Bolt

ODRI · licence BSD-3-Clause · source: github.com/Gepetto/example-robot-data @ d0d9098d7

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.

Loading the model…

drag to orbit · scroll to zoom · right-drag to pan

robot.urdf

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 7281be3c3ecb04ce -->
<robot name="bolt">
  <material name="grey">
    <color rgba="0.8 0.8 0.8 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://example-robot-data/robots/bolt_description/meshes/stl/bolt_body.stl" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/bolt_description/meshes/stl/bolt_body.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.61436936" />
      <inertia ixx="0.00578574" ixy="0.0" ixz="0.0" iyy="0.01938108" iyz="0.0" izz="0.02476124" />
    </inertial>
  </link>
  <joint name="FL_HAA" type="revolute">
    <origin xyz="0.0 0.0636 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="FL_SHOULDER" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FL_SHOULDER">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/bolt_description/meshes/stl/bolt_hip_fe_left_side.stl" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/bolt_description/meshes/stl/bolt_hip_fe_left_side.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.01708256 -0.00446892 -0.0109583" rpy="0.0 0.0 0.0" />
      <mass value="0.14004265" />
      <inertia ixx="7.443e-05" ixy="1.48e-06" ixz="2.154e-05" iyy="0.00013847" iyz="-1.096e-05" izz="9.002e-05" />
    </inertial>
  </link>
  <joint name="FL_HFE" type="revolute">
    <origin xyz="0.0 0.0145 -0.0386" rpy="0.0 0.0 0.0" />
    <parent link="FL_SHOULDER" />
    <child link="FL_UPPER_LEG" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FL_UPPER_LEG">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/bolt_description/meshes/stl/upper_leg_200mm_left_side.stl" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/bolt_description/meshes/stl/upper_leg_200mm_left_side.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="1.377e-05 0.01935853 -0.118707" rpy="0.0 0.0 0.0" />
      <mass value="0.14853845" />
      <inertia ixx="0.00041107" ixy="0.0" ixz="9e-08" iyy="0.00041193" iyz="-4.671e-05" izz="3.024e-05" />
    </inertial>
  </link>
  <joint name="FL_KFE" type="revolute">
    <origin xyz="0.0 0.0374 -0.2" rpy="0.0 0.0 0.0" />
    <parent link="FL_UPPER_LEG" />
    <child link="FL_LOWER_LEG" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FL_LOWER_LEG">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/bolt_description/meshes/stl/lower_leg_200mm_left_side.stl" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/bolt_description/meshes/stl/lower_leg_200mm_left_side.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.00836718 -0.11591877" rpy="0.0 0.0 0.0" />
      <mass value="0.03117243" />
      <inertia ixx="0.00011487" ixy="0.0" ixz="0.0" iyy="0.00011556" iyz="-1.9e-06" izz="2.2e-06" />
    </inertial>
  </link>
  <joint name="FL_ANKLE" type="fixed">
    <origin xyz="0.0 0.008 -0.2" rpy="0.0 0.0 0.0" />
    <parent link="FL_LOWER_LEG" />
    <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>
        <mesh filename="package://example-robot-data/robots/bolt_description/meshes/stl/bolt_foot.stl" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/bolt_description/meshes/stl/bolt_foot.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.00035767" rpy="0.0 0.0 0.0" />
      <mass value="0.0" />
      <inertia ixx="5.7e-07" ixy="0.0" ixz="0.0" iyy="8.4e-07" iyz="0.0" izz="5.3e-07" />
    </inertial>
  </link>
  <joint name="FR_HAA" type="revolute">
    <origin xyz="0.0 -0.0636 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="FR_SHOULDER" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FR_SHOULDER">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/bolt_description/meshes/stl/bolt_hip_fe_right_side.stl" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/bolt_description/meshes/stl/bolt_hip_fe_right_side.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.01708233 0.00447099 -0.01095846" rpy="0.0 0.0 0.0" />
      <mass value="0.14004412" />
      <inertia ixx="7.442e-05" ixy="-1.48e-06" ixz="2.154e-05" iyy="0.00013848" iyz="1.095e-05" izz="9.001e-05" />
    </inertial>
  </link>
  <joint name="FR_HFE" type="revolute">
    <origin xyz="0.0 -0.0145 -0.0386" rpy="0.0 0.0 0.0" />
    <parent link="FR_SHOULDER" />
    <child link="FR_UPPER_LEG" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FR_UPPER_LEG">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/bolt_description/meshes/stl/upper_leg_200mm_right_side.stl" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/bolt_description/meshes/stl/upper_leg_200mm_right_side.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-1.377e-05 -0.01935853 -0.118707" rpy="0.0 0.0 0.0" />
      <mass value="0.14853845" />
      <inertia ixx="0.00041107" ixy="0.0" ixz="-9e-08" iyy="0.00041193" iyz="4.671e-05" izz="3.024e-05" />
    </inertial>
  </link>
  <joint name="FR_KFE" type="revolute">
    <origin xyz="0.0 -0.0374 -0.2" rpy="0.0 0.0 0.0" />
    <parent link="FR_UPPER_LEG" />
    <child link="FR_LOWER_LEG" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FR_LOWER_LEG">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/bolt_description/meshes/stl/lower_leg_200mm_right_side.stl" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/bolt_description/meshes/stl/lower_leg_200mm_right_side.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.00836718 -0.11591877" rpy="0.0 0.0 0.0" />
      <mass value="0.03117243" />
      <inertia ixx="0.00011487" ixy="0.0" ixz="0.0" iyy="0.00011556" iyz="1.9e-06" izz="2.2e-06" />
    </inertial>
  </link>
  <joint name="FR_ANKLE" type="fixed">
    <origin xyz="0.0 -0.008 -0.2" rpy="0.0 0.0 0.0" />
    <parent link="FR_LOWER_LEG" />
    <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>
        <mesh filename="package://example-robot-data/robots/bolt_description/meshes/stl/bolt_foot.stl" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/bolt_description/meshes/stl/bolt_foot.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.00035767" rpy="0.0 0.0 0.0" />
      <mass value="0.0" />
      <inertia ixx="5.7e-07" ixy="0.0" ixz="0.0" iyy="8.4e-07" iyz="0.0" izz="5.3e-07" />
    </inertial>
  </link>
</robot>

robot.xml

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 7281be3c3ecb04ce -->
<mujoco model="bolt">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="grey" rgba="0.8 0.8 0.8 1.0" />
    <mesh name="bolt_body" file="example-robot-data/robots/bolt_description/meshes/stl/bolt_body.stl" />
    <mesh name="bolt_hip_fe_left_side" file="example-robot-data/robots/bolt_description/meshes/stl/bolt_hip_fe_left_side.stl" />
    <mesh name="upper_leg_200mm_left_side" file="example-robot-data/robots/bolt_description/meshes/stl/upper_leg_200mm_left_side.stl" />
    <mesh name="lower_leg_200mm_left_side" file="example-robot-data/robots/bolt_description/meshes/stl/lower_leg_200mm_left_side.stl" />
    <mesh name="bolt_foot" file="example-robot-data/robots/bolt_description/meshes/stl/bolt_foot.stl" />
    <mesh name="bolt_hip_fe_right_side" file="example-robot-data/robots/bolt_description/meshes/stl/bolt_hip_fe_right_side.stl" />
    <mesh name="upper_leg_200mm_right_side" file="example-robot-data/robots/bolt_description/meshes/stl/upper_leg_200mm_right_side.stl" />
    <mesh name="lower_leg_200mm_right_side" file="example-robot-data/robots/bolt_description/meshes/stl/lower_leg_200mm_right_side.stl" />
  </asset>
  <worldbody>
    <body name="base_link">
      <inertial pos="0.0 0.0 0.0" mass="0.61436936" fullinertia="0.00578574 0.01938108 0.02476124 0.0 0.0 0.0" />
      <geom name="base_link_vis_0" type="mesh" mesh="bolt_body" contype="0" conaffinity="0" group="2" material="grey" />
      <geom name="base_link_col_0" type="mesh" mesh="bolt_body" group="3" />
      <body name="FL_SHOULDER" pos="0.0 0.0636 0.0">
        <joint name="FL_HAA" type="hinge" axis="1.0 0.0 0.0" range="-10.0 10.0" />
        <inertial pos="0.01708256 -0.00446892 -0.0109583" mass="0.14004265" fullinertia="7.443e-05 0.00013847 9.002e-05 1.48e-06 2.154e-05 -1.096e-05" />
        <geom name="FL_SHOULDER_vis_0" type="mesh" mesh="bolt_hip_fe_left_side" contype="0" conaffinity="0" group="2" material="grey" />
        <geom name="FL_SHOULDER_col_0" type="mesh" mesh="bolt_hip_fe_left_side" group="3" />
        <body name="FL_UPPER_LEG" pos="0.0 0.0145 -0.0386">
          <joint name="FL_HFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
          <inertial pos="1.377e-05 0.01935853 -0.118707" mass="0.14853845" fullinertia="0.00041107 0.00041193 3.024e-05 0.0 9e-08 -4.671e-05" />
          <geom name="FL_UPPER_LEG_vis_0" type="mesh" mesh="upper_leg_200mm_left_side" contype="0" conaffinity="0" group="2" material="grey" />
          <geom name="FL_UPPER_LEG_col_0" type="mesh" mesh="upper_leg_200mm_left_side" group="3" />
          <body name="FL_LOWER_LEG" pos="0.0 0.0374 -0.2">
            <joint name="FL_KFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
            <inertial pos="0.0 0.00836718 -0.11591877" mass="0.03117243" fullinertia="0.00011487 0.00011556 2.2e-06 0.0 0.0 -1.9e-06" />
            <geom name="FL_LOWER_LEG_vis_0" type="mesh" mesh="lower_leg_200mm_left_side" contype="0" conaffinity="0" group="2" material="grey" />
            <geom name="FL_LOWER_LEG_col_0" type="mesh" mesh="lower_leg_200mm_left_side" group="3" />
            <body name="FL_FOOT" pos="0.0 0.008 -0.2">
              <inertial pos="0.0 0.0 0.00035767" mass="0.0" fullinertia="5.7e-07 8.4e-07 5.3e-07 0.0 0.0 0.0" />
              <geom name="FL_FOOT_vis_0" type="mesh" mesh="bolt_foot" contype="0" conaffinity="0" group="2" material="grey" />
              <geom name="FL_FOOT_col_0" type="mesh" mesh="bolt_foot" group="3" />
            </body>
          </body>
        </body>
      </body>
      <body name="FR_SHOULDER" pos="0.0 -0.0636 0.0">
        <joint name="FR_HAA" type="hinge" axis="1.0 0.0 0.0" range="-10.0 10.0" />
        <inertial pos="0.01708233 0.00447099 -0.01095846" mass="0.14004412" fullinertia="7.442e-05 0.00013848 9.001e-05 -1.48e-06 2.154e-05 1.095e-05" />
        <geom name="FR_SHOULDER_vis_0" type="mesh" mesh="bolt_hip_fe_right_side" contype="0" conaffinity="0" group="2" material="grey" />
        <geom name="FR_SHOULDER_col_0" type="mesh" mesh="bolt_hip_fe_right_side" group="3" />
        <body name="FR_UPPER_LEG" pos="0.0 -0.0145 -0.0386">
          <joint name="FR_HFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
          <inertial pos="-1.377e-05 -0.01935853 -0.118707" mass="0.14853845" fullinertia="0.00041107 0.00041193 3.024e-05 0.0 -9e-08 4.671e-05" />
          <geom name="FR_UPPER_LEG_vis_0" type="mesh" mesh="upper_leg_200mm_right_side" contype="0" conaffinity="0" group="2" material="grey" />
          <geom name="FR_UPPER_LEG_col_0" type="mesh" mesh="upper_leg_200mm_right_side" group="3" />
          <body name="FR_LOWER_LEG" pos="0.0 -0.0374 -0.2">
            <joint name="FR_KFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
            <inertial pos="0.0 -0.00836718 -0.11591877" mass="0.03117243" fullinertia="0.00011487 0.00011556 2.2e-06 0.0 0.0 1.9e-06" />
            <geom name="FR_LOWER_LEG_vis_0" type="mesh" mesh="lower_leg_200mm_right_side" contype="0" conaffinity="0" group="2" material="grey" />
            <geom name="FR_LOWER_LEG_col_0" type="mesh" mesh="lower_leg_200mm_right_side" group="3" />
            <body name="FR_FOOT" pos="0.0 -0.008 -0.2">
              <inertial pos="0.0 0.0 0.00035767" mass="0.0" fullinertia="5.7e-07 8.4e-07 5.3e-07 0.0 0.0 0.0" />
              <geom name="FR_FOOT_vis_0" type="mesh" mesh="bolt_foot" contype="0" conaffinity="0" group="2" material="grey" />
              <geom name="FR_FOOT_col_0" type="mesh" mesh="bolt_foot" group="3" />
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="FL_SHOULDER" />
    <exclude body1="FL_SHOULDER" body2="FL_UPPER_LEG" />
    <exclude body1="FL_UPPER_LEG" body2="FL_LOWER_LEG" />
    <exclude body1="FL_LOWER_LEG" body2="FL_FOOT" />
    <exclude body1="base_link" body2="FR_SHOULDER" />
    <exclude body1="FR_SHOULDER" body2="FR_UPPER_LEG" />
    <exclude body1="FR_UPPER_LEG" body2="FR_LOWER_LEG" />
    <exclude body1="FR_LOWER_LEG" body2="FR_FOOT" />
  </contact>
</mujoco>

Import report

Counts

Links	9
Joints	8
Moving joints	6
Visuals	9
Collisions	9
Materials	1

Meshes

Formats: stl.
Asset size: 1.0 MB.

Dropped on import

Tag	Count	Why
`contact`	9	<contact> is not part of the URDF subset RobotDescription mirrors
`dynamics`	2	fixed joints carry no <dynamics>; URDF ignores it too
`limit`	2	fixed joints carry no <limit>; URDF ignores it too
`material`	9	<material> is not part of the URDF subset RobotDescription mirrors

Forward-kinematics check

Forward kinematics of 9 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 · 1.4e-16 rad.

MuJoCo

robot.xml compiles in MuJoCo with its meshes (nq = 6).

Source & licence

Repository	https://github.com/Gepetto/example-robot-data
Commit	`d0d9098d752014aec3725b07766962acf06c5418`
Original file	`robots/bolt_description/robots/bolt.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.