Berkeley Humanoid
Hybrid Robotics · licence BSD-3-Clause · source: github.com/HybridRobotics/berkeley_humanoid_description @ d0d13d3f8
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 fa405b671d5ec8ab -->
<robot name="onshape">
<material name="torso_material">
<color rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
</material>
<link name="torso">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://berkeley_humanoid_description/meshs/torso.stl" />
</geometry>
<material name="torso_material" />
</visual>
<collision>
<origin xyz="0.02 0.0 0.12" rpy="0.0 -0.0 0.0" />
<geometry>
<box size="0.18 0.25 0.25" />
</geometry>
</collision>
<inertial>
<origin xyz="0.012329400000000034 -0.002355700000000008 0.11404699999999998" rpy="0.0 0.0 0.0" />
<mass value="5.378118099999988" />
<inertia ixx="0.08987643104517812" ixy="-0.001203664471156374" ixz="-0.00038411829254754817" iyy="0.08172543803923042" iyz="0.0006097629658906616" izz="0.053041587061182685" />
</inertial>
</link>
<material name="ll_hr_material">
<color rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
</material>
<link name="ll_hr">
<visual>
<origin xyz="8.34111618675517e-17 -0.06999999999999985 1.5210270693501457e-16" rpy="-4.796027333222789e-28 -0.7853981633974496 -2.593199635713451e-31" />
<geometry>
<mesh filename="package://berkeley_humanoid_description/meshs/ll_hr.stl" />
</geometry>
<material name="ll_hr_material" />
</visual>
<inertial>
<origin xyz="-0.007175012508700156 0.0006380000000000274 -0.06032964346405477" rpy="0.0 0.0 0.0" />
<mass value="0.7970000000000008" />
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</inertial>
</link>
<material name="ll_haa_material">
<color rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
</material>
<link name="ll_haa">
<visual>
<origin xyz="0.06499999999999957 -0.06999999999999974 0.015799999999995967" rpy="4.216698651287455e-15 0.7853981633974483 5.123390219525089e-31" />
<geometry>
<mesh filename="package://berkeley_humanoid_description/meshs/ll_haa.stl" />
</geometry>
<material name="ll_haa_material" />
</visual>
<collision>
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<geometry>
<cylinder length="0.05" radius="0.055" />
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<inertial>
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</link>
<material name="ll_hfe_material">
<color rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
</material>
<link name="ll_hfe">
<visual>
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<geometry>
<mesh filename="package://berkeley_humanoid_description/meshs/ll_hfe.stl" />
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<material name="ll_hfe_material" />
</visual>
<collision>
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<geometry>
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</collision>
<collision>
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<geometry>
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<inertial>
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<mass value="2.6890000000000014" />
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</inertial>
</link>
<material name="ll_kfe_material">
<color rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
</material>
<link name="ll_kfe">
<visual>
<origin xyz="0.3230961686969962 -0.011172287143240726 -0.15999999999999256" rpy="1.570796326794896 -1.8203544808569295e-14 1.5707963267948966" />
<geometry>
<mesh filename="package://berkeley_humanoid_description/meshs/ll_kfe.stl" />
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<material name="ll_kfe_material" />
</visual>
<collision>
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<geometry>
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<inertial>
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</link>
<material name="ll_ffe_material">
<color rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
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<link name="ll_ffe">
<visual>
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<geometry>
<mesh filename="package://berkeley_humanoid_description/meshs/ll_ffe.stl" />
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<material name="ll_ffe_material" />
</visual>
<inertial>
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</link>
<material name="ll_faa_material">
<color rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
</material>
<link name="ll_faa">
<visual>
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<geometry>
<mesh filename="package://berkeley_humanoid_description/meshs/ll_faa.stl" />
</geometry>
<material name="ll_faa_material" />
</visual>
<collision>
<origin xyz="1.0907941216942163e-14 -0.04290383130300268 0.013327712856350867" rpy="-3.141592653589793 -1.3962636194521678 1.5707963267948966" />
<geometry>
<box size="0.16 0.055 0.012" />
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<collision>
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<inertial>
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</link>
<link name="LL_FOOT">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1e-09" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
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</link>
<joint name="LL_FOOT_frame" type="fixed">
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<parent link="ll_faa" />
<child link="LL_FOOT" />
</joint>
<joint name="LL_FAA" type="revolute">
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<parent link="ll_ffe" />
<child link="ll_faa" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="5.0" velocity="42.0" lower="-0.5235987755982988" upper="0.5235987755982988" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LL_FFE" type="revolute">
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<parent link="ll_kfe" />
<child link="ll_ffe" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="20.0" velocity="20.0" lower="-0.5235987755982988" upper="0.6981317007977318" />
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<joint name="LL_KFE" type="revolute">
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<parent link="ll_hfe" />
<child link="ll_kfe" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="30.0" velocity="14.0" lower="0.0" upper="2.0943951023931953" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LL_HFE" type="revolute">
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<parent link="ll_haa" />
<child link="ll_hfe" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="30.0" velocity="20.0" lower="-1.7453292519943295" upper="0.5235987755982988" />
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<joint name="LL_HAA" type="revolute">
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<parent link="ll_hr" />
<child link="ll_haa" />
<axis xyz="0.0 0.0 1.0" />
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<joint name="LL_HR" type="revolute">
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<parent link="torso" />
<child link="ll_hr" />
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</joint>
<material name="lr_hr_material">
<color rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
</material>
<link name="lr_hr">
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<mesh filename="package://berkeley_humanoid_description/meshs/lr_hr.stl" />
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<material name="lr_hr_material" />
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<material name="lr_haa_material">
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<link name="lr_haa">
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<material name="lr_haa_material" />
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<material name="lr_hfe_material">
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<link name="lr_hfe">
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<material name="lr_kfe_material">
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<material name="lr_kfe_material" />
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<material name="lr_ffe_material">
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<material name="lr_faa_material">
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<link name="LR_FOOT">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1e-09" />
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<joint name="LR_FOOT_frame" type="fixed">
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<parent link="lr_faa" />
<child link="LR_FOOT" />
</joint>
<joint name="LR_FAA" type="revolute">
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<parent link="lr_ffe" />
<child link="lr_faa" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="5.0" velocity="42.0" lower="-0.5235987755982988" upper="0.5235987755982988" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LR_FFE" type="revolute">
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<parent link="lr_kfe" />
<child link="lr_ffe" />
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<limit effort="20.0" velocity="23.0" lower="-0.5235987755982988" upper="0.6981317007977318" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LR_KFE" type="revolute">
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<parent link="lr_hfe" />
<child link="lr_kfe" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="30.0" velocity="14.0" lower="0.0" upper="2.0943951023931953" />
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</joint>
<joint name="LR_HFE" type="revolute">
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<parent link="lr_haa" />
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<joint name="LR_HAA" type="revolute">
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<parent link="lr_hr" />
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<axis xyz="0.0 0.0 1.0" />
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</joint>
<joint name="LR_HR" type="revolute">
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<parent link="torso" />
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</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content fa405b671d5ec8ab -->
<mujoco model="onshape">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
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<material name="lr_kfe_material" rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
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<mesh name="torso" file="berkeley_humanoid_description/meshs/torso.stl" />
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<mesh name="ll_hfe" file="berkeley_humanoid_description/meshs/ll_hfe.stl" />
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<mesh name="ll_faa" file="berkeley_humanoid_description/meshs/ll_faa.stl" />
<mesh name="lr_hr" file="berkeley_humanoid_description/meshs/lr_hr.stl" />
<mesh name="lr_haa" file="berkeley_humanoid_description/meshs/lr_haa.stl" />
<mesh name="lr_hfe" file="berkeley_humanoid_description/meshs/lr_hfe.stl" />
<mesh name="lr_kfe" file="berkeley_humanoid_description/meshs/lr_kfe.stl" />
<mesh name="lr_ffe" file="berkeley_humanoid_description/meshs/lr_ffe.stl" />
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<geom name="lr_faa_col_0" type="box" size="0.08 0.0275 0.006" pos="8.049116928532385e-16 -0.042903831303005346 0.013327712857248403" quat="-0.45451953667583 0.541675170909641 0.5416751709096409 0.45451953667583017" group="3" />
<geom name="lr_faa_col_1" type="cylinder" size="0.027 0.0325" pos="8.049116928532385e-16 9.616869699469177e-05 0.038827712857248405" quat="4.329780281177456e-17 0.7071067811865476 0.7071067811865475 4.329780281177477e-17" group="3" />
<body name="LR_FOOT" pos="-2.7755575615628914e-16 -0.04868897988131082 0.014485028526582469" quat="0.4545194776720442 -0.5416752204197015 -0.5416752204197014 -0.45451947767204415">
<inertial pos="0.0 0.0 0.0" mass="1e-09" diaginertia="0 0 0" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="ll_faa" body2="LL_FOOT" />
<exclude body1="ll_ffe" body2="ll_faa" />
<exclude body1="ll_kfe" body2="ll_ffe" />
<exclude body1="ll_hfe" body2="ll_kfe" />
<exclude body1="ll_haa" body2="ll_hfe" />
<exclude body1="ll_hr" body2="ll_haa" />
<exclude body1="torso" body2="ll_hr" />
<exclude body1="lr_faa" body2="LR_FOOT" />
<exclude body1="lr_ffe" body2="lr_faa" />
<exclude body1="lr_kfe" body2="lr_ffe" />
<exclude body1="lr_hfe" body2="lr_kfe" />
<exclude body1="lr_haa" body2="lr_hfe" />
<exclude body1="lr_hr" body2="lr_haa" />
<exclude body1="torso" body2="lr_hr" />
</contact>
</mujoco>
Import report
Counts
| Links | 15 |
|---|---|
| Joints | 14 |
| Moving joints | 12 |
| Visuals | 13 |
| Collisions | 13 |
| Materials | 13 |
Meshes
Formats: stl.
Asset size: 27.2 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
axis | 2 | fixed joints carry no <axis>; URDF ignores it too |
joint_properties | 12 | <joint_properties> is not part of the URDF subset RobotDescription mirrors |
Forward-kinematics check
Forward kinematics of 15 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 · 6.1e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 12).
Source & licence
| Repository | https://github.com/HybridRobotics/berkeley_humanoid_description |
|---|---|
| Commit | d0d13d3f81d795480e25ed1910eaf83d5f0a1d0b |
| Original file | urdf/robot.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.