06" iyy="0.0046728" iyz="7.16e-06" izz="0.0034208" />
</inertial>
</link>
<joint name="FR_hip_joint" type="revolute">
<origin xyz="0.3285 -0.072 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="FR_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="200.0" velocity="23.0" lower="-0.87" upper="0.87" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FR_hip_rotor">
<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="0.2734" />
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
</inertial>
</link>
<joint name="FR_hip_rotor_joint" type="fixed">
<origin xyz="0.20205 -0.072 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="FR_hip_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://b2_description/meshes/FR_thigh.dae" />
</geometry>
<material name="磨砂铝合金_008-effect" />
</visual>
<collision>
<origin xyz="-0.03 0.0 -0.2" rpy="0.0 1.57 0.0" />
<geometry>
<box size="0.25 0.028 0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.006279 0.032049 -0.057835" rpy="0.0 0.0 0.0" />
<mass value="4.536" />
<inertia ixx="0.06229908" ixy="-0.000877808" ixz="-0.003647464" iyy="0.06139927" iyz="-0.008353671" izz="0.008199745" />
</inertial>
</link>
<joint name="FR_thigh_joint" type="revolute">
<origin xyz="0.0 -0.11973 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="200.0" velocity="23.0" lower="-0.94" upper="4.69" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FR_thigh_rotor">
<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="0.2734" />
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
</inertial>
</link>
<joint name="FR_thigh_rotor_joint" type="fixed">
<origin xyz="0.0 0.00798 0.0" rpy="0.0 0.0 0.0" />
<parent link="FR_hip" />
<child link="FR_thigh_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://b2_description/meshes/FR_calf.dae" />
</geometry>
<material name="磨砂铝合金_018-effect" />
</visual>
<collision>
<origin xyz="-0.002 0.0 -0.03" rpy="0.0 1.2 0.0" />
<geometry>
<box size="0.1 0.0245 0.018" />
</geometry>
</collision>
<collision>
<origin xyz="0.022 0.0 -0.1" rpy="0.0 1.35 0.0" />
<geometry>
<box size="0.1 0.0245 0.018" />
</geometry>
</collision>
<collision>
<origin xyz="0.036 0.0 -0.225" rpy="0.0 1.53 0.0" />
<geometry>
<box size="0.15 0.0245 0.015" />
</geometry>
</collision>
<collision>
<origin xyz="0.023 0.0 -0.31" rpy="0.0 2.0 0.0" />
<geometry>
<box size="0.05 0.028 0.035" />
</geometry>
</collision>
<inertial>
<origin xyz="0.012422 0.0 -0.12499" rpy="0.0 0.0 0.0" />
<mass value="0.404" />
<inertia ixx="0.01143" ixy="0.0" ixz="0.000643" iyy="0.011534" iyz="0.0" izz="0.000331" />
</inertial>
</link>
<joint name="FR_calf_joint" type="revolute">
<origin xyz="0.0 8.6986e-05 -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="320.0" velocity="14.0" lower="-2.82" upper="-0.43" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FR_calf_rotor">
<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="0.2734" />
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
</inertial>
</link>
<joint name="FR_calf_rotor_joint" type="fixed">
<origin xyz="0.0 0.05788 0.0" rpy="0.0 0.0 0.0" />
<parent link="FR_thigh" />
<child link="FR_calf_rotor" />
</joint>
<link name="FR_foot">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 0.0" />
<geometry>
<sphere radius="0.032" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.006511 0.0 -0.010144" rpy="0.0 0.0 0.0" />
<mass value="0.126" />
<inertia ixx="3.8e-05" ixy="0.0" ixz="1.1e-05" iyy="4.1e-05" iyz="0.0" izz="4.2e-05" />
</inertial>
</link>
<joint name="FR_foot_joint" 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="RL_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b2_description/meshes/RL_hip.dae" />
</geometry>
<material name="磨砂铝合金_008-effect" />
</visual>
<collision>
<origin xyz="0.0 0.12 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.05" radius="0.07" />
</geometry>
</collision>
<inertial>
<origin xyz="0.009305 -0.010228 0.000264" rpy="0.0 0.0 0.0" />
<mass value="2.673" />
<inertia ixx="0.0026431" ixy="-0.00019234" ixz="6.76e-06" iyy="0.0046728" iyz="-7.16e-06" izz="0.0034208" />
</inertial>
</link>
<joint name="RL_hip_joint" type="revolute">
<origin xyz="-0.3285 0.072 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="RL_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="200.0" velocity="23.0" lower="-0.87" upper="0.87" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RL_hip_rotor">
<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="0.2734" />
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
</inertial>
</link>
<joint name="RL_hip_rotor_joint" type="fixed">
<origin xyz="-0.20205 0.072 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="RL_hip_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://b2_description/meshes/RL_thigh.dae" />
</geometry>
<material name="磨砂铝合金_008-effect" />
</visual>
<collision>
<origin xyz="-0.03 0.0 -0.2" rpy="0.0 1.57 0.0" />
<geometry>
<box size="0.25 0.028 0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.006279 -0.032049 -0.057835" rpy="0.0 0.0 0.0" />
<mass value="4.536" />
<inertia ixx="0.06229908" ixy="0.000877808" ixz="-0.003647464" iyy="0.06139927" iyz="0.008353671" izz="0.008199745" />
</inertial>
</link>
<joint name="RL_thigh_joint" type="revolute">
<origin xyz="0.0 0.11973 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="200.0" velocity="23.0" lower="-0.94" upper="4.69" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RL_thigh_rotor">
<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="0.2734" />
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
</inertial>
</link>
<joint name="RL_thigh_rotor_joint" type="fixed">
<origin xyz="0.0 -0.00798 0.0" rpy="0.0 0.0 0.0" />
<parent link="RL_hip" />
<child link="RL_thigh_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://b2_description/meshes/RL_calf.dae" />
</geometry>
<material name="磨砂铝合金_018-effect" />
</visual>
<collision>
<origin xyz="-0.002 0.0 -0.03" rpy="0.0 1.2 0.0" />
<geometry>
<box size="0.1 0.0245 0.018" />
</geometry>
</collision>
<collision>
<origin xyz="0.022 0.0 -0.1" rpy="0.0 1.35 0.0" />
<geometry>
<box size="0.1 0.0245 0.018" />
</geometry>
</collision>
<collision>
<origin xyz="0.036 0.0 -0.225" rpy="0.0 1.53 0.0" />
<geometry>
<box size="0.15 0.0245 0.015" />
</geometry>
</collision>
<collision>
<origin xyz="0.023 0.0 -0.31" rpy="0.0 2.0 0.0" />
<geometry>
<box size="0.05 0.028 0.035" />
</geometry>
</collision>
<inertial>
<origin xyz="0.012422 0.0 -0.12499" rpy="0.0 0.0 0.0" />
<mass value="0.404" />
<inertia ixx="0.01143" ixy="0.0" ixz="0.000643" iyy="0.011534" iyz="0.0" izz="0.000331" />
</inertial>
</link>
<joint name="RL_calf_joint" type="revolute">
<origin xyz="0.0 -8.6984e-05 -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="320.0" velocity="14.0" lower="-2.82" upper="-0.43" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RL_calf_rotor">
<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="0.2734" />
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
</inertial>
</link>
<joint name="RL_calf_rotor_joint" type="fixed">
<origin xyz="0.0 -0.05788 0.0" rpy="0.0 0.0 0.0" />
<parent link="RL_thigh" />
<child link="RL_calf_rotor" />
</joint>
<link name="RL_foot">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 0.0" />
<geometry>
<sphere radius="0.032" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.006511 0.0 -0.010144" rpy="0.0 0.0 0.0" />
<mass value="0.126" />
<inertia ixx="3.8e-05" ixy="0.0" ixz="1.1e-05" iyy="4.1e-05" iyz="0.0" izz="4.2e-05" />
</inertial>
</link>
<joint name="RL_foot_joint" 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="RR_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://b2_description/meshes/RR_hip.dae" />
</geometry>
<material name="磨砂铝合金_008-effect" />
</visual>
<collision>
<origin xyz="0.0 -0.12 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.05" radius="0.07" />
</geometry>
</collision>
<inertial>
<origin xyz="0.003841 0.009068 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.673" />
<inertia ixx="0.0033188" ixy="7.16e-05" ixz="3.77e-07" iyy="0.0048743" iyz="-4e-09" izz="0.0037087" />
</inertial>
</link>
<joint name="RR_hip_joint" type="revolute">
<origin xyz="-0.3285 -0.072 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="RR_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="200.0" velocity="23.0" lower="-0.87" upper="0.87" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RR_hip_rotor">
<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="0.2734" />
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
</inertial>
</link>
<joint name="RR_hip_rotor_joint" type="fixed">
<origin xyz="-0.20205 -0.072 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="RR_hip_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://b2_description/meshes/RR_thigh.dae" />
</geometry>
<material name="磨砂铝合金_008-effect" />
</visual>
<collision>
<origin xyz="-0.03 0.0 -0.2" rpy="0.0 1.57 0.0" />
<geometry>
<box size="0.25 0.028 0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.006279 0.032049 -0.057835" rpy="0.0 0.0 0.0" />
<mass value="4.536" />
<inertia ixx="0.062299" ixy="-0.00087781" ixz="-0.0036475" iyy="0.061399" iyz="-0.0083537" izz="0.0081997" />
</inertial>
</link>
<joint name="RR_thigh_joint" type="revolute">
<origin xyz="0.0 -0.11973 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="200.0" velocity="23.0" lower="-0.94" upper="4.69" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RR_thigh_rotor">
<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="0.2734" />
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
</inertial>
</link>
<joint name="RR_thigh_rotor_joint" type="fixed">
<origin xyz="0.0 0.00798 0.0" rpy="0.0 0.0 0.0" />
<parent link="RR_hip" />
<child link="RR_thigh_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://b2_description/meshes/RR_calf.dae" />
</geometry>
<material name="磨砂铝合金_018-effect" />
</visual>
<collision>
<origin xyz="-0.002 0.0 -0.03" rpy="0.0 1.2 0.0" />
<geometry>
<box size="0.1 0.0245 0.018" />
</geometry>
</collision>
<collision>
<origin xyz="0.022 0.0 -0.1" rpy="0.0 1.35 0.0" />
<geometry>
<box size="0.1 0.0245 0.018" />
</geometry>
</collision>
<collision>
<origin xyz="0.036 0.0 -0.225" rpy="0.0 1.53 0.0" />
<geometry>
<box size="0.15 0.0245 0.015" />
</geometry>
</collision>
<collision>
<origin xyz="0.023 0.0 -0.31" rpy="0.0 2.0 0.0" />
<geometry>
<box size="0.05 0.028 0.035" />
</geometry>
</collision>
<inertial>
<origin xyz="0.012422 0.0 -0.12499" rpy="0.0 0.0 0.0" />
<mass value="0.404" />
<inertia ixx="0.01143" ixy="0.0" ixz="0.000643" iyy="0.011534" iyz="0.0" izz="0.000331" />
</inertial>
</link>
<joint name="RR_calf_joint" type="revolute">
<origin xyz="0.0 8.6986e-05 -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="320.0" velocity="14.0" lower="-2.82" upper="-0.43" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RR_calf_rotor">
<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="0.2734" />
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
</inertial>
</link>
<joint name="RR_calf_rotor_joint" type="fixed">
<origin xyz="0.0 0.05788 0.0" rpy="0.0 0.0 0.0" />
<parent link="RR_thigh" />
<child link="RR_calf_rotor" />
</joint>
<link name="RR_foot">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 0.0" />
<geometry>
<sphere radius="0.032" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.006511 0.0 -0.010144" rpy="0.0 0.0 0.0" />
<mass value="0.126" />
<inertia ixx="3.8e-05" ixy="0.0" ixz="1.1e-05" iyy="4.1e-05" iyz="0.0" izz="4.2e-05" />
</inertial>
</link>
<joint name="RR_foot_joint" type="fixed">
<origin xyz="0.0 -8.6984e-05 -0.35" rpy="0.0 0.0 0.0" />
<parent link="RR_calf" />
<child link="RR_foot" />
</joint>
<link name="f_oc_link">
<inertial>
<origin xyz="-3.39e-15 1.46e-16 -6.11e-16" rpy="0.0 0.0 0.0" />
<mass value="4.19e-15" />
<inertia ixx="1.68e-27" ixy="-3.89e-44" ixz="5.04e-44" iyy="1.68e-27" iyz="2.81e-45" izz="1.68e-27" />
</inertial>
</link>
<joint name="joint_f_oc" type="fixed">
<origin xyz="0.39079 0.0 -0.013433" rpy="-1.5708 0.0 -1.5708" />
<parent link="base_link" />
<child link="f_oc_link" />
</joint>
<link name="r_oc_link">
<inertial>
<origin xyz="-0.39143 1.52e-07 -0.011961" rpy="0.0 0.0 0.0" />
<mass value="4.19e-12" />
<inertia ixx="1.68e-22" ixy="9.03e-39" ixz="0.0" iyy="1.68e-22" iyz="-1.2e-38" izz="1.68e-22" />
</inertial>
</link>
<joint name="joint_r_oc" type="fixed">
<origin xyz="-0.38451 0.0 -0.023249" rpy="-1.5708 0.0 1.5708" />
<parent link="base_link" />
<child link="r_oc_link" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 837bfc0dfc24b22b -->
<mujoco model="b2_description">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="磨砂铝合金_011-effect" rgba="0.74876 0.74876 0.74876 1.0" />
<material name="磨砂铝合金_008-effect" rgba="0.85 0.85 0.85 1.0" />
<material name="磨砂铝合金_018-effect" rgba="0.74876 0.74876 0.74876 1.0" />
<mesh name="base_link" file="b2_description/meshes/base_link.dae" />
<mesh name="FL_hip" file="b2_description/meshes/FL_hip.dae" />
<mesh name="FL_thigh" file="b2_description/meshes/FL_thigh.dae" />
<mesh name="FL_calf" file="b2_description/meshes/FL_calf.dae" />
<mesh name="FR_hip" file="b2_description/meshes/FR_hip.dae" />
<mesh name="FR_thigh" file="b2_description/meshes/FR_thigh.dae" />
<mesh name="FR_calf" file="b2_description/meshes/FR_calf.dae" />
<mesh name="RL_hip" file="b2_description/meshes/RL_hip.dae" />
<mesh name="RL_thigh" file="b2_description/meshes/RL_thigh.dae" />
<mesh name="RL_calf" file="b2_description/meshes/RL_calf.dae" />
<mesh name="RR_hip" file="b2_description/meshes/RR_hip.dae" />
<mesh name="RR_thigh" file="b2_description/meshes/RR_thigh.dae" />
<mesh name="RR_calf" file="b2_description/meshes/RR_calf.dae" />
</asset>
<worldbody>
<body name="base_link">
<inertial pos="0.000458 0.005261 0.000665" mass="35.86" fullinertia="0.27466 1.0618 1.1825 -0.000622 0.00315 -0.00139" />
<geom name="base_link_vis_0" type="mesh" mesh="base_link" contype="0" conaffinity="0" group="2" material="磨砂铝合金_011-effect" />
<geom name="base_link_col_0" type="box" size="0.25 0.14 0.075" group="3" />
<body name="lidar_link" pos="0.34218 0.0 0.17851">
<inertial pos="0.34218 0.0 0.17851" mass="4.19e-15" fullinertia="1.68e-27 1.68e-27 1.68e-27 -3.2e-45 7.68e-44 -9.26e-47" />
<geom name="lidar_link_col_0" type="cylinder" size="0.076 0.08" pos="0.0 0.0 -0.02" group="3" />
</body>
<body name="f_dc_link" pos="0.41251 0.024997 0.04765" quat="0.270595753366195 -0.6532810280864045 0.653283427726018 -0.27059674732172273">
<inertial pos="3.47e-18 0.0 5.55e-17" mass="4.19e-15" fullinertia="1.68e-27 1.68e-27 1.68e-27 -9.81e-45 -2.54e-44 0.0" />
</body>
<body name="r_dc_link" pos="-0.4081 -0.025 0.024861" quat="0.27075906516539805 -0.6532133587337356 -0.6532157581247853 0.2707600597208046">
<inertial pos="-7.46e-16 -3.33e-16 -1.11e-15" mass="4.19e-15" fullinertia="1.68e-27 1.68e-27 1.68e-27 -4.31e-44 2.48e-45 0.0" />
</body>
<body name="imu_link" pos="0.0 -0.02341 0.04927">
<inertial pos="-2.02e-17 1.73e-17 -1.39e-17" mass="4.19e-15" fullinertia="1.68e-27 1.68e-27 1.68e-27 1.84e-44 -7.35e-44 -3.67e-44" />
</body>
<body name="head_Link">
<inertial pos="0.33989 -0.000168 0.12029" mass="3.6885" fullinertia="0.026455 0.029221 0.010918 3.15e-05 0.00166 -3.27e-05" />
<geom name="head_Link_col_0" type="box" size="0.02 0.06 0.07" pos="0.41 0.0 0.005" group="3" />
</body>
<body name="tail_link">
<inertial pos="-0.37448 0.000488 0.006495" mass="0.795" fullinertia="0.0028118 0.0047506 0.0029154 1.95e-05 -7.87e-06 -1.57e-05" />
<geom name="tail_link_col_0" type="box" size="0.0125 0.06 0.07" pos="-0.405 0.0 0.005" group="3" />
</body>
<body name="FL_hip" pos="0.3285 0.072 0.0">
<joint name="FL_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.87 0.87" />
<inertial pos="-0.003841 -0.009068 0.0" mass="2.673" fullinertia="0.0033188 0.0048743 0.0037087 7.16e-05 -3.77e-07 4e-09" />
<geom name="FL_hip_vis_0" type="mesh" mesh="FL_hip" contype="0" conaffinity="0" group="2" material="磨砂铝合金_008-effect" />
<geom name="FL_hip_col_0" type="cylinder" size="0.07 0.025" pos="0.0 0.12 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
<body name="FL_thigh" pos="0.0 0.11973 0.0">
<joint name="FL_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.94 4.69" />
<inertial pos="-0.006279 -0.032049 -0.057835" mass="4.536" fullinertia="0.062299 0.061399 0.0081997 0.00087781 -0.0036475 0.0083537" />
<geom name="FL_thigh_vis_0" type="mesh" mesh="FL_thigh" contype="0" conaffinity="0" group="2" material="磨砂铝合金_008-effect" />
<geom name="FL_thigh_col_0" type="box" size="0.16 0.02225 0.027" pos="-0.025 0.0 -0.16" quat="0.7073882691671998 0.0 0.706825181105366 0.0" group="3" />
<body name="FL_calf" pos="0.0 -8.6984e-05 -0.35">
<joint name="FL_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.82 -0.43" />
<inertial pos="0.012422 0.0 -0.12499" mass="0.404" fullinertia="0.01143 0.011534 0.000331 0.0 0.000643 0.0" />
<geom name="FL_calf_vis_0" type="mesh" mesh="FL_calf" contype="0" conaffinity="0" group="2" material="磨砂铝合金_018-effect" />
<geom name="FL_calf_col_0" type="box" size="0.05 0.01225 0.009" pos="-0.002 0.0 -0.03" quat="0.8253356149096783 0.0 0.5646424733950354 0.0" group="3" />
<geom name="FL_calf_col_1" type="box" size="0.05 0.01225 0.009" pos="0.022 0.0 -0.1" quat="0.7807069511324468 0.0 0.6248973167276999 0.0" group="3" />
<geom name="FL_calf_col_2" type="box" size="0.075 0.01225 0.0075" pos="0.036 0.0 -0.225" quat="0.7213823574366063 0.0 0.6925369985634013 0.0" group="3" />
<geom name="FL_calf_col_3" type="box" size="0.025 0.014 0.0175" pos="0.023 0.0 -0.31" quat="0.5403023058681398 0.0 0.8414709848078965 0.0" group="3" />
<body name="FL_foot" pos="0.0 0.0 -0.35">
<inertial pos="-0.006511 0.0 -0.010144" mass="0.126" fullinertia="3.8e-05 4.1e-05 4.2e-05 0.0 1.1e-05 0.0" />
<geom name="FL_foot_col_0" type="sphere" size="0.032" quat="0.7073882691671998 0.706825181105366 0.0 0.0" group="3" />
</body>
</body>
<body name="FL_calf_rotor" pos="0.0 -0.05788 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
<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 -0.00798 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
<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="0.20205 0.072 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
<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="FR_hip" pos="0.3285 -0.072 0.0">
<joint name="FR_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.87 0.87" />
<inertial pos="-0.009305 0.010228 0.000264" mass="2.673" fullinertia="0.0026431 0.0046728 0.0034208 -0.00019234 -6.76e-06 7.16e-06" />
<geom name="FR_hip_vis_0" type="mesh" mesh="FR_hip" contype="0" conaffinity="0" group="2" material="磨砂铝合金_008-effect" />
<geom name="FR_hip_col_0" type="cylinder" size="0.07 0.025" pos="0.0 -0.12 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
<body name="FR_thigh" pos="0.0 -0.11973 0.0">
<joint name="FR_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.94 4.69" />
<inertial pos="-0.006279 0.032049 -0.057835" mass="4.536" fullinertia="0.06229908 0.06139927 0.008199745 -0.000877808 -0.003647464 -0.008353671" />
<geom name="FR_thigh_vis_0" type="mesh" mesh="FR_thigh" contype="0" conaffinity="0" group="2" material="磨砂铝合金_008-effect" />
<geom name="FR_thigh_col_0" type="box" size="0.125 0.014 0.02" pos="-0.03 0.0 -0.2" quat="0.7073882691671998 0.0 0.706825181105366 0.0" group="3" />
<body name="FR_calf" pos="0.0 8.6986e-05 -0.35">
<joint name="FR_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.82 -0.43" />
<inertial pos="0.012422 0.0 -0.12499" mass="0.404" fullinertia="0.01143 0.011534 0.000331 0.0 0.000643 0.0" />
<geom name="FR_calf_vis_0" type="mesh" mesh="FR_calf" contype="0" conaffinity="0" group="2" material="磨砂铝合金_018-effect" />
<geom name="FR_calf_col_0" type="box" size="0.05 0.01225 0.009" pos="-0.002 0.0 -0.03" quat="0.8253356149096783 0.0 0.5646424733950354 0.0" group="3" />
<geom name="FR_calf_col_1" type="box" size="0.05 0.01225 0.009" pos="0.022 0.0 -0.1" quat="0.7807069511324468 0.0 0.6248973167276999 0.0" group="3" />
<geom name="FR_calf_col_2" type="box" size="0.075 0.01225 0.0075" pos="0.036 0.0 -0.225" quat="0.7213823574366063 0.0 0.6925369985634013 0.0" group="3" />
<geom name="FR_calf_col_3" type="box" size="0.025 0.014 0.0175" pos="0.023 0.0 -0.31" quat="0.5403023058681398 0.0 0.8414709848078965 0.0" group="3" />
<body name="FR_foot" pos="0.0 0.0 -0.35">
<inertial pos="-0.006511 0.0 -0.010144" mass="0.126" fullinertia="3.8e-05 4.1e-05 4.2e-05 0.0 1.1e-05 0.0" />
<geom name="FR_foot_col_0" type="sphere" size="0.032" quat="0.7073882691671998 0.706825181105366 0.0 0.0" group="3" />
</body>
</body>
<body name="FR_calf_rotor" pos="0.0 0.05788 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
<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 0.00798 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
<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="0.20205 -0.072 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
<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="RL_hip" pos="-0.3285 0.072 0.0">
<joint name="RL_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.87 0.87" />
<inertial pos="0.009305 -0.010228 0.000264" mass="2.673" fullinertia="0.0026431 0.0046728 0.0034208 -0.00019234 6.76e-06 -7.16e-06" />
<geom name="RL_hip_vis_0" type="mesh" mesh="RL_hip" contype="0" conaffinity="0" group="2" material="磨砂铝合金_008-effect" />
<geom name="RL_hip_col_0" type="cylinder" size="0.07 0.025" pos="0.0 0.12 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
<body name="RL_thigh" pos="0.0 0.11973 0.0">
<joint name="RL_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.94 4.69" />
<inertial pos="-0.006279 -0.032049 -0.057835" mass="4.536" fullinertia="0.06229908 0.06139927 0.008199745 0.000877808 -0.003647464 0.008353671" />
<geom name="RL_thigh_vis_0" type="mesh" mesh="RL_thigh" contype="0" conaffinity="0" group="2" material="磨砂铝合金_008-effect" />
<geom name="RL_thigh_col_0" type="box" size="0.125 0.014 0.02" pos="-0.03 0.0 -0.2" quat="0.7073882691671998 0.0 0.706825181105366 0.0" group="3" />
<body name="RL_calf" pos="0.0 -8.6984e-05 -0.35">
<joint name="RL_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.82 -0.43" />
<inertial pos="0.012422 0.0 -0.12499" mass="0.404" fullinertia="0.01143 0.011534 0.000331 0.0 0.000643 0.0" />
<geom name="RL_calf_vis_0" type="mesh" mesh="RL_calf" contype="0" conaffinity="0" group="2" material="磨砂铝合金_018-effect" />
<geom name="RL_calf_col_0" type="box" size="0.05 0.01225 0.009" pos="-0.002 0.0 -0.03" quat="0.8253356149096783 0.0 0.5646424733950354 0.0" group="3" />
<geom name="RL_calf_col_1" type="box" size="0.05 0.01225 0.009" pos="0.022 0.0 -0.1" quat="0.7807069511324468 0.0 0.6248973167276999 0.0" group="3" />
<geom name="RL_calf_col_2" type="box" size="0.075 0.01225 0.0075" pos="0.036 0.0 -0.225" quat="0.7213823574366063 0.0 0.6925369985634013 0.0" group="3" />
<geom name="RL_calf_col_3" type="box" size="0.025 0.014 0.0175" pos="0.023 0.0 -0.31" quat="0.5403023058681398 0.0 0.8414709848078965 0.0" group="3" />
<body name="RL_foot" pos="0.0 0.0 -0.35">
<inertial pos="-0.006511 0.0 -0.010144" mass="0.126" fullinertia="3.8e-05 4.1e-05 4.2e-05 0.0 1.1e-05 0.0" />
<geom name="RL_foot_col_0" type="sphere" size="0.032" quat="0.7073882691671998 0.706825181105366 0.0 0.0" group="3" />
</body>
</body>
<body name="RL_calf_rotor" pos="0.0 -0.05788 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
<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 -0.00798 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
<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="-0.20205 0.072 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
<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 name="RR_hip" pos="-0.3285 -0.072 0.0">
<joint name="RR_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.87 0.87" />
<inertial pos="0.003841 0.009068 0.0" mass="2.673" fullinertia="0.0033188 0.0048743 0.0037087 7.16e-05 3.77e-07 -4e-09" />
<geom name="RR_hip_vis_0" type="mesh" mesh="RR_hip" contype="0" conaffinity="0" group="2" material="磨砂铝合金_008-effect" />
<geom name="RR_hip_col_0" type="cylinder" size="0.07 0.025" pos="0.0 -0.12 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
<body name="RR_thigh" pos="0.0 -0.11973 0.0">
<joint name="RR_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.94 4.69" />
<inertial pos="-0.006279 0.032049 -0.057835" mass="4.536" fullinertia="0.062299 0.061399 0.0081997 -0.00087781 -0.0036475 -0.0083537" />
<geom name="RR_thigh_vis_0" type="mesh" mesh="RR_thigh" contype="0" conaffinity="0" group="2" material="磨砂铝合金_008-effect" />
<geom name="RR_thigh_col_0" type="box" size="0.125 0.014 0.02" pos="-0.03 0.0 -0.2" quat="0.7073882691671998 0.0 0.706825181105366 0.0" group="3" />
<body name="RR_calf" pos="0.0 8.6986e-05 -0.35">
<joint name="RR_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.82 -0.43" />
<inertial pos="0.012422 0.0 -0.12499" mass="0.404" fullinertia="0.01143 0.011534 0.000331 0.0 0.000643 0.0" />
<geom name="RR_calf_vis_0" type="mesh" mesh="RR_calf" contype="0" conaffinity="0" group="2" material="磨砂铝合金_018-effect" />
<geom name="RR_calf_col_0" type="box" size="0.05 0.01225 0.009" pos="-0.002 0.0 -0.03" quat="0.8253356149096783 0.0 0.5646424733950354 0.0" group="3" />
<geom name="RR_calf_col_1" type="box" size="0.05 0.01225 0.009" pos="0.022 0.0 -0.1" quat="0.7807069511324468 0.0 0.6248973167276999 0.0" group="3" />
<geom name="RR_calf_col_2" type="box" size="0.075 0.01225 0.0075" pos="0.036 0.0 -0.225" quat="0.7213823574366063 0.0 0.6925369985634013 0.0" group="3" />
<geom name="RR_calf_col_3" type="box" size="0.025 0.014 0.0175" pos="0.023 0.0 -0.31" quat="0.5403023058681398 0.0 0.8414709848078965 0.0" group="3" />
<body name="RR_foot" pos="0.0 -8.6984e-05 -0.35">
<inertial pos="-0.006511 0.0 -0.010144" mass="0.126" fullinertia="3.8e-05 4.1e-05 4.2e-05 0.0 1.1e-05 0.0" />
<geom name="RR_foot_col_0" type="sphere" size="0.032" quat="0.7073882691671998 0.706825181105366 0.0 0.0" group="3" />
</body>
</body>
<body name="RR_calf_rotor" pos="0.0 0.05788 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
<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 0.00798 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
<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="-0.20205 -0.072 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
<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="f_oc_link" pos="0.39079 0.0 -0.013433" quat="0.4999981633974483 -0.49999999999662686 0.5000018366025516 -0.49999999999662686">
<inertial pos="-3.39e-15 1.46e-16 -6.11e-16" mass="4.19e-15" fullinertia="1.68e-27 1.68e-27 1.68e-27 -3.89e-44 5.04e-44 2.81e-45" />
</body>
<body name="r_oc_link" pos="-0.38451 0.0 -0.023249" quat="0.4999981633974483 -0.49999999999662686 -0.5000018366025516 0.49999999999662686">
<inertial pos="-0.39143 1.52e-07 -0.011961" mass="4.19e-12" fullinertia="1.68e-22 1.68e-22 1.68e-22 9.03e-39 0.0 -1.2e-38" />
</body>
</body>
</worldbody>
<contact>
<exclude body1="base_link" body2="lidar_link" />
<exclude body1="base_link" body2="f_dc_link" />
<exclude body1="base_link" body2="r_dc_link" />
<exclude body1="base_link" body2="imu_link" />
<exclude body1="base_link" body2="head_Link" />
<exclude body1="base_link" body2="tail_link" />
<exclude body1="base_link" body2="FL_hip" />
<exclude body1="base_link" 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="base_link" body2="FR_hip" />
<exclude body1="base_link" 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="base_link" body2="RL_hip" />
<exclude body1="base_link" 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" />
<exclude body1="base_link" body2="RR_hip" />
<exclude body1="base_link" 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="base_link" body2="f_oc_link" />
<exclude body1="base_link" body2="r_oc_link" />
</contact>
</mujoco>
Import report
Counts
| Links | 37 |
|---|---|
| Joints | 36 |
| Moving joints | 12 |
| Visuals | 13 |
| Collisions | 44 |
| Materials | 3 |
Meshes
Formats: dae.
Asset size: 20.5 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
axis | 8 | fixed joints carry no <axis>; URDF ignores it too |
material | 11 | a <visual> takes one <material>; the first is kept |
Forward-kinematics check
Forward kinematics of 37 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 · 5.4e-16 rad.
MuJoCo
robot.xml did not compile in MuJoCo: Error: error 'inertia must have positive eigenvalues' in fullinertia
Source & licence
| Repository | https://github.com/unitreerobotics/unitree_ros |
|---|---|
| Commit | 267182b8521c8d6a631bab1fe63836873237a525 |
| Original file | robots/b2_description/urdf/b2_description.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.