Cookie
Upkie Project · licence Apache-2.0 · source: codeberg.org/upkie/cookie_description @ 564352e35
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 384d9711991f784d -->
<robot name="cookie">
<material name="black">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<material name="dark_blue">
<color rgba="0.0 0.1 0.2 1.0" />
</material>
<material name="metallic_gray">
<color rgba="0.55 0.57 0.58 1.0" />
</material>
<material name="lipstick_green">
<color rgba="0.2 0.92 0.27 1.0" />
</material>
<material name="lipstick_red">
<color rgba="0.92 0.2 0.27 1.0" />
</material>
<material name="mango_yellow">
<color rgba="0.97 0.73 0.0 1.0" />
</material>
<material name="mj5208_rotor">
<color rgba="0.5 0.55 0.6 1.0" />
</material>
<material name="mj5208_stator">
<color rgba="0.22 0.22 0.25 1.0" />
</material>
<link name="base">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0 0.0 0.0" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<link name="torso">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/torso.stl" />
</geometry>
<material name="mango_yellow" />
</visual>
<collision>
<origin xyz="0.0 0.005 0.08" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.02 0.143 0.0105" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 -0.092 0.054" rpy="0.77 0.0 0.0" />
<geometry>
<box size="0.02 0.08 0.0105" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.102 0.054" rpy="-0.77 0.0 0.0" />
<geometry>
<box size="0.02 0.08 0.0105" />
</geometry>
</collision>
<collision>
<origin xyz="0.001 0.005 -0.025" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.14 0.171 0.15" />
</geometry>
</collision>
<inertial>
<origin xyz="0.001 0.005 -0.025" rpy="0.0 0.0 0.0" />
<mass value="1.739" />
<inertia ixx="0.0074981332500000004" ixy="0.0" ixz="0.0" iyy="0.006100991666666666" iyz="0.0" izz="0.007077874916666668" />
</inertial>
</link>
<joint name="torso_placement" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="torso" />
</joint>
<link name="battery_indicator">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0025 0.039 0.02" />
</geometry>
<material name="dark_blue" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1.6008333333333333e-07" ixy="0.0" ixz="0.0" iyy="3.385416666666667e-08" iyz="0.0" izz="1.2727083333333333e-07" />
</inertial>
</link>
<joint name="battery_indicator_placement" type="fixed">
<origin xyz="0.001 0.1075 0.0535" rpy="0.0 -0.8 1.5707963267948966" />
<parent link="base" />
<child link="battery_indicator" />
</joint>
<link name="torso_bumper_01">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.13" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.13" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.011648" />
<inertia ixx="1.6501333333333334e-05" ixy="0.0" ixz="0.0" iyy="1.6501333333333334e-05" iyz="0.0" izz="1.9413333333333335e-07" />
</inertial>
</link>
<joint name="torso_bumper_01_placement" type="fixed">
<origin xyz="0.07 0.085 -0.035" rpy="0.0 0.1 0.0" />
<parent link="torso" />
<child link="torso_bumper_01" />
</joint>
<link name="torso_bumper_02">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.17" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.17" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.015232" />
<inertia ixx="3.6810666666666677e-05" ixy="0.0" ixz="0.0" iyy="3.6810666666666677e-05" iyz="0.0" izz="2.5386666666666666e-07" />
</inertial>
</link>
<joint name="torso_bumper_02_placement" type="fixed">
<origin xyz="0.065 0.005 -0.095" rpy="1.5707963267948966 0.1 0.0" />
<parent link="torso" />
<child link="torso_bumper_02" />
</joint>
<link name="torso_bumper_03">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.13" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.13" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.011648" />
<inertia ixx="1.6501333333333334e-05" ixy="0.0" ixz="0.0" iyy="1.6501333333333334e-05" iyz="0.0" izz="1.9413333333333335e-07" />
</inertial>
</link>
<joint name="torso_bumper_03_placement" type="fixed">
<origin xyz="0.07 -0.075 -0.035" rpy="0.0 0.1 0.0" />
<parent link="torso" />
<child link="torso_bumper_03" />
</joint>
<link name="torso_bumper_04">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.135" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.135" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.012096" />
<inertia ixx="1.8471600000000005e-05" ixy="0.0" ixz="0.0" iyy="1.8471600000000005e-05" iyz="0.0" izz="2.0160000000000003e-07" />
</inertial>
</link>
<joint name="torso_bumper_04_placement" type="fixed">
<origin xyz="0.0025 -0.075 -0.105" rpy="0.0 1.5707963267948966 0.0" />
<parent link="torso" />
<child link="torso_bumper_04" />
</joint>
<link name="torso_bumper_05">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.135" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.135" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.012096" />
<inertia ixx="1.8471600000000005e-05" ixy="0.0" ixz="0.0" iyy="1.8471600000000005e-05" iyz="0.0" izz="2.0160000000000003e-07" />
</inertial>
</link>
<joint name="torso_bumper_05_placement" type="fixed">
<origin xyz="0.0025 0.085 -0.105" rpy="0.0 1.5707963267948966 0.0" />
<parent link="torso" />
<child link="torso_bumper_05" />
</joint>
<link name="torso_bumper_06">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.17" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.17" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.015232" />
<inertia ixx="3.6810666666666677e-05" ixy="0.0" ixz="0.0" iyy="3.6810666666666677e-05" iyz="0.0" izz="2.5386666666666666e-07" />
</inertial>
</link>
<joint name="torso_bumper_06_placement" type="fixed">
<origin xyz="-0.0615 0.005 -0.095" rpy="1.5707963267948966 -0.1 0.0" />
<parent link="torso" />
<child link="torso_bumper_06" />
</joint>
<link name="torso_bumper_07">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.06" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005376" />
<inertia ixx="1.6575999999999998e-06" ixy="0.0" ixz="0.0" iyy="1.6575999999999998e-06" iyz="0.0" izz="8.96e-08" />
</inertial>
</link>
<joint name="torso_bumper_07_placement" type="fixed">
<origin xyz="0.076 0.11 0.025" rpy="1.5707963267948966 0.0 0.0" />
<parent link="torso" />
<child link="torso_bumper_07" />
</joint>
<link name="torso_bumper_08">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.06" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005376" />
<inertia ixx="1.6575999999999998e-06" ixy="0.0" ixz="0.0" iyy="1.6575999999999998e-06" iyz="0.0" izz="8.96e-08" />
</inertial>
</link>
<joint name="torso_bumper_08_placement" type="fixed">
<origin xyz="0.076 -0.1 0.025" rpy="1.5707963267948966 0.0 0.0" />
<parent link="torso" />
<child link="torso_bumper_08" />
</joint>
<link name="torso_bumper_09">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.157" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.157" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0140672" />
<inertia ixx="2.9012427733333334e-05" ixy="0.0" ixz="0.0" iyy="2.9012427733333334e-05" iyz="0.0" izz="2.3445333333333336e-07" />
</inertial>
</link>
<joint name="torso_bumper_09_placement" type="fixed">
<origin xyz="0.0025 0.138 0.025" rpy="0.0 1.5707963267948966 0.0" />
<parent link="torso" />
<child link="torso_bumper_09" />
</joint>
<link name="torso_bumper_10">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.157" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.157" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0140672" />
<inertia ixx="2.9012427733333334e-05" ixy="0.0" ixz="0.0" iyy="2.9012427733333334e-05" iyz="0.0" izz="2.3445333333333336e-07" />
</inertial>
</link>
<joint name="torso_bumper_10_placement" type="fixed">
<origin xyz="0.0025 -0.128 0.025" rpy="0.0 1.5707963267948966 0.0" />
<parent link="torso" />
<child link="torso_bumper_10" />
</joint>
<link name="torso_bumper_11">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.276" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.276" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0247296" />
<inertia ixx="0.00015718958080000004" ixy="0.0" ixz="0.0" iyy="0.00015718958080000004" iyz="0.0" izz="4.1216e-07" />
</inertial>
</link>
<joint name="torso_bumper_11_placement" type="fixed">
<origin xyz="-0.074 0.005 0.025" rpy="1.5707963267948966 0.0 0.0" />
<parent link="torso" />
<child link="torso_bumper_11" />
</joint>
<link name="torso_bumper_12">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.1" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.008960000000000001" />
<inertia ixx="7.541333333333335e-06" ixy="0.0" ixz="0.0" iyy="7.541333333333335e-06" iyz="0.0" izz="1.4933333333333337e-07" />
</inertial>
</link>
<joint name="torso_bumper_12_placement" type="fixed">
<origin xyz="-0.0396 0.138 -0.023" rpy="0.0 -0.5 0.0" />
<parent link="torso" />
<child link="torso_bumper_12" />
</joint>
<link name="torso_bumper_13">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.1" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.008960000000000001" />
<inertia ixx="7.541333333333335e-06" ixy="0.0" ixz="0.0" iyy="7.541333333333335e-06" iyz="0.0" izz="1.4933333333333337e-07" />
</inertial>
</link>
<joint name="torso_bumper_13_placement" type="fixed">
<origin xyz="-0.0396 -0.128 -0.023" rpy="0.0 -0.5 0.0" />
<parent link="torso" />
<child link="torso_bumper_13" />
</joint>
<link name="torso_bumper_14">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.021" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.021" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0018816000000000002" />
<inertia ixx="8.482880000000003e-08" ixy="0.0" ixz="0.0" iyy="8.482880000000003e-08" iyz="0.0" izz="3.1360000000000004e-08" />
</inertial>
</link>
<joint name="torso_bumper_14_placement" type="fixed">
<origin xyz="-0.0176 0.1325 -0.0695" rpy="1.5707963267948966 0.0 0.0" />
<parent link="torso" />
<child link="torso_bumper_14" />
</joint>
<link name="torso_bumper_15">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.021" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.021" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0018816000000000002" />
<inertia ixx="8.482880000000003e-08" ixy="0.0" ixz="0.0" iyy="8.482880000000003e-08" iyz="0.0" izz="3.1360000000000004e-08" />
</inertial>
</link>
<joint name="torso_bumper_15_placement" type="fixed">
<origin xyz="-0.0176 -0.1225 -0.0695" rpy="1.5707963267948966 0.0 0.0" />
<parent link="torso" />
<child link="torso_bumper_15" />
</joint>
<link name="torso_bumper_16">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.021" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.021" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0018816000000000002" />
<inertia ixx="8.482880000000003e-08" ixy="0.0" ixz="0.0" iyy="8.482880000000003e-08" iyz="0.0" izz="3.1360000000000004e-08" />
</inertial>
</link>
<joint name="torso_bumper_16_placement" type="fixed">
<origin xyz="0.0197 -0.1225 -0.0695" rpy="1.5707963267948966 0.0 0.0" />
<parent link="torso" />
<child link="torso_bumper_16" />
</joint>
<link name="torso_bumper_17">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.1" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.008960000000000001" />
<inertia ixx="7.541333333333335e-06" ixy="0.0" ixz="0.0" iyy="7.541333333333335e-06" iyz="0.0" izz="1.4933333333333337e-07" />
</inertial>
</link>
<joint name="torso_bumper_17_placement" type="fixed">
<origin xyz="0.042 -0.128 -0.023" rpy="0.0 0.5 0.0" />
<parent link="torso" />
<child link="torso_bumper_17" />
</joint>
<link name="torso_bumper_18">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.021" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.021" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0018816000000000002" />
<inertia ixx="8.482880000000003e-08" ixy="0.0" ixz="0.0" iyy="8.482880000000003e-08" iyz="0.0" izz="3.1360000000000004e-08" />
</inertial>
</link>
<joint name="torso_bumper_18_placement" type="fixed">
<origin xyz="0.0197 0.1325 -0.0695" rpy="1.5707963267948966 0.0 0.0" />
<parent link="torso" />
<child link="torso_bumper_18" />
</joint>
<link name="torso_bumper_19">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.1" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.008960000000000001" />
<inertia ixx="7.541333333333335e-06" ixy="0.0" ixz="0.0" iyy="7.541333333333335e-06" iyz="0.0" izz="1.4933333333333337e-07" />
</inertial>
</link>
<joint name="torso_bumper_19_placement" type="fixed">
<origin xyz="0.042 0.138 -0.023" rpy="0.0 0.5 0.0" />
<parent link="torso" />
<child link="torso_bumper_19" />
</joint>
<link name="imu">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0 0.0 0.0" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="imu_placement" type="fixed">
<origin xyz="0.0 -0.08 0.02" rpy="3.141592653589793 0.0 3.141592653589793" />
<parent link="torso" />
<child link="imu" />
</joint>
<link name="oak_d_lite">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/oak_d_lite.stl" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="-0.002 0.0 -0.0015" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.091 0.028 0.0175" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.002 0.0 -0.0015" rpy="0.0 0.0 0.0" />
<mass value="0.061" />
<inertia ixx="5.542104166666667e-06" ixy="0.0" ixz="0.0" iyy="4.3651854166666664e-05" iyz="0.0" izz="4.6080416666666663e-05" />
</inertial>
</link>
<joint name="oak_d_lite_placement" type="fixed">
<origin xyz="0.059 0.003 0.017" rpy="1.5707963267948966 0.0 -1.5707963267948966" />
<parent link="torso" />
<child link="oak_d_lite" />
</joint>
<link name="power_connector">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/power_connector.stl" />
</geometry>
<material name="metallic_gray" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.008" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.016" radius="0.006" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.008" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1.6111979166666666e-07" ixy="0.0" ixz="0.0" iyy="1.6111979166666666e-07" iyz="0.0" izz="1.0890625e-07" />
</inertial>
</link>
<joint name="power_connector_placement" type="fixed">
<origin xyz="0.015 -0.075 0.052" rpy="1.5707963267948966 1.5707963267948966 0.0" />
<parent link="base" />
<child link="power_connector" />
</joint>
<link name="power_switch">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0035 0.022 0.015" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="2.9541666666666666e-07" ixy="0.0" ixz="0.0" iyy="9.885416666666668e-08" iyz="0.0" izz="2.0677083333333332e-07" />
</inertial>
</link>
<joint name="power_switch_placement" type="fixed">
<origin xyz="-0.0085 -0.089 0.052" rpy="0.0 0.0 1.5707963267948966" />
<parent link="base" />
<child link="power_switch" />
</joint>
<link name="power_switch_light">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0015 0.002 0.01" />
</geometry>
<material name="lipstick_green" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="8.666666666666667e-09" ixy="0.0" ixz="0.0" iyy="8.520833333333334e-09" iyz="0.0" izz="5.208333333333333e-10" />
</inertial>
</link>
<joint name="power_switch_light_placement" type="fixed">
<origin xyz="-0.015 -0.09075 0.052" rpy="0.0 0.0 1.5707963267948966" />
<parent link="base" />
<child link="power_switch_light" />
</joint>
<link name="screen">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.011 0.165 0.103" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.011 0.165 0.103" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.3" />
<inertia ixx="0.0009458499999999999" ixy="0.0" ixz="0.0" iyy="0.00026824999999999993" iyz="0.0" izz="0.0006836500000000001" />
</inertial>
</link>
<joint name="screen_placement" type="fixed">
<origin xyz="-0.058 0.005 -0.037" rpy="0.0 -0.1 0.0" />
<parent link="base" />
<child link="screen" />
</joint>
<link name="left_hip_qdd100_stator">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/qdd100_stator.stl" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0145" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.0295" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0145" rpy="0.0 0.0 0.0" />
<mass value="0.47" />
<inertia ixx="0.0003278347916666667" ixy="0.0" ixz="0.0" iyy="0.0003278347916666667" iyz="0.0" izz="0.0005875000000000001" />
</inertial>
</link>
<joint name="left_hip_qdd100_stator_placement" type="fixed">
<origin xyz="0.001 0.061 -0.045" rpy="-1.5707963267948966 5.497787143782138 0.0" />
<parent link="base" />
<child link="left_hip_qdd100_stator" />
</joint>
<link name="left_hip_qdd100_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/qdd100_rotor.stl" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.003" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.006" radius="0.0225" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.003" rpy="0.0 0.0 0.0" />
<mass value="0.015" />
<inertia ixx="1.9434375e-06" ixy="0.0" ixz="0.0" iyy="1.9434375e-06" iyz="0.0" izz="3.7968749999999995e-06" />
</inertial>
</link>
<joint name="left_hip" type="revolute">
<origin xyz="0.0 0.0 0.0292" rpy="0.0 0.0 0.0" />
<parent link="left_hip_qdd100_stator" />
<child link="left_hip_qdd100_rotor" />
<axis xyz="0.0 0.0 -1.0" />
<limit effort="16.0" velocity="28.8" lower="-1.8" upper="1.8" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_hip_rotor_connector">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/rotor_connector.stl" />
</geometry>
<material name="mango_yellow" />
</visual>
<collision>
<origin xyz="0.0 -0.005 0.0005" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.05 0.058 0.031" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.005 0.0005" rpy="0.0 0.0 0.0" />
<mass value="0.047" />
<inertia ixx="1.6939583333333333e-05" ixy="0.0" ixz="0.0" iyy="1.3555583333333334e-05" iyz="0.0" izz="2.2967333333333336e-05" />
</inertial>
</link>
<joint name="left_hip_rotor_connector_placement" type="fixed">
<origin xyz="0.0 0.0 0.0157" rpy="0.0 0.0 -2.356194490192345" />
<parent link="left_hip_qdd100_rotor" />
<child link="left_hip_rotor_connector" />
</joint>
<link name="left_femur_extrusion">
<visual>
<origin xyz="0.0 -0.079 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.02 0.2 0.02" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 -0.079 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.02 0.2 0.02" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.079 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.09" />
<inertia ixx="0.00030300000000000005" ixy="0.0" ixz="0.0" iyy="6e-06" iyz="0.0" izz="0.00030300000000000005" />
</inertial>
</link>
<joint name="left_femur_extrusion_placement" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_hip_rotor_connector" />
<child link="left_femur_extrusion" />
</joint>
<link name="left_knee_stator">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/knee_stator.stl" />
</geometry>
<material name="mango_yellow" />
</visual>
<collision>
<origin xyz="-0.015 0.0 -0.008" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.09 0.047 0.105" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.015 0.0 -0.008" rpy="0.0 0.0 0.0" />
<mass value="0.145" />
<inertia ixx="0.0001599108333333333" ixy="0.0" ixz="0.0" iyy="0.00023109374999999994" iyz="0.0" izz="0.0001245670833333333" />
</inertial>
</link>
<joint name="left_knee_stator_placement" type="fixed">
<origin xyz="0.0 -0.173 0.0" rpy="-1.5707963267948966 -1.5707963267948966 0.0" />
<parent link="left_femur_extrusion" />
<child link="left_knee_stator" />
</joint>
<link name="left_knee_bumper">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/knee_bumper.stl" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.03 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.03" radius="0.065" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.03 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.109" />
<inertia ixx="0.00020573750000000003" ixy="0.0" ixz="0.0" iyy="0.00020573750000000003" iyz="0.0" izz="0.000395125" />
</inertial>
</link>
<joint name="left_knee_bumper_placement" type="fixed">
<origin xyz="-0.0305 0.0 -0.01" rpy="-1.5707963267948966 0.0 1.5707963267948966" />
<parent link="left_knee_stator" />
<child link="left_knee_bumper" />
</joint>
<link name="left_knee_qdd100_stator">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/qdd100_stator.stl" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0145" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.0295" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0145" rpy="0.0 0.0 0.0" />
<mass value="0.47" />
<inertia ixx="0.0003278347916666667" ixy="0.0" ixz="0.0" iyy="0.0003278347916666667" iyz="0.0" izz="0.0005875000000000001" />
</inertial>
</link>
<joint name="left_knee_qdd100_stator_placement" type="fixed">
<origin xyz="-0.0453 0.0 -0.04" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
<parent link="left_knee_stator" />
<child link="left_knee_qdd100_stator" />
</joint>
<link name="left_knee_qdd100_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/qdd100_rotor.stl" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.003" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.006" radius="0.0225" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.003" rpy="0.0 0.0 0.0" />
<mass value="0.015" />
<inertia ixx="1.9434375e-06" ixy="0.0" ixz="0.0" iyy="1.9434375e-06" iyz="0.0" izz="3.7968749999999995e-06" />
</inertial>
</link>
<joint name="left_knee" type="revolute">
<origin xyz="0.0 0.0 0.0292" rpy="0.0 0.0 0.0" />
<parent link="left_knee_qdd100_stator" />
<child link="left_knee_qdd100_rotor" />
<axis xyz="0.0 0.0 -1.0" />
<limit effort="16.0" velocity="28.8" lower="-1.8" upper="1.8" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_knee_rotor_connector">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/rotor_connector.stl" />
</geometry>
<material name="mango_yellow" />
</visual>
<collision>
<origin xyz="0.0 -0.005 0.0005" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.05 0.058 0.031" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.005 0.0005" rpy="0.0 0.0 0.0" />
<mass value="0.047" />
<inertia ixx="1.6939583333333333e-05" ixy="0.0" ixz="0.0" iyy="1.3555583333333334e-05" iyz="0.0" izz="2.2967333333333336e-05" />
</inertial>
</link>
<joint name="left_knee_rotor_connector_placement" type="fixed">
<origin xyz="0.0 0.0 0.0157" rpy="0.0 0.0 3.141592653589793" />
<parent link="left_knee_qdd100_rotor" />
<child link="left_knee_rotor_connector" />
</joint>
<link name="left_tibia_extrusion">
<visual>
<origin xyz="0.0 -0.079 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.02 0.15 0.02" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 -0.079 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.02 0.15 0.02" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.079 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0675" />
<inertia ixx="0.0001288125" ixy="0.0" ixz="0.0" iyy="4.5e-06" iyz="0.0" izz="0.0001288125" />
</inertial>
</link>
<joint name="left_tibia_extrusion_placement" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_knee_rotor_connector" />
<child link="left_tibia_extrusion" />
</joint>
<link name="left_ankle_stator">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/ankle_stator.stl" />
</geometry>
<material name="mango_yellow" />
</visual>
<collision>
<origin xyz="-0.001 -0.022 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.08 0.135 0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.001 -0.022 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.16" />
<inertia ixx="0.000291" ixy="0.0" ixz="0.0" iyy="0.00013333333333333334" iyz="0.0" izz="0.0003283333333333333" />
</inertial>
</link>
<joint name="left_ankle_stator_placement" type="fixed">
<origin xyz="0.0 -0.177 -0.01" rpy="0.0 -1.5707963267948966 0.0" />
<parent link="left_tibia_extrusion" />
<child link="left_ankle_stator" />
</joint>
<link name="left_ankle_heat_spreader">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.002 0.05 0.05" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.002 0.05 0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0067" />
<inertia ixx="2.7916666666666673e-06" ixy="0.0" ixz="0.0" iyy="1.398066666666667e-06" iyz="0.0" izz="1.398066666666667e-06" />
</inertial>
</link>
<joint name="left_ankle_heat_spreader_placement" type="fixed">
<origin xyz="-0.0365 -0.058 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_ankle_stator" />
<child link="left_ankle_heat_spreader" />
</joint>
<link name="left_wheel_mj5208_stator">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/mj5208_stator.stl" />
</geometry>
<material name="mj5208_stator" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.008" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.018" radius="0.0267" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.008" rpy="0.0 0.0 0.0" />
<mass value="0.1721" />
<inertia ixx="3.531879225000001e-05" ixy="0.0" ixz="0.0" iyy="3.531879225000001e-05" iyz="0.0" izz="6.134418450000001e-05" />
</inertial>
</link>
<joint name="left_wheel_mj5208_stator_placement" type="fixed">
<origin xyz="-0.025 -0.064 -0.001" rpy="0.0 1.5707963267948966 0.0" />
<parent link="left_ankle_stator" />
<child link="left_wheel_mj5208_stator" />
</joint>
<link name="left_wheel_mj5208_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/mj5208_rotor.stl" />
</geometry>
<material name="mj5208_rotor" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.015" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.016" radius="0.034" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.015" rpy="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="1.551666666666667e-05" ixy="0.0" ixz="0.0" iyy="1.551666666666667e-05" iyz="0.0" izz="2.8900000000000005e-05" />
</inertial>
</link>
<joint name="left_wheel" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_wheel_mj5208_stator" />
<child link="left_wheel_mj5208_rotor" />
<axis xyz="0.0 0.0 -1.0" />
<limit effort="1.7" velocity="111.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_wheel_hub">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/wheel_hub.stl" />
</geometry>
<material name="mango_yellow" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.045" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.063" />
<inertia ixx="3.399375e-05" ixy="0.0" ixz="0.0" iyy="3.399375e-05" iyz="0.0" izz="6.37875e-05" />
</inertial>
</link>
<joint name="left_wheel_hub_placement" type="fixed">
<origin xyz="0.0 0.0 0.035" rpy="0.0 0.0 0.0" />
<parent link="left_wheel_mj5208_rotor" />
<child link="left_wheel_hub" />
</joint>
<link name="left_wheel_tire">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/wheel_tire.stl" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.073" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.095" />
<inertia ixx="0.00017571041666666662" ixy="0.0" ixz="0.0" iyy="0.00017571041666666662" iyz="0.0" izz="0.00034508749999999995" />
</inertial>
</link>
<joint name="left_wheel_tire_placement" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_wheel_hub" />
<child link="left_wheel_tire" />
</joint>
<link name="left_contact">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0 0.0 0.0" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="left_contact_placement" type="fixed">
<origin xyz="0.0 -0.073 0.0" rpy="-1.5707963267948966 3.141592653589793 0.0" />
<parent link="left_wheel_tire" />
<child link="left_contact" />
</joint>
<link name="right_hip_qdd100_stator">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/qdd100_stator.stl" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0145" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.0295" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0145" rpy="0.0 0.0 0.0" />
<mass value="0.47" />
<inertia ixx="0.0003278347916666667" ixy="0.0" ixz="0.0" iyy="0.0003278347916666667" iyz="0.0" izz="0.0005875000000000001" />
</inertial>
</link>
<joint name="right_hip_qdd100_stator_placement" type="fixed">
<origin xyz="0.001 -0.051 -0.045" rpy="1.5707963267948966 -3.9269908169872414 0.0" />
<parent link="base" />
<child link="right_hip_qdd100_stator" />
</joint>
<link name="right_hip_qdd100_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/qdd100_rotor.stl" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.003" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.006" radius="0.0225" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.003" rpy="0.0 0.0 0.0" />
<mass value="0.015" />
<inertia ixx="1.9434375e-06" ixy="0.0" ixz="0.0" iyy="1.9434375e-06" iyz="0.0" izz="3.7968749999999995e-06" />
</inertial>
</link>
<joint name="right_hip" type="revolute">
<origin xyz="0.0 0.0 0.0292" rpy="0.0 0.0 0.0" />
<parent link="right_hip_qdd100_stator" />
<child link="right_hip_qdd100_rotor" />
<axis xyz="0.0 0.0 -1.0" />
<limit effort="16.0" velocity="28.8" lower="-1.8" upper="1.8" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_hip_rotor_connector">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/rotor_connector.stl" />
</geometry>
<material name="mango_yellow" />
</visual>
<collision>
<origin xyz="0.0 -0.005 0.0005" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.05 0.058 0.031" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.005 0.0005" rpy="0.0 0.0 0.0" />
<mass value="0.047" />
<inertia ixx="1.6939583333333333e-05" ixy="0.0" ixz="0.0" iyy="1.3555583333333334e-05" iyz="0.0" izz="2.2967333333333336e-05" />
</inertial>
</link>
<joint name="right_hip_rotor_connector_placement" type="fixed">
<origin xyz="0.0 0.0 0.0157" rpy="0.0 0.0 2.356194490192345" />
<parent link="right_hip_qdd100_rotor" />
<child link="right_hip_rotor_connector" />
</joint>
<link name="right_femur_extrusion">
<visual>
<origin xyz="0.0 -0.079 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.02 0.2 0.02" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 -0.079 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.02 0.2 0.02" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.079 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.09" />
<inertia ixx="0.00030300000000000005" ixy="0.0" ixz="0.0" iyy="6e-06" iyz="0.0" izz="0.00030300000000000005" />
</inertial>
</link>
<joint name="right_femur_extrusion_placement" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_hip_rotor_connector" />
<child link="right_femur_extrusion" />
</joint>
<link name="right_knee_stator">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/knee_stator.stl" />
</geometry>
<material name="mango_yellow" />
</visual>
<collision>
<origin xyz="-0.015 0.0 -0.008" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.09 0.047 0.105" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.015 0.0 -0.008" rpy="0.0 0.0 0.0" />
<mass value="0.145" />
<inertia ixx="0.0001599108333333333" ixy="0.0" ixz="0.0" iyy="0.00023109374999999994" iyz="0.0" izz="0.0001245670833333333" />
</inertial>
</link>
<joint name="right_knee_stator_placement" type="fixed">
<origin xyz="0.0 -0.173 0.0" rpy="-1.5707963267948966 -1.5707963267948966 0.0" />
<parent link="right_femur_extrusion" />
<child link="right_knee_stator" />
</joint>
<link name="right_knee_bumper">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/knee_bumper.stl" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.03 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.03" radius="0.065" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.03 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.109" />
<inertia ixx="0.00020573750000000003" ixy="0.0" ixz="0.0" iyy="0.00020573750000000003" iyz="0.0" izz="0.000395125" />
</inertial>
</link>
<joint name="right_knee_bumper_placement" type="fixed">
<origin xyz="-0.0305 0.0 -0.01" rpy="-1.5707963267948966 0.0 1.5707963267948966" />
<parent link="right_knee_stator" />
<child link="right_knee_bumper" />
</joint>
<link name="right_knee_qdd100_stator">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/qdd100_stator.stl" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0145" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.0295" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0145" rpy="0.0 0.0 0.0" />
<mass value="0.47" />
<inertia ixx="0.0003278347916666667" ixy="0.0" ixz="0.0" iyy="0.0003278347916666667" iyz="0.0" izz="0.0005875000000000001" />
</inertial>
</link>
<joint name="right_knee_qdd100_stator_placement" type="fixed">
<origin xyz="-0.0453 0.0 -0.04" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
<parent link="right_knee_stator" />
<child link="right_knee_qdd100_stator" />
</joint>
<link name="right_knee_qdd100_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/qdd100_rotor.stl" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.003" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.006" radius="0.0225" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.003" rpy="0.0 0.0 0.0" />
<mass value="0.015" />
<inertia ixx="1.9434375e-06" ixy="0.0" ixz="0.0" iyy="1.9434375e-06" iyz="0.0" izz="3.7968749999999995e-06" />
</inertial>
</link>
<joint name="right_knee" type="revolute">
<origin xyz="0.0 0.0 0.0292" rpy="0.0 0.0 0.0" />
<parent link="right_knee_qdd100_stator" />
<child link="right_knee_qdd100_rotor" />
<axis xyz="0.0 0.0 -1.0" />
<limit effort="16.0" velocity="28.8" lower="-1.8" upper="1.8" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_knee_rotor_connector">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/rotor_connector.stl" />
</geometry>
<material name="mango_yellow" />
</visual>
<collision>
<origin xyz="0.0 -0.005 0.0005" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.05 0.058 0.031" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.005 0.0005" rpy="0.0 0.0 0.0" />
<mass value="0.047" />
<inertia ixx="1.6939583333333333e-05" ixy="0.0" ixz="0.0" iyy="1.3555583333333334e-05" iyz="0.0" izz="2.2967333333333336e-05" />
</inertial>
</link>
<joint name="right_knee_rotor_connector_placement" type="fixed">
<origin xyz="0.0 0.0 0.0157" rpy="0.0 0.0 3.141592653589793" />
<parent link="right_knee_qdd100_rotor" />
<child link="right_knee_rotor_connector" />
</joint>
<link name="right_tibia_extrusion">
<visual>
<origin xyz="0.0 -0.079 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.02 0.15 0.02" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 -0.079 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.02 0.15 0.02" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.079 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0675" />
<inertia ixx="0.0001288125" ixy="0.0" ixz="0.0" iyy="4.5e-06" iyz="0.0" izz="0.0001288125" />
</inertial>
</link>
<joint name="right_tibia_extrusion_placement" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_knee_rotor_connector" />
<child link="right_tibia_extrusion" />
</joint>
<link name="right_ankle_stator">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/ankle_stator.stl" />
</geometry>
<material name="mango_yellow" />
</visual>
<collision>
<origin xyz="-0.001 -0.022 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.08 0.135 0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.001 -0.022 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.16" />
<inertia ixx="0.000291" ixy="0.0" ixz="0.0" iyy="0.00013333333333333334" iyz="0.0" izz="0.0003283333333333333" />
</inertial>
</link>
<joint name="right_ankle_stator_placement" type="fixed">
<origin xyz="0.0 -0.177 -0.01" rpy="0.0 -1.5707963267948966 0.0" />
<parent link="right_tibia_extrusion" />
<child link="right_ankle_stator" />
</joint>
<link name="right_ankle_heat_spreader">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.002 0.05 0.05" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.002 0.05 0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0067" />
<inertia ixx="2.7916666666666673e-06" ixy="0.0" ixz="0.0" iyy="1.398066666666667e-06" iyz="0.0" izz="1.398066666666667e-06" />
</inertial>
</link>
<joint name="right_ankle_heat_spreader_placement" type="fixed">
<origin xyz="-0.0365 -0.058 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_ankle_stator" />
<child link="right_ankle_heat_spreader" />
</joint>
<link name="right_wheel_mj5208_stator">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/mj5208_stator.stl" />
</geometry>
<material name="mj5208_stator" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.008" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.018" radius="0.0267" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.008" rpy="0.0 0.0 0.0" />
<mass value="0.1721" />
<inertia ixx="3.531879225000001e-05" ixy="0.0" ixz="0.0" iyy="3.531879225000001e-05" iyz="0.0" izz="6.134418450000001e-05" />
</inertial>
</link>
<joint name="right_wheel_mj5208_stator_placement" type="fixed">
<origin xyz="-0.025 -0.064 -0.001" rpy="0.0 1.5707963267948966 0.0" />
<parent link="right_ankle_stator" />
<child link="right_wheel_mj5208_stator" />
</joint>
<link name="right_wheel_mj5208_rotor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/mj5208_rotor.stl" />
</geometry>
<material name="mj5208_rotor" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.015" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.016" radius="0.034" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.015" rpy="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="1.551666666666667e-05" ixy="0.0" ixz="0.0" iyy="1.551666666666667e-05" iyz="0.0" izz="2.8900000000000005e-05" />
</inertial>
</link>
<joint name="right_wheel" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_wheel_mj5208_stator" />
<child link="right_wheel_mj5208_rotor" />
<axis xyz="0.0 0.0 -1.0" />
<limit effort="1.7" velocity="111.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_wheel_hub">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/wheel_hub.stl" />
</geometry>
<material name="mango_yellow" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.045" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.063" />
<inertia ixx="3.399375e-05" ixy="0.0" ixz="0.0" iyy="3.399375e-05" iyz="0.0" izz="6.37875e-05" />
</inertial>
</link>
<joint name="right_wheel_hub_placement" type="fixed">
<origin xyz="0.0 0.0 0.035" rpy="0.0 0.0 0.0" />
<parent link="right_wheel_mj5208_rotor" />
<child link="right_wheel_hub" />
</joint>
<link name="right_wheel_tire">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cookie_description/meshes/wheel_tire.stl" />
</geometry>
<material name="lipstick_red" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.073" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.095" />
<inertia ixx="0.00017571041666666662" ixy="0.0" ixz="0.0" iyy="0.00017571041666666662" iyz="0.0" izz="0.00034508749999999995" />
</inertial>
</link>
<joint name="right_wheel_tire_placement" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_wheel_hub" />
<child link="right_wheel_tire" />
</joint>
<link name="right_contact">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0 0.0 0.0" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="right_contact_placement" type="fixed">
<origin xyz="0.0 -0.073 0.0" rpy="-1.5707963267948966 0.0 0.0" />
<parent link="right_wheel_tire" />
<child link="right_contact" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 384d9711991f784d -->
<mujoco model="cookie">
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<geom name="left_knee_bumper_vis_0" type="mesh" mesh="knee_bumper" contype="0" conaffinity="0" group="2" material="lipstick_red" />
<geom name="left_knee_bumper_col_0" type="cylinder" size="0.065 0.015" pos="0.0 0.03 0.0" group="3" />
</body>
<body name="left_knee_qdd100_stator" pos="-0.0453 0.0 -0.04" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5">
<inertial pos="0.0 0.0 0.0145" mass="0.47" fullinertia="0.0003278347916666667 0.0003278347916666667 0.0005875000000000001 0.0 0.0 0.0" />
<geom name="left_knee_qdd100_stator_vis_0" type="mesh" mesh="qdd100_stator" contype="0" conaffinity="0" group="2" material="black" />
<geom name="left_knee_qdd100_stator_col_0" type="cylinder" size="0.05 0.01475" pos="0.0 0.0 0.0145" group="3" />
<body name="left_knee_qdd100_rotor" pos="0.0 0.0 0.0292">
<joint name="left_knee" type="hinge" axis="0.0 0.0 -1.0" range="-1.8 1.8" />
<inertial pos="0.0 0.0 -0.003" mass="0.015" fullinertia="1.9434375e-06 1.9434375e-06 3.7968749999999995e-06 0.0 0.0 0.0" />
<geom name="left_knee_qdd100_rotor_vis_0" type="mesh" mesh="qdd100_rotor" contype="0" conaffinity="0" group="2" material="black" />
<geom name="left_knee_qdd100_rotor_col_0" type="cylinder" size="0.0225 0.003" pos="0.0 0.0 -0.003" group="3" />
<body name="left_knee_rotor_connector" pos="0.0 0.0 0.0157" quat="6.123233995736766e-17 0.0 0.0 1.0">
<inertial pos="0.0 -0.005 0.0005" mass="0.047" fullinertia="1.6939583333333333e-05 1.3555583333333334e-05 2.2967333333333336e-05 0.0 0.0 0.0" />
<geom name="left_knee_rotor_connector_vis_0" type="mesh" mesh="rotor_connector" contype="0" conaffinity="0" group="2" material="mango_yellow" />
<geom name="left_knee_rotor_connector_col_0" type="box" size="0.025 0.029 0.0155" pos="0.0 -0.005 0.0005" group="3" />
<body name="left_tibia_extrusion">
<inertial pos="0.0 -0.079 0.0" mass="0.0675" fullinertia="0.0001288125 4.5e-06 0.0001288125 0.0 0.0 0.0" />
<geom name="left_tibia_extrusion_vis_0" type="box" size="0.01 0.075 0.01" pos="0.0 -0.079 0.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="left_tibia_extrusion_col_0" type="box" size="0.01 0.075 0.01" pos="0.0 -0.079 0.0" group="3" />
<body name="left_ankle_stator" pos="0.0 -0.177 -0.01" quat="0.7071067811865476 0.0 -0.7071067811865475 0.0">
<inertial pos="-0.001 -0.022 0.0" mass="0.16" fullinertia="0.000291 0.00013333333333333334 0.0003283333333333333 0.0 0.0 0.0" />
<geom name="left_ankle_stator_vis_0" type="mesh" mesh="ankle_stator" contype="0" conaffinity="0" group="2" material="mango_yellow" />
<geom name="left_ankle_stator_col_0" type="box" size="0.04 0.0675 0.03" pos="-0.001 -0.022 0.0" group="3" />
<body name="left_ankle_heat_spreader" pos="-0.0365 -0.058 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.0067" fullinertia="2.7916666666666673e-06 1.398066666666667e-06 1.398066666666667e-06 0.0 0.0 0.0" />
<geom name="left_ankle_heat_spreader_vis_0" type="box" size="0.001 0.025 0.025" contype="0" conaffinity="0" group="2" material="black" />
<geom name="left_ankle_heat_spreader_col_0" type="box" size="0.001 0.025 0.025" group="3" />
</body>
<body name="left_wheel_mj5208_stator" pos="-0.025 -0.064 -0.001" quat="0.7071067811865476 0.0 0.7071067811865475 0.0">
<inertial pos="0.0 0.0 0.008" mass="0.1721" fullinertia="3.531879225000001e-05 3.531879225000001e-05 6.134418450000001e-05 0.0 0.0 0.0" />
<geom name="left_wheel_mj5208_stator_vis_0" type="mesh" mesh="mj5208_stator" contype="0" conaffinity="0" group="2" material="mj5208_stator" />
<geom name="left_wheel_mj5208_stator_col_0" type="cylinder" size="0.0267 0.009" pos="0.0 0.0 0.008" group="3" />
<body name="left_wheel_mj5208_rotor">
<joint name="left_wheel" type="hinge" axis="0.0 0.0 -1.0" range="0.0 0.0" />
<inertial pos="0.0 0.0 0.015" mass="0.05" fullinertia="1.551666666666667e-05 1.551666666666667e-05 2.8900000000000005e-05 0.0 0.0 0.0" />
<geom name="left_wheel_mj5208_rotor_vis_0" type="mesh" mesh="mj5208_rotor" contype="0" conaffinity="0" group="2" material="mj5208_rotor" />
<geom name="left_wheel_mj5208_rotor_col_0" type="cylinder" size="0.034 0.008" pos="0.0 0.0 0.015" group="3" />
<body name="left_wheel_hub" pos="0.0 0.0 0.035">
<inertial pos="0.0 0.0 0.0" mass="0.063" fullinertia="3.399375e-05 3.399375e-05 6.37875e-05 0.0 0.0 0.0" />
<geom name="left_wheel_hub_vis_0" type="mesh" mesh="wheel_hub" contype="0" conaffinity="0" group="2" material="mango_yellow" />
<geom name="left_wheel_hub_col_0" type="cylinder" size="0.045 0.01" group="3" />
<body name="left_wheel_tire">
<inertial pos="0.0 0.0 0.0" mass="0.095" fullinertia="0.00017571041666666662 0.00017571041666666662 0.00034508749999999995 0.0 0.0 0.0" />
<geom name="left_wheel_tire_vis_0" type="mesh" mesh="wheel_tire" contype="0" conaffinity="0" group="2" material="lipstick_red" />
<geom name="left_wheel_tire_col_0" type="cylinder" size="0.073 0.01" group="3" />
<body name="left_contact" pos="0.0 -0.073 0.0" quat="4.329780281177467e-17 -4.329780281177466e-17 0.7071067811865476 0.7071067811865475">
<inertial pos="0.0 0.0 0.0" mass="0.001" diaginertia="0 0 0" />
<geom name="left_contact_vis_0" type="box" size="0.0 0.0 0.0" contype="0" conaffinity="0" group="2" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="right_hip_qdd100_stator" pos="0.001 -0.051 -0.045" quat="-0.2705980500730985 -0.27059805007309845 -0.6532814824381883 0.6532814824381882">
<inertial pos="0.0 0.0 0.0145" mass="0.47" fullinertia="0.0003278347916666667 0.0003278347916666667 0.0005875000000000001 0.0 0.0 0.0" />
<geom name="right_hip_qdd100_stator_vis_0" type="mesh" mesh="qdd100_stator" contype="0" conaffinity="0" group="2" material="black" />
<geom name="right_hip_qdd100_stator_col_0" type="cylinder" size="0.05 0.01475" pos="0.0 0.0 0.0145" group="3" />
<body name="right_hip_qdd100_rotor" pos="0.0 0.0 0.0292">
<joint name="right_hip" type="hinge" axis="0.0 0.0 -1.0" range="-1.8 1.8" />
<inertial pos="0.0 0.0 -0.003" mass="0.015" fullinertia="1.9434375e-06 1.9434375e-06 3.7968749999999995e-06 0.0 0.0 0.0" />
<geom name="right_hip_qdd100_rotor_vis_0" type="mesh" mesh="qdd100_rotor" contype="0" conaffinity="0" group="2" material="black" />
<geom name="right_hip_qdd100_rotor_col_0" type="cylinder" size="0.0225 0.003" pos="0.0 0.0 -0.003" group="3" />
<body name="right_hip_rotor_connector" pos="0.0 0.0 0.0157" quat="0.38268343236508984 0.0 0.0 0.9238795325112867">
<inertial pos="0.0 -0.005 0.0005" mass="0.047" fullinertia="1.6939583333333333e-05 1.3555583333333334e-05 2.2967333333333336e-05 0.0 0.0 0.0" />
<geom name="right_hip_rotor_connector_vis_0" type="mesh" mesh="rotor_connector" contype="0" conaffinity="0" group="2" material="mango_yellow" />
<geom name="right_hip_rotor_connector_col_0" type="box" size="0.025 0.029 0.0155" pos="0.0 -0.005 0.0005" group="3" />
<body name="right_femur_extrusion">
<inertial pos="0.0 -0.079 0.0" mass="0.09" fullinertia="0.00030300000000000005 6e-06 0.00030300000000000005 0.0 0.0 0.0" />
<geom name="right_femur_extrusion_vis_0" type="box" size="0.01 0.1 0.01" pos="0.0 -0.079 0.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="right_femur_extrusion_col_0" type="box" size="0.01 0.1 0.01" pos="0.0 -0.079 0.0" group="3" />
<body name="right_knee_stator" pos="0.0 -0.173 0.0" quat="0.5000000000000001 -0.5 -0.5 -0.4999999999999999">
<inertial pos="-0.015 0.0 -0.008" mass="0.145" fullinertia="0.0001599108333333333 0.00023109374999999994 0.0001245670833333333 0.0 0.0 0.0" />
<geom name="right_knee_stator_vis_0" type="mesh" mesh="knee_stator" contype="0" conaffinity="0" group="2" material="mango_yellow" />
<geom name="right_knee_stator_col_0" type="box" size="0.045 0.0235 0.0525" pos="-0.015 0.0 -0.008" group="3" />
<body name="right_knee_bumper" pos="-0.0305 0.0 -0.01" quat="0.5000000000000001 -0.5 -0.4999999999999999 0.5">
<inertial pos="0.0 0.03 0.0" mass="0.109" fullinertia="0.00020573750000000003 0.00020573750000000003 0.000395125 0.0 0.0 0.0" />
<geom name="right_knee_bumper_vis_0" type="mesh" mesh="knee_bumper" contype="0" conaffinity="0" group="2" material="lipstick_red" />
<geom name="right_knee_bumper_col_0" type="cylinder" size="0.065 0.015" pos="0.0 0.03 0.0" group="3" />
</body>
<body name="right_knee_qdd100_stator" pos="-0.0453 0.0 -0.04" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5">
<inertial pos="0.0 0.0 0.0145" mass="0.47" fullinertia="0.0003278347916666667 0.0003278347916666667 0.0005875000000000001 0.0 0.0 0.0" />
<geom name="right_knee_qdd100_stator_vis_0" type="mesh" mesh="qdd100_stator" contype="0" conaffinity="0" group="2" material="black" />
<geom name="right_knee_qdd100_stator_col_0" type="cylinder" size="0.05 0.01475" pos="0.0 0.0 0.0145" group="3" />
<body name="right_knee_qdd100_rotor" pos="0.0 0.0 0.0292">
<joint name="right_knee" type="hinge" axis="0.0 0.0 -1.0" range="-1.8 1.8" />
<inertial pos="0.0 0.0 -0.003" mass="0.015" fullinertia="1.9434375e-06 1.9434375e-06 3.7968749999999995e-06 0.0 0.0 0.0" />
<geom name="right_knee_qdd100_rotor_vis_0" type="mesh" mesh="qdd100_rotor" contype="0" conaffinity="0" group="2" material="black" />
<geom name="right_knee_qdd100_rotor_col_0" type="cylinder" size="0.0225 0.003" pos="0.0 0.0 -0.003" group="3" />
<body name="right_knee_rotor_connector" pos="0.0 0.0 0.0157" quat="6.123233995736766e-17 0.0 0.0 1.0">
<inertial pos="0.0 -0.005 0.0005" mass="0.047" fullinertia="1.6939583333333333e-05 1.3555583333333334e-05 2.2967333333333336e-05 0.0 0.0 0.0" />
<geom name="right_knee_rotor_connector_vis_0" type="mesh" mesh="rotor_connector" contype="0" conaffinity="0" group="2" material="mango_yellow" />
<geom name="right_knee_rotor_connector_col_0" type="box" size="0.025 0.029 0.0155" pos="0.0 -0.005 0.0005" group="3" />
<body name="right_tibia_extrusion">
<inertial pos="0.0 -0.079 0.0" mass="0.0675" fullinertia="0.0001288125 4.5e-06 0.0001288125 0.0 0.0 0.0" />
<geom name="right_tibia_extrusion_vis_0" type="box" size="0.01 0.075 0.01" pos="0.0 -0.079 0.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="right_tibia_extrusion_col_0" type="box" size="0.01 0.075 0.01" pos="0.0 -0.079 0.0" group="3" />
<body name="right_ankle_stator" pos="0.0 -0.177 -0.01" quat="0.7071067811865476 0.0 -0.7071067811865475 0.0">
<inertial pos="-0.001 -0.022 0.0" mass="0.16" fullinertia="0.000291 0.00013333333333333334 0.0003283333333333333 0.0 0.0 0.0" />
<geom name="right_ankle_stator_vis_0" type="mesh" mesh="ankle_stator" contype="0" conaffinity="0" group="2" material="mango_yellow" />
<geom name="right_ankle_stator_col_0" type="box" size="0.04 0.0675 0.03" pos="-0.001 -0.022 0.0" group="3" />
<body name="right_ankle_heat_spreader" pos="-0.0365 -0.058 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.0067" fullinertia="2.7916666666666673e-06 1.398066666666667e-06 1.398066666666667e-06 0.0 0.0 0.0" />
<geom name="right_ankle_heat_spreader_vis_0" type="box" size="0.001 0.025 0.025" contype="0" conaffinity="0" group="2" material="black" />
<geom name="right_ankle_heat_spreader_col_0" type="box" size="0.001 0.025 0.025" group="3" />
</body>
<body name="right_wheel_mj5208_stator" pos="-0.025 -0.064 -0.001" quat="0.7071067811865476 0.0 0.7071067811865475 0.0">
<inertial pos="0.0 0.0 0.008" mass="0.1721" fullinertia="3.531879225000001e-05 3.531879225000001e-05 6.134418450000001e-05 0.0 0.0 0.0" />
<geom name="right_wheel_mj5208_stator_vis_0" type="mesh" mesh="mj5208_stator" contype="0" conaffinity="0" group="2" material="mj5208_stator" />
<geom name="right_wheel_mj5208_stator_col_0" type="cylinder" size="0.0267 0.009" pos="0.0 0.0 0.008" group="3" />
<body name="right_wheel_mj5208_rotor">
<joint name="right_wheel" type="hinge" axis="0.0 0.0 -1.0" range="0.0 0.0" />
<inertial pos="0.0 0.0 0.015" mass="0.05" fullinertia="1.551666666666667e-05 1.551666666666667e-05 2.8900000000000005e-05 0.0 0.0 0.0" />
<geom name="right_wheel_mj5208_rotor_vis_0" type="mesh" mesh="mj5208_rotor" contype="0" conaffinity="0" group="2" material="mj5208_rotor" />
<geom name="right_wheel_mj5208_rotor_col_0" type="cylinder" size="0.034 0.008" pos="0.0 0.0 0.015" group="3" />
<body name="right_wheel_hub" pos="0.0 0.0 0.035">
<inertial pos="0.0 0.0 0.0" mass="0.063" fullinertia="3.399375e-05 3.399375e-05 6.37875e-05 0.0 0.0 0.0" />
<geom name="right_wheel_hub_vis_0" type="mesh" mesh="wheel_hub" contype="0" conaffinity="0" group="2" material="mango_yellow" />
<geom name="right_wheel_hub_col_0" type="cylinder" size="0.045 0.01" group="3" />
<body name="right_wheel_tire">
<inertial pos="0.0 0.0 0.0" mass="0.095" fullinertia="0.00017571041666666662 0.00017571041666666662 0.00034508749999999995 0.0 0.0 0.0" />
<geom name="right_wheel_tire_vis_0" type="mesh" mesh="wheel_tire" contype="0" conaffinity="0" group="2" material="lipstick_red" />
<geom name="right_wheel_tire_col_0" type="cylinder" size="0.073 0.01" group="3" />
<body name="right_contact" pos="0.0 -0.073 0.0" quat="0.7071067811865476 -0.7071067811865475 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.001" diaginertia="0 0 0" />
<geom name="right_contact_vis_0" type="box" size="0.0 0.0 0.0" contype="0" conaffinity="0" group="2" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base" body2="torso" />
<exclude body1="base" body2="battery_indicator" />
<exclude body1="torso" body2="torso_bumper_01" />
<exclude body1="torso" body2="torso_bumper_02" />
<exclude body1="torso" body2="torso_bumper_03" />
<exclude body1="torso" body2="torso_bumper_04" />
<exclude body1="torso" body2="torso_bumper_05" />
<exclude body1="torso" body2="torso_bumper_06" />
<exclude body1="torso" body2="torso_bumper_07" />
<exclude body1="torso" body2="torso_bumper_08" />
<exclude body1="torso" body2="torso_bumper_09" />
<exclude body1="torso" body2="torso_bumper_10" />
<exclude body1="torso" body2="torso_bumper_11" />
<exclude body1="torso" body2="torso_bumper_12" />
<exclude body1="torso" body2="torso_bumper_13" />
<exclude body1="torso" body2="torso_bumper_14" />
<exclude body1="torso" body2="torso_bumper_15" />
<exclude body1="torso" body2="torso_bumper_16" />
<exclude body1="torso" body2="torso_bumper_17" />
<exclude body1="torso" body2="torso_bumper_18" />
<exclude body1="torso" body2="torso_bumper_19" />
<exclude body1="torso" body2="imu" />
<exclude body1="torso" body2="oak_d_lite" />
<exclude body1="base" body2="power_connector" />
<exclude body1="base" body2="power_switch" />
<exclude body1="base" body2="power_switch_light" />
<exclude body1="base" body2="screen" />
<exclude body1="base" body2="left_hip_qdd100_stator" />
<exclude body1="left_hip_qdd100_stator" body2="left_hip_qdd100_rotor" />
<exclude body1="left_hip_qdd100_rotor" body2="left_hip_rotor_connector" />
<exclude body1="left_hip_rotor_connector" body2="left_femur_extrusion" />
<exclude body1="left_femur_extrusion" body2="left_knee_stator" />
<exclude body1="left_knee_stator" body2="left_knee_bumper" />
<exclude body1="left_knee_stator" body2="left_knee_qdd100_stator" />
<exclude body1="left_knee_qdd100_stator" body2="left_knee_qdd100_rotor" />
<exclude body1="left_knee_qdd100_rotor" body2="left_knee_rotor_connector" />
<exclude body1="left_knee_rotor_connector" body2="left_tibia_extrusion" />
<exclude body1="left_tibia_extrusion" body2="left_ankle_stator" />
<exclude body1="left_ankle_stator" body2="left_ankle_heat_spreader" />
<exclude body1="left_ankle_stator" body2="left_wheel_mj5208_stator" />
<exclude body1="left_wheel_mj5208_stator" body2="left_wheel_mj5208_rotor" />
<exclude body1="left_wheel_mj5208_rotor" body2="left_wheel_hub" />
<exclude body1="left_wheel_hub" body2="left_wheel_tire" />
<exclude body1="left_wheel_tire" body2="left_contact" />
<exclude body1="base" body2="right_hip_qdd100_stator" />
<exclude body1="right_hip_qdd100_stator" body2="right_hip_qdd100_rotor" />
<exclude body1="right_hip_qdd100_rotor" body2="right_hip_rotor_connector" />
<exclude body1="right_hip_rotor_connector" body2="right_femur_extrusion" />
<exclude body1="right_femur_extrusion" body2="right_knee_stator" />
<exclude body1="right_knee_stator" body2="right_knee_bumper" />
<exclude body1="right_knee_stator" body2="right_knee_qdd100_stator" />
<exclude body1="right_knee_qdd100_stator" body2="right_knee_qdd100_rotor" />
<exclude body1="right_knee_qdd100_rotor" body2="right_knee_rotor_connector" />
<exclude body1="right_knee_rotor_connector" body2="right_tibia_extrusion" />
<exclude body1="right_tibia_extrusion" body2="right_ankle_stator" />
<exclude body1="right_ankle_stator" body2="right_ankle_heat_spreader" />
<exclude body1="right_ankle_stator" body2="right_wheel_mj5208_stator" />
<exclude body1="right_wheel_mj5208_stator" body2="right_wheel_mj5208_rotor" />
<exclude body1="right_wheel_mj5208_rotor" body2="right_wheel_hub" />
<exclude body1="right_wheel_hub" body2="right_wheel_tire" />
<exclude body1="right_wheel_tire" body2="right_contact" />
</contact>
</mujoco>
Import report
Counts
| Links | 62 |
|---|---|
| Joints | 61 |
| Moving joints | 6 |
| Visuals | 62 |
| Collisions | 58 |
| Materials | 8 |
Meshes
Formats: stl.
Asset size: 0.0 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
contact | 2 | <contact> is not part of the URDF subset RobotDescription mirrors |
Forward-kinematics check
Forward kinematics of 62 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 · 4.8e-16 rad.
MuJoCo
robot.xml did not compile in MuJoCo: Error: decoder failed for mesh file 'assets/cookie_description/meshes/mj5208_stator.stl'
Source & licence
| Repository | https://codeberg.org/upkie/cookie_description |
|---|---|
| Original file | urdf/cookie.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.