Booster T1
Booster Robotics · licence Apache-2.0 · source: github.com/BoosterRobotics/booster_gym @ 687a33d08
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 125ab82aa10691ca -->
<robot name="T1">
<link name="Trunk">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/Trunk.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.06 0.0 0.12" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.15 0.2 0.3" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0551365401093076 -1.42058017623659e-06 0.105062332707657" rpy="0.0 0.0 0.0" />
<mass value="11.7" />
<inertia ixx="0.0915287235057927" ixy="-4.25369739206781e-07" ixz="0.000646360369011163" iyy="0.076778716903413" iyz="5.82340020271393e-07" izz="0.0556171053368987" />
</inertial>
</link>
<link name="H1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/H1.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.000508 -0.001403 0.057432" rpy="0.0 0.0 0.0" />
<mass value="0.44391" />
<inertia ixx="0.000224" ixy="3e-06" ixz="1e-06" iyy="0.000241" iyz="-2e-06" izz="0.00015" />
</inertial>
</link>
<joint name="AAHead_yaw" type="revolute">
<origin xyz="0.0625 0.0 0.243" rpy="0.0 0.0 0.0" />
<parent link="Trunk" />
<child link="H1" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="7.0" velocity="12.56" lower="-1.57" upper="1.57" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="H2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/H2.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.01 0.0 0.11" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.08" />
</geometry>
</collision>
<inertial>
<origin xyz="0.007802 0.001262 0.098631" rpy="0.0 0.0 0.0" />
<mass value="0.631019" />
<inertia ixx="0.002025" ixy="-2.5e-05" ixz="4.6e-05" iyy="0.00192" iyz="3.6e-05" izz="0.001739" />
</inertial>
</link>
<joint name="Head_pitch" type="revolute">
<origin xyz="0.0 0.0 0.06185" rpy="0.0 0.0 0.0" />
<parent link="H1" />
<child link="H2" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="7.0" velocity="12.56" lower="-0.35" upper="1.22" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="AL1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/AL1.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.000677 0.044974 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.53" />
<inertia ixx="0.001293" ixy="-1.7e-05" ixz="0.0" iyy="0.000293" iyz="0.0" izz="0.001367" />
</inertial>
</link>
<joint name="Left_Shoulder_Pitch" type="revolute">
<origin xyz="0.0575 0.1063 0.219" rpy="0.0 0.00088113 0.0" />
<parent link="Trunk" />
<child link="AL1" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="18.0" velocity="18.84" lower="-3.31" upper="1.22" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="AL2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/AL2.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.003862 0.037976 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.16" />
<inertia ixx="0.000345" ixy="8e-06" ixz="0.0" iyy="0.000177" iyz="0.0" izz="0.000401" />
</inertial>
</link>
<joint name="Left_Shoulder_Roll" type="revolute">
<origin xyz="0.0 0.047 0.0" rpy="0.0 0.0 0.0" />
<parent link="AL1" />
<child link="AL2" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="18.0" velocity="18.84" lower="-1.74" upper="1.57" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="AL3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/AL3.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.05 0.0" rpy="1.5708 0.0 0.0" />
<geometry>
<cylinder length="0.15" radius="0.03" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.085353 -9.9e-05" rpy="0.0 0.0 0.0" />
<mass value="1.02" />
<inertia ixx="0.012869" ixy="0.0" ixz="0.0" iyy="0.000621" iyz="-2.4e-05" izz="0.012798" />
</inertial>
</link>
<joint name="Left_Elbow_Pitch" type="revolute">
<origin xyz="0.00025 0.0605 0.0" rpy="0.0 0.0 0.0" />
<parent link="AL2" />
<child link="AL3" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="18.0" velocity="18.84" lower="-2.27" upper="2.27" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_hand_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_hand_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.13 0.0" rpy="1.5708 0.0 0.0" />
<geometry>
<cylinder length="0.175" radius="0.03" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000108 0.109573 0.000591" rpy="0.0 0.0 0.0" />
<mass value="0.327214390850251" />
<inertia ixx="0.008159" ixy="-3e-06" ixz="0.0" iyy="0.000215" iyz="1.7e-05" izz="0.008131" />
</inertial>
</link>
<joint name="Left_Elbow_Yaw" type="revolute">
<origin xyz="0.0 0.1471 0.0" rpy="0.0 0.0 0.0" />
<parent link="AL3" />
<child link="left_hand_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="18.0" velocity="18.84" lower="-2.44" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="AR1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/AR1.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.000677 -0.044974 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.53" />
<inertia ixx="0.001293" ixy="-1.7e-05" ixz="0.0" iyy="0.000293" iyz="0.0" izz="0.001367" />
</inertial>
</link>
<joint name="Right_Shoulder_Pitch" type="revolute">
<origin xyz="0.0575 -0.1063 0.219" rpy="0.0 0.00088113 0.0" />
<parent link="Trunk" />
<child link="AR1" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="18.0" velocity="18.84" lower="-3.31" upper="1.22" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="AR2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/AR2.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.003862 -0.037976 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.16" />
<inertia ixx="0.000345" ixy="-8e-06" ixz="0.0" iyy="0.000177" iyz="0.0" izz="0.000401" />
</inertial>
</link>
<joint name="Right_Shoulder_Roll" type="revolute">
<origin xyz="0.0 -0.047 0.0" rpy="0.0 0.0 0.0" />
<parent link="AR1" />
<child link="AR2" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="18.0" velocity="18.84" lower="-1.57" upper="1.74" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="AR3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/AR3.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.05 0.0" rpy="1.5708 0.0 0.0" />
<geometry>
<cylinder length="0.15" radius="0.03" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.085353 -9.9e-05" rpy="0.0 0.0 0.0" />
<mass value="1.02" />
<inertia ixx="0.012869" ixy="0.0" ixz="0.0" iyy="0.000621" iyz="2.4e-05" izz="0.012798" />
</inertial>
</link>
<joint name="Right_Elbow_Pitch" type="revolute">
<origin xyz="0.00025 -0.0605 0.0" rpy="0.0 0.0 0.0" />
<parent link="AR2" />
<child link="AR3" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="18.0" velocity="18.84" lower="-2.27" upper="2.27" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_hand_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_hand_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.13 0.0" rpy="1.5708 0.0 0.0" />
<geometry>
<cylinder length="0.175" radius="0.03" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000108 -0.109573 0.000591" rpy="0.0 0.0 0.0" />
<mass value="0.327214390850251" />
<inertia ixx="0.008159" ixy="3e-06" ixz="0.0" iyy="0.000215" iyz="-1.7e-05" izz="0.008131" />
</inertial>
</link>
<joint name="Right_Elbow_Yaw" type="revolute">
<origin xyz="0.0 -0.1471 0.0" rpy="0.0 0.0 0.0" />
<parent link="AR3" />
<child link="right_hand_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="18.0" velocity="18.84" lower="0.0" upper="2.44" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Waist">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/Waist.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.002284 3e-06 0.007301" rpy="0.0 0.0 0.0" />
<mass value="2.581" />
<inertia ixx="0.005289" ixy="0.0" ixz="0.000207" iyy="0.005299" iyz="1e-06" izz="0.004821" />
</inertial>
</link>
<joint name="Waist" type="revolute">
<origin xyz="0.0625 0.0 -0.1155" rpy="0.0 0.0 0.0" />
<parent link="Trunk" />
<child link="Waist" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="30.0" velocity="10.88" lower="-1.57" upper="1.57" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Hip_Pitch_Left">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/Hip_Pitch_Left.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.000534 -0.007296 -0.018083" rpy="0.0 0.0 0.0" />
<mass value="1.021" />
<inertia ixx="0.001805" ixy="6e-06" ixz="-1.5e-05" iyy="0.001421" iyz="8e-05" izz="0.001292" />
</inertial>
</link>
<joint name="Left_Hip_Pitch" type="revolute">
<origin xyz="0.0 0.106 0.0" rpy="0.0 0.0 0.0" />
<parent link="Waist" />
<child link="Hip_Pitch_Left" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="45.0" velocity="12.5" lower="-1.8" upper="1.57" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Hip_Roll_Left">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/Hip_Roll_Left.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.001101 2.4e-05 -0.05375" rpy="0.0 0.0 0.0" />
<mass value="0.385" />
<inertia ixx="0.001517" ixy="0.0" ixz="1.7e-05" iyy="0.001743" iyz="0.0" izz="0.000515" />
</inertial>
</link>
<joint name="Left_Hip_Roll" type="revolute">
<origin xyz="0.0 0.0 -0.02" rpy="0.0 0.0 0.0" />
<parent link="Hip_Pitch_Left" />
<child link="Hip_Roll_Left" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="30.0" velocity="10.9" lower="-0.2" upper="1.57" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Hip_Yaw_Left">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/Hip_Yaw_Left.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.16" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.007233 0.000206 -0.089184" rpy="0.0 0.0 0.0" />
<mass value="2.166" />
<inertia ixx="0.025108" ixy="-7e-06" ixz="0.002094" iyy="0.025733" iyz="-5e-05" izz="0.002787" />
</inertial>
</link>
<joint name="Left_Hip_Yaw" type="revolute">
<origin xyz="0.0 0.0 -0.081854" rpy="0.0 0.0 0.0" />
<parent link="Hip_Roll_Left" />
<child link="Hip_Yaw_Left" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="30.0" velocity="10.9" lower="-1.0" upper="1.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Shank_Left">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/Shank_Left.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.12" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.15" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.006012 0.000259 -0.124318" rpy="0.0 0.0 0.0" />
<mass value="1.73" />
<inertia ixx="0.034618" ixy="1.1e-05" ixz="0.001561" iyy="0.034539" iyz="0.000197" izz="0.001934" />
</inertial>
</link>
<joint name="Left_Knee_Pitch" type="revolute">
<origin xyz="-0.014 0.0 -0.134" rpy="0.0 0.0 0.0" />
<parent link="Hip_Yaw_Left" />
<child link="Shank_Left" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="60.0" velocity="11.7" lower="0.0" upper="2.34" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Ankle_Cross_Left">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/Ankle_Cross_Left.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.003722 0.0 -0.007981" rpy="0.0 0.0 0.0" />
<mass value="0.073" />
<inertia ixx="1.2e-05" ixy="0.0" ixz="3e-06" iyy="2.9e-05" iyz="0.0" izz="2.5e-05" />
</inertial>
</link>
<joint name="Left_Ankle_Pitch" type="revolute">
<origin xyz="0.0 0.0 -0.28" rpy="0.0 0.0 0.0" />
<parent link="Shank_Left" />
<child link="Ankle_Cross_Left" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="20.0" velocity="18.8" lower="-0.87" upper="0.35" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_foot_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_foot_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.01 0.0 -0.015" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.223 0.1 0.03" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000249 0.0 -0.00914" rpy="0.0 0.0 0.0" />
<mass value="0.685" />
<inertia ixx="0.002214" ixy="0.0" ixz="-0.000114" iyy="0.002385" iyz="0.0" izz="0.002671" />
</inertial>
</link>
<joint name="Left_Ankle_Roll" type="revolute">
<origin xyz="0.0 0.00025 -0.012" rpy="0.0 0.0 0.0" />
<parent link="Ankle_Cross_Left" />
<child link="left_foot_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="15.0" velocity="12.4" lower="-0.44" upper="0.44" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Hip_Pitch_Right">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/Hip_Pitch_Right.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.000534 0.007514 -0.018082" rpy="0.0 0.0 0.0" />
<mass value="1.021" />
<inertia ixx="0.001805" ixy="-8e-06" ixz="-1.5e-05" iyy="0.001421" iyz="-8.5e-05" izz="0.001292" />
</inertial>
</link>
<joint name="Right_Hip_Pitch" type="revolute">
<origin xyz="0.0 -0.106 0.0" rpy="0.0 0.0 0.0" />
<parent link="Waist" />
<child link="Hip_Pitch_Right" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="45.0" velocity="12.5" lower="-1.8" upper="1.57" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Hip_Roll_Right">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/Hip_Roll_Right.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.001099 2.4e-05 -0.053748" rpy="0.0 0.0 0.0" />
<mass value="0.385" />
<inertia ixx="0.001517" ixy="0.0" ixz="1.7e-05" iyy="0.001743" iyz="0.0" izz="0.000515" />
</inertial>
</link>
<joint name="Right_Hip_Roll" type="revolute">
<origin xyz="0.0 0.0 -0.02" rpy="0.0 0.0 0.0" />
<parent link="Hip_Pitch_Right" />
<child link="Hip_Roll_Right" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="30.0" velocity="10.9" lower="-1.57" upper="0.2" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Hip_Yaw_Right">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/Hip_Yaw_Right.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.16" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.007191 -0.000149 -0.08922" rpy="0.0 0.0 0.0" />
<mass value="2.17" />
<inertia ixx="0.025137" ixy="6e-06" ixz="0.002086" iyy="0.025762" iyz="4.4e-05" izz="0.002787" />
</inertial>
</link>
<joint name="Right_Hip_Yaw" type="revolute">
<origin xyz="0.0 0.0 -0.081854" rpy="0.0 0.0 0.0" />
<parent link="Hip_Roll_Right" />
<child link="Hip_Yaw_Right" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="30.0" velocity="10.9" lower="-1.0" upper="1.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Shank_Right">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/Shank_Right.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.12" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.15" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.005741 -0.000541 -0.122602" rpy="0.0 0.0 0.0" />
<mass value="1.79" />
<inertia ixx="0.035098" ixy="-9e-06" ixz="0.001554" iyy="0.034958" iyz="-8.6e-05" izz="0.002039" />
</inertial>
</link>
<joint name="Right_Knee_Pitch" type="revolute">
<origin xyz="-0.014 0.0 -0.134" rpy="0.0 0.0 0.0" />
<parent link="Hip_Yaw_Right" />
<child link="Shank_Right" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="60.0" velocity="11.7" lower="0.0" upper="2.34" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Ankle_Cross_Right">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/Ankle_Cross_Right.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.003722 0.0 -0.007981" rpy="0.0 0.0 0.0" />
<mass value="0.073" />
<inertia ixx="1.2e-05" ixy="0.0" ixz="3e-06" iyy="2.9e-05" iyz="0.0" izz="2.5e-05" />
</inertial>
</link>
<joint name="Right_Ankle_Pitch" type="revolute">
<origin xyz="0.0 0.0 -0.28" rpy="0.0 0.0 0.0" />
<parent link="Shank_Right" />
<child link="Ankle_Cross_Right" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="20.0" velocity="18.8" lower="-0.87" upper="0.35" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_foot_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_foot_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.01 0.0 -0.015" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.223 0.1 0.03" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000248 0.0 -0.00914" rpy="0.0 0.0 0.0" />
<mass value="0.685" />
<inertia ixx="0.002214" ixy="0.0" ixz="-0.000114" iyy="0.002385" iyz="0.0" izz="0.002671" />
</inertial>
</link>
<joint name="Right_Ankle_Roll" type="revolute">
<origin xyz="0.0 -0.00025 -0.012" rpy="0.0 0.0 0.0" />
<parent link="Ankle_Cross_Right" />
<child link="right_foot_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="15.0" velocity="12.4" lower="-0.44" upper="0.44" />
<dynamics damping="0.0" friction="0.0" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 125ab82aa10691ca -->
<mujoco model="T1">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="Trunk" file="meshes/Trunk.STL" />
<mesh name="H1" file="meshes/H1.STL" />
<mesh name="H2" file="meshes/H2.STL" />
<mesh name="AL1" file="meshes/AL1.STL" />
<mesh name="AL2" file="meshes/AL2.STL" />
<mesh name="AL3" file="meshes/AL3.STL" />
<mesh name="left_hand_link" file="meshes/left_hand_link.STL" />
<mesh name="AR1" file="meshes/AR1.STL" />
<mesh name="AR2" file="meshes/AR2.STL" />
<mesh name="AR3" file="meshes/AR3.STL" />
<mesh name="right_hand_link" file="meshes/right_hand_link.STL" />
<mesh name="Waist" file="meshes/Waist.STL" />
<mesh name="Hip_Pitch_Left" file="meshes/Hip_Pitch_Left.STL" />
<mesh name="Hip_Roll_Left" file="meshes/Hip_Roll_Left.STL" />
<mesh name="Hip_Yaw_Left" file="meshes/Hip_Yaw_Left.STL" />
<mesh name="Shank_Left" file="meshes/Shank_Left.STL" />
<mesh name="Ankle_Cross_Left" file="meshes/Ankle_Cross_Left.STL" />
<mesh name="left_foot_link" file="meshes/left_foot_link.STL" />
<mesh name="Hip_Pitch_Right" file="meshes/Hip_Pitch_Right.STL" />
<mesh name="Hip_Roll_Right" file="meshes/Hip_Roll_Right.STL" />
<mesh name="Hip_Yaw_Right" file="meshes/Hip_Yaw_Right.STL" />
<mesh name="Shank_Right" file="meshes/Shank_Right.STL" />
<mesh name="Ankle_Cross_Right" file="meshes/Ankle_Cross_Right.STL" />
<mesh name="right_foot_link" file="meshes/right_foot_link.STL" />
</asset>
<worldbody>
<body name="Trunk">
<inertial pos="0.0551365401093076 -1.42058017623659e-06 0.105062332707657" mass="11.7" fullinertia="0.0915287235057927 0.076778716903413 0.0556171053368987 -4.25369739206781e-07 0.000646360369011163 5.82340020271393e-07" />
<geom name="Trunk_vis_0" type="mesh" mesh="Trunk" contype="0" conaffinity="0" group="2" />
<geom name="Trunk_col_0" type="box" size="0.075 0.1 0.15" pos="0.06 0.0 0.12" group="3" />
<body name="H1" pos="0.0625 0.0 0.243">
<joint name="AAHead_yaw" type="hinge" axis="0.0 0.0 1.0" range="-1.57 1.57" />
<inertial pos="-0.000508 -0.001403 0.057432" mass="0.44391" fullinertia="0.000224 0.000241 0.00015 3e-06 1e-06 -2e-06" />
<geom name="H1_vis_0" type="mesh" mesh="H1" contype="0" conaffinity="0" group="2" />
<body name="H2" pos="0.0 0.0 0.06185">
<joint name="Head_pitch" type="hinge" axis="0.0 1.0 0.0" range="-0.35 1.22" />
<inertial pos="0.007802 0.001262 0.098631" mass="0.631019" fullinertia="0.002025 0.00192 0.001739 -2.5e-05 4.6e-05 3.6e-05" />
<geom name="H2_vis_0" type="mesh" mesh="H2" contype="0" conaffinity="0" group="2" />
<geom name="H2_col_0" type="sphere" size="0.08" pos="0.01 0.0 0.11" group="3" />
</body>
</body>
<body name="AL1" pos="0.0575 0.1063 0.219" quat="0.999999902951242 0.0 0.0004405649857479046 0.0">
<joint name="Left_Shoulder_Pitch" type="hinge" axis="0.0 1.0 0.0" range="-3.31 1.22" />
<inertial pos="-0.000677 0.044974 0.0" mass="0.53" fullinertia="0.001293 0.000293 0.001367 -1.7e-05 0.0 0.0" />
<geom name="AL1_vis_0" type="mesh" mesh="AL1" contype="0" conaffinity="0" group="2" />
<body name="AL2" pos="0.0 0.047 0.0">
<joint name="Left_Shoulder_Roll" type="hinge" axis="1.0 0.0 0.0" range="-1.74 1.57" />
<inertial pos="0.003862 0.037976 0.0" mass="0.16" fullinertia="0.000345 0.000177 0.000401 8e-06 0.0 0.0" />
<geom name="AL2_vis_0" type="mesh" mesh="AL2" contype="0" conaffinity="0" group="2" />
<body name="AL3" pos="0.00025 0.0605 0.0">
<joint name="Left_Elbow_Pitch" type="hinge" axis="0.0 1.0 0.0" range="-2.27 2.27" />
<inertial pos="0.0 0.085353 -9.9e-05" mass="1.02" fullinertia="0.012869 0.000621 0.012798 0.0 0.0 -2.4e-05" />
<geom name="AL3_vis_0" type="mesh" mesh="AL3" contype="0" conaffinity="0" group="2" />
<geom name="AL3_col_0" type="cylinder" size="0.03 0.075" pos="0.0 0.05 0.0" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" group="3" />
<body name="left_hand_link" pos="0.0 0.1471 0.0">
<joint name="Left_Elbow_Yaw" type="hinge" axis="0.0 0.0 1.0" range="-2.44 0.0" />
<inertial pos="-0.000108 0.109573 0.000591" mass="0.327214390850251" fullinertia="0.008159 0.000215 0.008131 -3e-06 0.0 1.7e-05" />
<geom name="left_hand_link_vis_0" type="mesh" mesh="left_hand_link" contype="0" conaffinity="0" group="2" />
<geom name="left_hand_link_col_0" type="cylinder" size="0.03 0.0875" pos="0.0 0.13 0.0" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" group="3" />
</body>
</body>
</body>
</body>
<body name="AR1" pos="0.0575 -0.1063 0.219" quat="0.999999902951242 0.0 0.0004405649857479046 0.0">
<joint name="Right_Shoulder_Pitch" type="hinge" axis="0.0 1.0 0.0" range="-3.31 1.22" />
<inertial pos="-0.000677 -0.044974 0.0" mass="0.53" fullinertia="0.001293 0.000293 0.001367 -1.7e-05 0.0 0.0" />
<geom name="AR1_vis_0" type="mesh" mesh="AR1" contype="0" conaffinity="0" group="2" />
<body name="AR2" pos="0.0 -0.047 0.0">
<joint name="Right_Shoulder_Roll" type="hinge" axis="1.0 0.0 0.0" range="-1.57 1.74" />
<inertial pos="0.003862 -0.037976 0.0" mass="0.16" fullinertia="0.000345 0.000177 0.000401 -8e-06 0.0 0.0" />
<geom name="AR2_vis_0" type="mesh" mesh="AR2" contype="0" conaffinity="0" group="2" />
<body name="AR3" pos="0.00025 -0.0605 0.0">
<joint name="Right_Elbow_Pitch" type="hinge" axis="0.0 1.0 0.0" range="-2.27 2.27" />
<inertial pos="0.0 -0.085353 -9.9e-05" mass="1.02" fullinertia="0.012869 0.000621 0.012798 0.0 0.0 2.4e-05" />
<geom name="AR3_vis_0" type="mesh" mesh="AR3" contype="0" conaffinity="0" group="2" />
<geom name="AR3_col_0" type="cylinder" size="0.03 0.075" pos="0.0 -0.05 0.0" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" group="3" />
<body name="right_hand_link" pos="0.0 -0.1471 0.0">
<joint name="Right_Elbow_Yaw" type="hinge" axis="0.0 0.0 1.0" range="0.0 2.44" />
<inertial pos="-0.000108 -0.109573 0.000591" mass="0.327214390850251" fullinertia="0.008159 0.000215 0.008131 3e-06 0.0 -1.7e-05" />
<geom name="right_hand_link_vis_0" type="mesh" mesh="right_hand_link" contype="0" conaffinity="0" group="2" />
<geom name="right_hand_link_col_0" type="cylinder" size="0.03 0.0875" pos="0.0 -0.13 0.0" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" group="3" />
</body>
</body>
</body>
</body>
<body name="Waist" pos="0.0625 0.0 -0.1155">
<joint name="Waist" type="hinge" axis="0.0 0.0 1.0" range="-1.57 1.57" />
<inertial pos="0.002284 3e-06 0.007301" mass="2.581" fullinertia="0.005289 0.005299 0.004821 0.0 0.000207 1e-06" />
<geom name="Waist_vis_0" type="mesh" mesh="Waist" contype="0" conaffinity="0" group="2" />
<body name="Hip_Pitch_Left" pos="0.0 0.106 0.0">
<joint name="Left_Hip_Pitch" type="hinge" axis="0.0 1.0 0.0" range="-1.8 1.57" />
<inertial pos="0.000534 -0.007296 -0.018083" mass="1.021" fullinertia="0.001805 0.001421 0.001292 6e-06 -1.5e-05 8e-05" />
<geom name="Hip_Pitch_Left_vis_0" type="mesh" mesh="Hip_Pitch_Left" contype="0" conaffinity="0" group="2" />
<body name="Hip_Roll_Left" pos="0.0 0.0 -0.02">
<joint name="Left_Hip_Roll" type="hinge" axis="1.0 0.0 0.0" range="-0.2 1.57" />
<inertial pos="0.001101 2.4e-05 -0.05375" mass="0.385" fullinertia="0.001517 0.001743 0.000515 0.0 1.7e-05 0.0" />
<geom name="Hip_Roll_Left_vis_0" type="mesh" mesh="Hip_Roll_Left" contype="0" conaffinity="0" group="2" />
<body name="Hip_Yaw_Left" pos="0.0 0.0 -0.081854">
<joint name="Left_Hip_Yaw" type="hinge" axis="0.0 0.0 1.0" range="-1.0 1.0" />
<inertial pos="-0.007233 0.000206 -0.089184" mass="2.166" fullinertia="0.025108 0.025733 0.002787 -7e-06 0.002094 -5e-05" />
<geom name="Hip_Yaw_Left_vis_0" type="mesh" mesh="Hip_Yaw_Left" contype="0" conaffinity="0" group="2" />
<geom name="Hip_Yaw_Left_col_0" type="cylinder" size="0.05 0.08" group="3" />
<body name="Shank_Left" pos="-0.014 0.0 -0.134">
<joint name="Left_Knee_Pitch" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.34" />
<inertial pos="-0.006012 0.000259 -0.124318" mass="1.73" fullinertia="0.034618 0.034539 0.001934 1.1e-05 0.001561 0.000197" />
<geom name="Shank_Left_vis_0" type="mesh" mesh="Shank_Left" contype="0" conaffinity="0" group="2" />
<geom name="Shank_Left_col_0" type="cylinder" size="0.05 0.075" pos="0.0 0.0 -0.12" group="3" />
<body name="Ankle_Cross_Left" pos="0.0 0.0 -0.28">
<joint name="Left_Ankle_Pitch" type="hinge" axis="0.0 1.0 0.0" range="-0.87 0.35" />
<inertial pos="-0.003722 0.0 -0.007981" mass="0.073" fullinertia="1.2e-05 2.9e-05 2.5e-05 0.0 3e-06 0.0" />
<geom name="Ankle_Cross_Left_vis_0" type="mesh" mesh="Ankle_Cross_Left" contype="0" conaffinity="0" group="2" />
<body name="left_foot_link" pos="0.0 0.00025 -0.012">
<joint name="Left_Ankle_Roll" type="hinge" axis="1.0 0.0 0.0" range="-0.44 0.44" />
<inertial pos="-0.000249 0.0 -0.00914" mass="0.685" fullinertia="0.002214 0.002385 0.002671 0.0 -0.000114 0.0" />
<geom name="left_foot_link_vis_0" type="mesh" mesh="left_foot_link" contype="0" conaffinity="0" group="2" />
<geom name="left_foot_link_col_0" type="box" size="0.1115 0.05 0.015" pos="0.01 0.0 -0.015" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="Hip_Pitch_Right" pos="0.0 -0.106 0.0">
<joint name="Right_Hip_Pitch" type="hinge" axis="0.0 1.0 0.0" range="-1.8 1.57" />
<inertial pos="0.000534 0.007514 -0.018082" mass="1.021" fullinertia="0.001805 0.001421 0.001292 -8e-06 -1.5e-05 -8.5e-05" />
<geom name="Hip_Pitch_Right_vis_0" type="mesh" mesh="Hip_Pitch_Right" contype="0" conaffinity="0" group="2" />
<body name="Hip_Roll_Right" pos="0.0 0.0 -0.02">
<joint name="Right_Hip_Roll" type="hinge" axis="1.0 0.0 0.0" range="-1.57 0.2" />
<inertial pos="0.001099 2.4e-05 -0.053748" mass="0.385" fullinertia="0.001517 0.001743 0.000515 0.0 1.7e-05 0.0" />
<geom name="Hip_Roll_Right_vis_0" type="mesh" mesh="Hip_Roll_Right" contype="0" conaffinity="0" group="2" />
<body name="Hip_Yaw_Right" pos="0.0 0.0 -0.081854">
<joint name="Right_Hip_Yaw" type="hinge" axis="0.0 0.0 1.0" range="-1.0 1.0" />
<inertial pos="-0.007191 -0.000149 -0.08922" mass="2.17" fullinertia="0.025137 0.025762 0.002787 6e-06 0.002086 4.4e-05" />
<geom name="Hip_Yaw_Right_vis_0" type="mesh" mesh="Hip_Yaw_Right" contype="0" conaffinity="0" group="2" />
<geom name="Hip_Yaw_Right_col_0" type="cylinder" size="0.05 0.08" group="3" />
<body name="Shank_Right" pos="-0.014 0.0 -0.134">
<joint name="Right_Knee_Pitch" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.34" />
<inertial pos="-0.005741 -0.000541 -0.122602" mass="1.79" fullinertia="0.035098 0.034958 0.002039 -9e-06 0.001554 -8.6e-05" />
<geom name="Shank_Right_vis_0" type="mesh" mesh="Shank_Right" contype="0" conaffinity="0" group="2" />
<geom name="Shank_Right_col_0" type="cylinder" size="0.05 0.075" pos="0.0 0.0 -0.12" group="3" />
<body name="Ankle_Cross_Right" pos="0.0 0.0 -0.28">
<joint name="Right_Ankle_Pitch" type="hinge" axis="0.0 1.0 0.0" range="-0.87 0.35" />
<inertial pos="-0.003722 0.0 -0.007981" mass="0.073" fullinertia="1.2e-05 2.9e-05 2.5e-05 0.0 3e-06 0.0" />
<geom name="Ankle_Cross_Right_vis_0" type="mesh" mesh="Ankle_Cross_Right" contype="0" conaffinity="0" group="2" />
<body name="right_foot_link" pos="0.0 -0.00025 -0.012">
<joint name="Right_Ankle_Roll" type="hinge" axis="1.0 0.0 0.0" range="-0.44 0.44" />
<inertial pos="-0.000248 0.0 -0.00914" mass="0.685" fullinertia="0.002214 0.002385 0.002671 0.0 -0.000114 0.0" />
<geom name="right_foot_link_vis_0" type="mesh" mesh="right_foot_link" contype="0" conaffinity="0" group="2" />
<geom name="right_foot_link_col_0" type="box" size="0.1115 0.05 0.015" pos="0.01 0.0 -0.015" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="Trunk" body2="H1" />
<exclude body1="H1" body2="H2" />
<exclude body1="Trunk" body2="AL1" />
<exclude body1="AL1" body2="AL2" />
<exclude body1="AL2" body2="AL3" />
<exclude body1="AL3" body2="left_hand_link" />
<exclude body1="Trunk" body2="AR1" />
<exclude body1="AR1" body2="AR2" />
<exclude body1="AR2" body2="AR3" />
<exclude body1="AR3" body2="right_hand_link" />
<exclude body1="Trunk" body2="Waist" />
<exclude body1="Waist" body2="Hip_Pitch_Left" />
<exclude body1="Hip_Pitch_Left" body2="Hip_Roll_Left" />
<exclude body1="Hip_Roll_Left" body2="Hip_Yaw_Left" />
<exclude body1="Hip_Yaw_Left" body2="Shank_Left" />
<exclude body1="Shank_Left" body2="Ankle_Cross_Left" />
<exclude body1="Ankle_Cross_Left" body2="left_foot_link" />
<exclude body1="Waist" body2="Hip_Pitch_Right" />
<exclude body1="Hip_Pitch_Right" body2="Hip_Roll_Right" />
<exclude body1="Hip_Roll_Right" body2="Hip_Yaw_Right" />
<exclude body1="Hip_Yaw_Right" body2="Shank_Right" />
<exclude body1="Shank_Right" body2="Ankle_Cross_Right" />
<exclude body1="Ankle_Cross_Right" body2="right_foot_link" />
</contact>
</mujoco>
Import report
Counts
| Links | 24 |
|---|---|
| Joints | 23 |
| Moving joints | 23 |
| Visuals | 24 |
| Collisions | 12 |
| Materials | 0 |
Meshes
Formats: stl.
Asset size: 8.4 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
material | 24 | anonymous material (empty name) cannot be referenced; its colour is not kept |
Forward-kinematics check
Forward kinematics of 24 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 · 2.8e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 23).
Source & licence
| Repository | https://github.com/BoosterRobotics/booster_gym |
|---|---|
| Commit | 687a33d08b08875fe45dc8d91b54db83766df8b9 |
| Original file | resources/T1/T1_serial.urdf |
| Licence | Apache-2.0 · 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.