Draco3
Apptronik · licence BSD-2-Clause · source: github.com/shbang91/draco3_description @ 5afd19733
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 e5699318fa6e588a -->
<robot name="draco_3">
<material name="dark_gray">
<color rgba="0.3 0.3 0.3 1.0" />
</material>
<material name="gray">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
<material name="light_blue">
<color rgba="0.52 0.73 1.0 1.0" />
</material>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
<material name="white">
<color rgba="0.8 0.8 0.8 1.0" />
</material>
<link name="torso_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/torso_link3.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.0310745 -0.000497416 0.137484" rpy="0.0 0.0 0.0" />
<mass value="6.41443" />
<inertia ixx="0.171435" ixy="6.32882e-05" ixz="0.0271615" iyy="0.175671" iyz="0.000581149" izz="0.036373" />
</inertial>
</link>
<joint name="torso_com" type="fixed">
<origin xyz="-0.0310745 -0.000497416 0.137484" rpy="0.0 0.0 0.0" />
<parent link="torso_link" />
<child link="torso_com_link" />
</joint>
<link name="torso_com_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1e-09" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="neck_pitch" type="revolute">
<origin xyz="-0.0025 0.0 0.352" rpy="0.0 0.0 0.0" />
<parent link="torso_link" />
<child link="neck_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="8.8" velocity="82.8" lower="-0.523599" upper="1.309" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="neck_pitch_link">
<visual>
<origin xyz="0.0 0.0 -0.35" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/neck_pitch_link3.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0133603 -0.00105814 0.0772145" rpy="0.0 0.0 0.0" />
<mass value="1.22948" />
<inertia ixx="0.00233791" ixy="-2.09082e-05" ixz="-0.000158016" iyy="0.00192287" iyz="-9.56707e-05" izz="0.00275375" />
</inertial>
</link>
<joint name="camera_frame" type="fixed">
<origin xyz="0.08 0.0 0.08" rpy="0.0 0.0 0.0" />
<parent link="neck_pitch_link" />
<child link="camera" />
</joint>
<link name="camera">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.001" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1e-09" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="l_shoulder_fe" type="revolute">
<origin xyz="-0.05 0.156 0.2625" rpy="0.523599 0.0 0.0" />
<parent link="torso_link" />
<child link="l_shoulder_fe_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="18.0" velocity="30.0" lower="-2.26893" upper="0.698132" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_shoulder_fe_link">
<visual>
<origin xyz="0.05 -0.27 -0.15" rpy="-0.523599 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/l_shoulder_fe_link.stl" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="-0.0270089 -0.0272215 0.0" rpy="0.0 0.0 0.0" />
<mass value="1.02127" />
<inertia ixx="0.003" ixy="0.000188" ixz="-0.0001077" iyy="0.002" iyz="-4.214e-07" izz="0.002" />
</inertial>
</link>
<joint name="l_shoulder_aa" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="-0.523599 0.0 0.0" />
<parent link="l_shoulder_fe_link" />
<child link="l_shoulder_aa_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="18.0" velocity="30.0" lower="0.0" upper="2.0944" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_shoulder_aa_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/l_shoulder_aa_link.stl" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="0.0189446 0.000135529 0.00688183" rpy="0.0 0.0 0.0" />
<mass value="0.880498" />
<inertia ixx="0.00104194" ixy="5.17675e-06" ixz="-0.000110264" iyy="0.00190054" iyz="6.87354e-06" izz="0.00224159" />
</inertial>
</link>
<joint name="l_shoulder_ie" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="l_shoulder_aa_link" />
<child link="l_shoulder_ie_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="18.0" velocity="30.0" lower="-1.48353" upper="1.48353" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_shoulder_ie_link">
<visual>
<origin xyz="0.05 -0.15 -0.26" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/l_shoulder_ie_link3.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.00401807 0.0300008 -0.137263" rpy="0.0 0.0 0.0" />
<mass value="1.21235" />
<inertia ixx="0.00490878" ixy="4.35994e-05" ixz="-6.63613e-05" iyy="0.00459797" iyz="3.61794e-05" izz="0.00207282" />
</inertial>
</link>
<joint name="l_elbow_fe" type="revolute">
<origin xyz="0.0 0.0 -0.25" rpy="0.0 0.0 0.0" />
<parent link="l_shoulder_ie_link" />
<child link="l_elbow_fe_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="10.0" velocity="37.1" lower="-2.0944" upper="0.0872665" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_elbow_fe_link">
<visual>
<origin xyz="0.055 -0.15 -0.01" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/l_elbow_fe_link.stl" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="-0.0190443 0.0 -0.0633779" rpy="0.0 0.0 0.0" />
<mass value="0.989887" />
<inertia ixx="0.00220347" ixy="-2.91162e-08" ixz="-0.000310918" iyy="0.00297439" iyz="2.27665e-07" izz="0.0021045" />
</inertial>
</link>
<joint name="l_wrist_ps" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="l_elbow_fe_link" />
<child link="l_wrist_ps_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="12.0" velocity="44.5" lower="-1.5708" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_wrist_ps_link">
<visual>
<origin xyz="0.05 -0.15 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/l_wrist_ps_link.stl" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="0.000433726 0.0158433 -0.154" rpy="0.0 0.0 0.0" />
<mass value="0.64434" />
<inertia ixx="0.001" ixy="1.05504e-05" ixz="-5.41208e-06" iyy="0.001" iyz="4.65277e-05" izz="0.001" />
</inertial>
</link>
<joint name="l_wrist_pitch" type="revolute">
<origin xyz="0.0 0.0 -0.1578" rpy="0.0 0.0 0.0" />
<parent link="l_wrist_ps_link" />
<child link="l_wrist_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="8.8" velocity="82.8" lower="-1.5708" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_wrist_pitch_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1e-09" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="l_wrist_mount" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="l_wrist_pitch_link" />
<child link="l_sake_gripper_link" />
</joint>
<link name="l_sake_gripper_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/l_sake_gripper_mount.stl" />
</geometry>
<material name="white" />
</visual>
<inertial>
<origin xyz="5.4498e-05 0.000382544 -0.0372594" rpy="0.0 0.0 0.0" />
<mass value="0.145" />
<inertia ixx="0.001" ixy="3.07738e-09" ixz="2.26958e-07" iyy="0.0004628" iyz="-6.35882e-06" izz="0.001" />
</inertial>
</link>
<joint name="l_wrist_mount2" type="fixed">
<origin xyz="0.0 0.0 -0.053" rpy="0.0 1.57 0.0" />
<parent link="l_wrist_pitch_link" />
<child link="left_ezgripper_palm_link" />
</joint>
<link name="left_ezgripper_palm_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/ezgripper_gen2/SAKE_Palm_Dual_Gen2.stl" />
</geometry>
<material name="white" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.3" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
</link>
<link name="left_ezgripper_finger_L1_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/ezgripper_gen2/SAKE_Finger_L1_Gen2.stl" />
</geometry>
<material name="white" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.025" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
</link>
<link name="left_ezgripper_finger_L1_2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/ezgripper_gen2/SAKE_Finger_L1_Gen2.stl" />
</geometry>
<material name="white" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.025" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
</link>
<link name="left_ezgripper_finger_L2_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/ezgripper_gen2/SAKE_Finger_L2_Gen2.stl" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/ezgripper_gen2/SAKE_Finger_L2_Gen2.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.025" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
</link>
<link name="left_ezgripper_finger_L2_2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/ezgripper_gen2/SAKE_Finger_L2_Gen2.stl" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/ezgripper_gen2/SAKE_Finger_L2_Gen2.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.025" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
</link>
<joint name="left_ezgripper_knuckle_palm_L1_1" type="fixed">
<origin xyz="0.072569 0.03 0.0" rpy="-1.5708 0.0 1.57075" />
<parent link="left_ezgripper_palm_link" />
<child link="left_ezgripper_finger_L1_1" />
</joint>
<joint name="left_ezgripper_knuckle_palm_L1_2" type="fixed">
<origin xyz="0.072569 -0.03 0.0" rpy="1.5708 0.0 -1.57075" />
<parent link="left_ezgripper_palm_link" />
<child link="left_ezgripper_finger_L1_2" />
</joint>
<joint name="left_ezgripper_knuckle_L1_L2_1" type="fixed">
<origin xyz="0.052 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_ezgripper_finger_L1_1" />
<child link="left_ezgripper_finger_L2_1" />
</joint>
<joint name="left_ezgripper_knuckle_L1_L2_2" type="fixed">
<origin xyz="0.052 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_ezgripper_finger_L1_2" />
<child link="left_ezgripper_finger_L2_2" />
</joint>
<joint name="l_hand_contact_frame" type="fixed">
<origin xyz="0.0 0.0 -0.2" rpy="0.0 0.0 0.0" />
<parent link="l_sake_gripper_link" />
<child link="l_hand_contact" />
</joint>
<link name="l_hand_contact">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.001" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1e-09" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="r_shoulder_fe" type="revolute">
<origin xyz="-0.05 -0.156 0.2625" rpy="-0.523599 0.0 0.0" />
<parent link="torso_link" />
<child link="r_shoulder_fe_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="18.0" velocity="30.0" lower="-2.26893" upper="0.698132" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_shoulder_fe_link">
<visual>
<origin xyz="0.05 0.27 -0.15" rpy="0.523599 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/r_shoulder_fe_link.stl" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="-0.0825089 0.0272215 6.40505e-05" rpy="0.0 0.0 0.0" />
<mass value="1.02127" />
<inertia ixx="0.003" ixy="-0.000198378" ixz="3.31293e-05" iyy="0.002" iyz="-3.00004e-06" izz="0.002" />
</inertial>
</link>
<joint name="r_shoulder_aa" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.523599 0.0 0.0" />
<parent link="r_shoulder_fe_link" />
<child link="r_shoulder_aa_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="18.0" velocity="30.0" lower="-2.0944" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_shoulder_aa_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/r_shoulder_aa_link.stl" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="0.0189446 0.000135529 0.00688183" rpy="0.0 0.0 0.0" />
<mass value="0.880498" />
<inertia ixx="0.00104194" ixy="5.17675e-06" ixz="-0.000110264" iyy="0.00190054" iyz="6.87354e-06" izz="0.00224159" />
</inertial>
</link>
<joint name="r_shoulder_ie" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_shoulder_aa_link" />
<child link="r_shoulder_ie_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="18.0" velocity="30.0" lower="-1.48353" upper="1.48353" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_shoulder_ie_link">
<visual>
<origin xyz="0.05 0.15 -0.26" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/r_shoulder_ie_link3.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.00404627 -0.029987 -0.137257" rpy="0.0 0.0 0.0" />
<mass value="1.21235" />
<inertia ixx="0.00490973" ixy="-4.37742e-05" ixz="-6.62765e-05" iyy="0.00459809" iyz="-3.39569e-05" izz="0.002074" />
</inertial>
</link>
<joint name="r_elbow_fe" type="revolute">
<origin xyz="0.0 0.0 -0.25" rpy="0.0 0.0 0.0" />
<parent link="r_shoulder_ie_link" />
<child link="r_elbow_fe_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="10.0" velocity="37.1" lower="-2.0944" upper="0.0872665" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_elbow_fe_link">
<visual>
<origin xyz="0.055 0.15 -0.01" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/r_elbow_fe_link.stl" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="-0.0190415 1.75896e-05 -0.0633849" rpy="0.0 0.0 0.0" />
<mass value="0.990031" />
<inertia ixx="0.00220407" ixy="-2.9063e-08" ixz="-0.000310786" iyy="0.00297478" iyz="2.27528e-07" izz="0.00210481" />
</inertial>
</link>
<joint name="r_wrist_ps" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_elbow_fe_link" />
<child link="r_wrist_ps_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="12.0" velocity="44.5" lower="-1.5708" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_wrist_ps_link">
<visual>
<origin xyz="0.05 0.15 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/r_wrist_ps_link.stl" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="0.000229308 0.0158433 -0.154481" rpy="0.0 0.0 0.0" />
<mass value="0.64434" />
<inertia ixx="0.001" ixy="5.23851e-06" ixz="-4.22277e-06" iyy="0.001" iyz="3.40912e-05" izz="0.001" />
</inertial>
</link>
<joint name="r_wrist_pitch" type="revolute">
<origin xyz="0.0 0.0 -0.1578" rpy="0.0 0.0 0.0" />
<parent link="r_wrist_ps_link" />
<child link="r_wrist_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="8.8" velocity="82.8" lower="-1.5708" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_wrist_pitch_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1e-09" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="r_wrist_mount" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_wrist_pitch_link" />
<child link="r_sake_gripper_link" />
</joint>
<link name="r_sake_gripper_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/r_sake_gripper_mount.stl" />
</geometry>
<material name="white" />
</visual>
<inertial>
<origin xyz="5.4498e-05 0.000382544 -0.0372594" rpy="0.0 0.0 0.0" />
<mass value="0.145" />
<inertia ixx="0.001" ixy="3.07738e-09" ixz="2.26958e-07" iyy="0.0004628" iyz="-6.35882e-06" izz="0.001" />
</inertial>
</link>
<joint name="r_wrist_mount2" type="fixed">
<origin xyz="0.0 0.0 -0.053" rpy="0.0 1.57 0.0" />
<parent link="r_wrist_pitch_link" />
<child link="right_ezgripper_palm_link" />
</joint>
<link name="right_ezgripper_palm_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/ezgripper_gen2/SAKE_Palm_Dual_Gen2.stl" />
</geometry>
<material name="white" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.3" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
</link>
<link name="right_ezgripper_finger_L1_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/ezgripper_gen2/SAKE_Finger_L1_Gen2.stl" />
</geometry>
<material name="white" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.025" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
</link>
<link name="right_ezgripper_finger_L1_2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/ezgripper_gen2/SAKE_Finger_L1_Gen2.stl" />
</geometry>
<material name="white" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.025" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
</link>
<link name="right_ezgripper_finger_L2_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/ezgripper_gen2/SAKE_Finger_L2_Gen2.stl" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/ezgripper_gen2/SAKE_Finger_L2_Gen2.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.025" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
</link>
<link name="right_ezgripper_finger_L2_2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/ezgripper_gen2/SAKE_Finger_L2_Gen2.stl" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/ezgripper_gen2/SAKE_Finger_L2_Gen2.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.025" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
</link>
<joint name="right_ezgripper_knuckle_palm_L1_1" type="fixed">
<origin xyz="0.072569 0.03 0.0" rpy="-1.5708 0.0 1.57075" />
<parent link="right_ezgripper_palm_link" />
<child link="right_ezgripper_finger_L1_1" />
</joint>
<joint name="right_ezgripper_knuckle_palm_L1_2" type="fixed">
<origin xyz="0.072569 -0.03 0.0" rpy="1.5708 0.0 -1.57075" />
<parent link="right_ezgripper_palm_link" />
<child link="right_ezgripper_finger_L1_2" />
</joint>
<joint name="right_ezgripper_knuckle_L1_L2_1" type="fixed">
<origin xyz="0.052 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_ezgripper_finger_L1_1" />
<child link="right_ezgripper_finger_L2_1" />
</joint>
<joint name="right_ezgripper_knuckle_L1_L2_2" type="fixed">
<origin xyz="0.052 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_ezgripper_finger_L1_2" />
<child link="right_ezgripper_finger_L2_2" />
</joint>
<joint name="r_hand_contact_frame" type="fixed">
<origin xyz="0.0 0.0 -0.2" rpy="0.0 0.0 0.0" />
<parent link="r_sake_gripper_link" />
<child link="r_hand_contact" />
</joint>
<link name="r_hand_contact">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.001" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1e-09" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="l_hip_ie" type="revolute">
<origin xyz="0.0 0.06 -0.0893782" rpy="0.523599 0.0 0.0" />
<parent link="torso_link" />
<child link="l_hip_ie_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="44.0" velocity="8.1" lower="-0.872665" upper="0.872665" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_hip_ie_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/l_hip_ie_link.stl" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="-0.00699855 0.00580214 -0.0245826" rpy="0.0 0.0 0.0" />
<mass value="0.139743" />
<inertia ixx="0.000107251" ixy="-6.29131e-06" ixz="5.03369e-06" iyy="0.000199571" iyz="-2.59816e-07" izz="0.00015888" />
</inertial>
</link>
<joint name="l_hip_aa" type="revolute">
<origin xyz="0.0 0.0 -0.07" rpy="-0.523599 0.0 0.0" />
<parent link="l_hip_ie_link" />
<child link="l_hip_aa_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="56.0" velocity="5.1" lower="-0.261799" upper="0.785398" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_hip_aa_link">
<visual>
<origin xyz="0.0 -0.1 0.15" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/l_hip_aa_link.stl" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="0.00107664 0.00164809 -0.00149004" rpy="0.0 0.0 0.0" />
<mass value="0.77975" />
<inertia ixx="0.001" ixy="1.93711e-05" ixz="-1.45347e-06" iyy="0.001" iyz="2.96392e-05" izz="0.001" />
</inertial>
</link>
<joint name="l_hip_fe" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="l_hip_aa_link" />
<child link="l_hip_fe_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="59.6" velocity="36.7" lower="-1.52716" upper="0.523599" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_hip_fe_link">
<visual>
<origin xyz="0.0 -0.1 0.15" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/l_hip_fe_link3.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00057 -0.00303734 -0.164021" rpy="0.0 0.0 0.0" />
<mass value="4.549" />
<inertia ixx="0.0497956" ixy="0.000306806" ixz="0.000744022" iyy="0.0552997" iyz="0.00394109" izz="0.0129964" />
</inertial>
</link>
<joint name="l_knee_fe_jp" type="revolute">
<origin xyz="0.0 0.0 -0.324231" rpy="0.0 0.0 0.0" />
<parent link="l_hip_fe_link" />
<child link="l_knee_fe_lp" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="40.85" velocity="13.35" lower="-0.0872665" upper="1.52716" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_knee_fe_lp">
<visual>
<origin xyz="0.005 -0.1 0.47" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/l_knee_fe_lp.stl" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="-4.80156e-09 0.00425279 -0.0291238" rpy="0.0 0.0 0.0" />
<mass value="0.135683" />
<inertia ixx="0.00048051" ixy="4.39106e-11" ixz="3.91495e-11" iyy="0.000329965" iyz="-3.71846e-05" izz="0.000282787" />
</inertial>
</link>
<joint name="l_knee_adj" type="fixed">
<origin xyz="0.0 0.0 -0.0557693" rpy="0.0 0.0 0.0" />
<parent link="l_knee_fe_lp" />
<child link="l_knee_adj_link" />
</joint>
<link name="l_knee_adj_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/l_knee_adj_link.stl" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="0.0 0.006 -0.0323676" rpy="0.0 0.0 0.0" />
<mass value="0.090042" />
<inertia ixx="0.000230283" ixy="7.86884e-09" ixz="-1.29921e-20" iyy="7.20839e-05" iyz="-1.23413e-18" izz="0.000195694" />
</inertial>
</link>
<joint name="l_knee_fe_jd" type="revolute">
<origin xyz="0.0 0.0 -0.1115386" rpy="0.0 0.0 0.0" />
<parent link="l_knee_fe_lp" />
<child link="l_knee_fe_ld" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="40.85" velocity="13.35" lower="-0.0872665" upper="1.52716" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_knee_fe_ld">
<visual>
<origin xyz="0.0 -0.1 0.59" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/l_knee_fe_ld3.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00392246 0.00238405 -0.07941" rpy="0.0 0.0 0.0" />
<mass value="2.55664" />
<inertia ixx="0.011" ixy="-0.000259001" ixz="-0.000169" iyy="0.013" iyz="0.001" izz="0.005" />
</inertial>
</link>
<joint name="l_ankle_fe" type="revolute">
<origin xyz="0.0 0.00599 -0.248231" rpy="0.0 0.0 0.0" />
<parent link="l_knee_fe_ld" />
<child link="l_ankle_fe_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="44.0" velocity="8.1" lower="-1.5708" upper="1.0472" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_ankle_fe_link">
<visual>
<origin xyz="0.0 -0.105 0.83" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/l_ankle_fe_link.stl" />
</geometry>
<material name="white" />
</visual>
<inertial>
<origin xyz="2.67715e-05 0.0277455 -0.000699218" rpy="0.0 0.0 0.0" />
<mass value="0.183143" />
<inertia ixx="8.90758e-05" ixy="2.90654e-07" ixz="-2.26413e-06" iyy="5.81098e-05" iyz="1.95082e-07" izz="0.000101604" />
</inertial>
</link>
<joint name="l_ankle_ie" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="l_ankle_fe_link" />
<child link="l_ankle_ie_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="30.0" velocity="11.1" lower="-0.785398" upper="0.261799" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_ankle_ie_link">
<visual>
<origin xyz="0.01 -0.08 0.835" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/l_ankle_ie_link.stl" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 -0.005 -0.046" rpy="0.0 -0.0 0.0" />
<geometry>
<box size="0.25 0.15 0.0591" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00320518 -0.0068186 -0.0444808" rpy="0.0 0.0 0.0" />
<mass value="0.436553" />
<inertia ixx="0.000962376" ixy="-2.58627e-05" ixz="0.000122026" iyy="0.00165909" iyz="0.000188621" izz="0.00108264" />
</inertial>
</link>
<joint name="l_foot_contact_frame" type="fixed">
<origin xyz="0.0 0.0 -0.076" rpy="0.0 0.0 0.0" />
<parent link="l_ankle_ie_link" />
<child link="l_foot_contact" />
</joint>
<link name="l_foot_contact">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1e-09" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="r_hip_ie" type="revolute">
<origin xyz="0.0 -0.06 -0.0893782" rpy="-0.523599 0.0 0.0" />
<parent link="torso_link" />
<child link="r_hip_ie_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="44.0" velocity="8.1" lower="-0.872665" upper="0.872665" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_hip_ie_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/r_hip_ie_link.stl" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="-0.00703461 -0.00580298 -0.0246181" rpy="0.0 0.0 0.0" />
<mass value="0.139506" />
<inertia ixx="0.000107149" ixy="6.38614e-06" ixz="5.12641e-06" iyy="0.000199317" iyz="2.66262e-07" izz="0.000158733" />
</inertial>
</link>
<joint name="r_hip_aa" type="revolute">
<origin xyz="0.0 0.0 -0.07" rpy="0.523599 0.0 0.0" />
<parent link="r_hip_ie_link" />
<child link="r_hip_aa_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="56.0" velocity="5.1" lower="-0.785398" upper="0.261799" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_hip_aa_link">
<visual>
<origin xyz="0.0 0.1 0.15" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/r_hip_aa_link.stl" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="-0.000513526 -0.0019221 -0.00112805" rpy="0.0 0.0 0.0" />
<mass value="0.849423" />
<inertia ixx="0.000807304" ixy="-2.90747e-05" ixz="1.16932e-05" iyy="0.000791593" iyz="-2.47696e-05" izz="0.000937825" />
</inertial>
</link>
<joint name="r_hip_fe" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_hip_aa_link" />
<child link="r_hip_fe_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="59.6" velocity="36.7" lower="-1.52716" upper="0.523599" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_hip_fe_link">
<visual>
<origin xyz="0.0 0.1 0.15" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/r_hip_fe_link3.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00121565 -0.000254558 -0.171535" rpy="0.0 0.0 0.0" />
<mass value="4.983" />
<inertia ixx="0.057" ixy="-0.0003353" ixz="0.001" iyy="0.063" iyz="-0.004" izz="0.015" />
</inertial>
</link>
<joint name="r_knee_fe_jp" type="revolute">
<origin xyz="0.0 0.0 -0.324231" rpy="0.0 0.0 0.0" />
<parent link="r_hip_fe_link" />
<child link="r_knee_fe_lp" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="40.85" velocity="13.35" lower="-0.0872665" upper="1.52716" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_knee_fe_lp">
<visual>
<origin xyz="0.005 0.1 0.47" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/r_knee_fe_lp.stl" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="4.28378e-09 -0.000374047 -0.0259832" rpy="0.0 0.0 0.0" />
<mass value="0.152083" />
<inertia ixx="0.001" ixy="4.75046e-11" ixz="-3.71034e-11" iyy="0.000343441" iyz="2.06816e-05" izz="0.000321184" />
</inertial>
</link>
<joint name="r_knee_adj" type="fixed">
<origin xyz="0.0 0.0 -0.0557693" rpy="0.0 0.0 0.0" />
<parent link="r_knee_fe_lp" />
<child link="r_knee_adj_link" />
</joint>
<link name="r_knee_adj_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/r_knee_adj_link.stl" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="0.0 -0.006 -0.0323676" rpy="0.0 0.0 0.0" />
<mass value="0.090042" />
<inertia ixx="0.000230283" ixy="7.86884e-09" ixz="2.52488e-19" iyy="7.20839e-05" iyz="-8.07064e-19" izz="0.000195694" />
</inertial>
</link>
<joint name="r_knee_fe_jd" type="revolute">
<origin xyz="0.0 0.0 -0.1115386" rpy="0.0 0.0 0.0" />
<parent link="r_knee_fe_lp" />
<child link="r_knee_fe_ld" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="40.85" velocity="13.35" lower="-0.0872665" upper="1.52716" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_knee_fe_ld">
<visual>
<origin xyz="0.0 0.1 0.59" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/r_knee_fe_ld3.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00388972 -0.00235124 -0.0784681" rpy="0.0 0.0 0.0" />
<mass value="2.58619" />
<inertia ixx="0.0110576" ixy="0.00025372" ixz="-0.000138968" iyy="0.0125163" iyz="-0.001" izz="0.005" />
</inertial>
</link>
<joint name="r_ankle_fe" type="revolute">
<origin xyz="0.0 -0.006 -0.248231" rpy="0.0 0.0 0.0" />
<parent link="r_knee_fe_ld" />
<child link="r_ankle_fe_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="44.0" velocity="8.1" lower="-1.5708" upper="1.0472" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_ankle_fe_link">
<visual>
<origin xyz="0.0 0.105 0.83" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/r_ankle_fe_link.stl" />
</geometry>
<material name="white" />
</visual>
<inertial>
<origin xyz="0.0 -0.0277456 -0.000698932" rpy="0.0 0.0 0.0" />
<mass value="0.183145" />
<inertia ixx="8.9077e-05" ixy="-5.7205e-07" ixz="-2.14649e-06" iyy="5.81093e-05" iyz="-1.95113e-07" izz="0.000101603" />
</inertial>
</link>
<joint name="r_ankle_ie" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_ankle_fe_link" />
<child link="r_ankle_ie_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="30.0" velocity="11.1" lower="-0.261799" upper="0.785398" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_ankle_ie_link">
<visual>
<origin xyz="0.01 0.08 0.835" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://draco3_description/meshes/r_ankle_ie_link.stl" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 0.005 -0.046" rpy="0.0 -0.0 0.0" />
<geometry>
<box size="0.25 0.15 0.0591" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00300438 0.00685638 -0.0443499" rpy="0.0 0.0 0.0" />
<mass value="0.437539" />
<inertia ixx="0.000967631" ixy="2.37588e-05" ixz="0.000131807" iyy="0.00163004" iyz="-0.000128971" izz="0.00111644" />
</inertial>
</link>
<joint name="r_foot_contact_frame" type="fixed">
<origin xyz="0.0 0.0 -0.076" rpy="0.0 0.0 0.0" />
<parent link="r_ankle_ie_link" />
<child link="r_foot_contact" />
</joint>
<link name="r_foot_contact">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1e-09" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content e5699318fa6e588a -->
<mujoco model="draco_3">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="dark_gray" rgba="0.3 0.3 0.3 1.0" />
<material name="gray" rgba="0.5 0.5 0.5 1.0" />
<material name="light_blue" rgba="0.52 0.73 1.0 1.0" />
<material name="black" rgba="0.0 0.0 0.0 1.0" />
<material name="white" rgba="0.8 0.8 0.8 1.0" />
<mesh name="torso_link3" file="draco3_description/meshes/torso_link3.obj" />
<mesh name="neck_pitch_link3" file="draco3_description/meshes/neck_pitch_link3.obj" />
<mesh name="l_shoulder_fe_link" file="draco3_description/meshes/l_shoulder_fe_link.stl" />
<mesh name="l_shoulder_aa_link" file="draco3_description/meshes/l_shoulder_aa_link.stl" />
<mesh name="l_shoulder_ie_link3" file="draco3_description/meshes/l_shoulder_ie_link3.obj" />
<mesh name="l_elbow_fe_link" file="draco3_description/meshes/l_elbow_fe_link.stl" />
<mesh name="l_wrist_ps_link" file="draco3_description/meshes/l_wrist_ps_link.stl" />
<mesh name="l_sake_gripper_mount" file="draco3_description/meshes/l_sake_gripper_mount.stl" />
<mesh name="SAKE_Palm_Dual_Gen2" file="draco3_description/meshes/ezgripper_gen2/SAKE_Palm_Dual_Gen2.stl" />
<mesh name="SAKE_Finger_L1_Gen2" file="draco3_description/meshes/ezgripper_gen2/SAKE_Finger_L1_Gen2.stl" />
<mesh name="SAKE_Finger_L2_Gen2" file="draco3_description/meshes/ezgripper_gen2/SAKE_Finger_L2_Gen2.stl" />
<mesh name="r_shoulder_fe_link" file="draco3_description/meshes/r_shoulder_fe_link.stl" />
<mesh name="r_shoulder_aa_link" file="draco3_description/meshes/r_shoulder_aa_link.stl" />
<mesh name="r_shoulder_ie_link3" file="draco3_description/meshes/r_shoulder_ie_link3.obj" />
<mesh name="r_elbow_fe_link" file="draco3_description/meshes/r_elbow_fe_link.stl" />
<mesh name="r_wrist_ps_link" file="draco3_description/meshes/r_wrist_ps_link.stl" />
<mesh name="r_sake_gripper_mount" file="draco3_description/meshes/r_sake_gripper_mount.stl" />
<mesh name="l_hip_ie_link" file="draco3_description/meshes/l_hip_ie_link.stl" />
<mesh name="l_hip_aa_link" file="draco3_description/meshes/l_hip_aa_link.stl" />
<mesh name="l_hip_fe_link3" file="draco3_description/meshes/l_hip_fe_link3.obj" />
<mesh name="l_knee_fe_lp" file="draco3_description/meshes/l_knee_fe_lp.stl" />
<mesh name="l_knee_adj_link" file="draco3_description/meshes/l_knee_adj_link.stl" />
<mesh name="l_knee_fe_ld3" file="draco3_description/meshes/l_knee_fe_ld3.obj" />
<mesh name="l_ankle_fe_link" file="draco3_description/meshes/l_ankle_fe_link.stl" />
<mesh name="l_ankle_ie_link" file="draco3_description/meshes/l_ankle_ie_link.stl" />
<mesh name="r_hip_ie_link" file="draco3_description/meshes/r_hip_ie_link.stl" />
<mesh name="r_hip_aa_link" file="draco3_description/meshes/r_hip_aa_link.stl" />
<mesh name="r_hip_fe_link3" file="draco3_description/meshes/r_hip_fe_link3.obj" />
<mesh name="r_knee_fe_lp" file="draco3_description/meshes/r_knee_fe_lp.stl" />
<mesh name="r_knee_adj_link" file="draco3_description/meshes/r_knee_adj_link.stl" />
<mesh name="r_knee_fe_ld3" file="draco3_description/meshes/r_knee_fe_ld3.obj" />
<mesh name="r_ankle_fe_link" file="draco3_description/meshes/r_ankle_fe_link.stl" />
<mesh name="r_ankle_ie_link" file="draco3_description/meshes/r_ankle_ie_link.stl" />
</asset>
<worldbody>
<body name="torso_link">
<inertial pos="-0.0310745 -0.000497416 0.137484" mass="6.41443" fullinertia="0.171435 0.175671 0.036373 6.32882e-05 0.0271615 0.000581149" />
<geom name="torso_link_vis_0" type="mesh" mesh="torso_link3" contype="0" conaffinity="0" group="2" />
<body name="torso_com_link" pos="-0.0310745 -0.000497416 0.137484">
<inertial pos="0.0 0.0 0.0" mass="1e-09" diaginertia="0 0 0" />
</body>
<body name="neck_pitch_link" pos="-0.0025 0.0 0.352">
<joint name="neck_pitch" type="hinge" axis="0.0 1.0 0.0" range="-0.523599 1.309" />
<inertial pos="0.0133603 -0.00105814 0.0772145" mass="1.22948" fullinertia="0.00233791 0.00192287 0.00275375 -2.09082e-05 -0.000158016 -9.56707e-05" />
<geom name="neck_pitch_link_vis_0" type="mesh" mesh="neck_pitch_link3" pos="0.0 0.0 -0.35" contype="0" conaffinity="0" group="2" />
<body name="camera" pos="0.08 0.0 0.08">
<inertial pos="0.0 0.0 0.0" mass="1e-09" diaginertia="0 0 0" />
<geom name="camera_vis_0" type="sphere" size="0.001" contype="0" conaffinity="0" group="2" />
</body>
</body>
<body name="l_shoulder_fe_link" pos="-0.05 0.156 0.2625" quat="0.9659257972493452 0.25881915348021844 0.0 0.0">
<joint name="l_shoulder_fe" type="hinge" axis="0.0 1.0 0.0" range="-2.26893 0.698132" />
<inertial pos="-0.0270089 -0.0272215 0.0" mass="1.02127" fullinertia="0.003 0.002 0.002 0.000188 -0.0001077 -4.214e-07" />
<geom name="l_shoulder_fe_link_vis_0" type="mesh" mesh="l_shoulder_fe_link" pos="0.05 -0.27 -0.15" quat="0.9659257972493452 -0.25881915348021844 0.0 0.0" contype="0" conaffinity="0" group="2" material="black" />
<body name="l_shoulder_aa_link" quat="0.9659257972493452 -0.25881915348021844 0.0 0.0">
<joint name="l_shoulder_aa" type="hinge" axis="1.0 0.0 0.0" range="0.0 2.0944" />
<inertial pos="0.0189446 0.000135529 0.00688183" mass="0.880498" fullinertia="0.00104194 0.00190054 0.00224159 5.17675e-06 -0.000110264 6.87354e-06" />
<geom name="l_shoulder_aa_link_vis_0" type="mesh" mesh="l_shoulder_aa_link" contype="0" conaffinity="0" group="2" material="black" />
<body name="l_shoulder_ie_link">
<joint name="l_shoulder_ie" type="hinge" axis="0.0 0.0 1.0" range="-1.48353 1.48353" />
<inertial pos="-0.00401807 0.0300008 -0.137263" mass="1.21235" fullinertia="0.00490878 0.00459797 0.00207282 4.35994e-05 -6.63613e-05 3.61794e-05" />
<geom name="l_shoulder_ie_link_vis_0" type="mesh" mesh="l_shoulder_ie_link3" pos="0.05 -0.15 -0.26" contype="0" conaffinity="0" group="2" />
<body name="l_elbow_fe_link" pos="0.0 0.0 -0.25">
<joint name="l_elbow_fe" type="hinge" axis="0.0 1.0 0.0" range="-2.0944 0.0872665" />
<inertial pos="-0.0190443 0.0 -0.0633779" mass="0.989887" fullinertia="0.00220347 0.00297439 0.0021045 -2.91162e-08 -0.000310918 2.27665e-07" />
<geom name="l_elbow_fe_link_vis_0" type="mesh" mesh="l_elbow_fe_link" pos="0.055 -0.15 -0.01" contype="0" conaffinity="0" group="2" material="black" />
<body name="l_wrist_ps_link">
<joint name="l_wrist_ps" type="hinge" axis="0.0 0.0 1.0" range="-1.5708 1.5708" />
<inertial pos="0.000433726 0.0158433 -0.154" mass="0.64434" fullinertia="0.001 0.001 0.001 1.05504e-05 -5.41208e-06 4.65277e-05" />
<geom name="l_wrist_ps_link_vis_0" type="mesh" mesh="l_wrist_ps_link" pos="0.05 -0.15 0.0" contype="0" conaffinity="0" group="2" material="black" />
<body name="l_wrist_pitch_link" pos="0.0 0.0 -0.1578">
<joint name="l_wrist_pitch" type="hinge" axis="0.0 1.0 0.0" range="-1.5708 1.5708" />
<inertial pos="0.0 0.0 0.0" mass="1e-09" diaginertia="0 0 0" />
<body name="l_sake_gripper_link">
<inertial pos="5.4498e-05 0.000382544 -0.0372594" mass="0.145" fullinertia="0.001 0.0004628 0.001 3.07738e-09 2.26958e-07 -6.35882e-06" />
<geom name="l_sake_gripper_link_vis_0" type="mesh" mesh="l_sake_gripper_mount" contype="0" conaffinity="0" group="2" material="white" />
<body name="l_hand_contact" pos="0.0 0.0 -0.2">
<inertial pos="0.0 0.0 0.0" mass="1e-09" diaginertia="0 0 0" />
<geom name="l_hand_contact_vis_0" type="sphere" size="0.001" contype="0" conaffinity="0" group="2" />
</body>
</body>
<body name="left_ezgripper_palm_link" pos="0.0 0.0 -0.053" quat="0.7073882691671998 0.0 0.706825181105366 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.3" fullinertia="0.01 0.01 0.01 0.0 0.0 0.0" />
<geom name="left_ezgripper_palm_link_vis_0" type="mesh" mesh="SAKE_Palm_Dual_Gen2" contype="0" conaffinity="0" group="2" material="white" />
<body name="left_ezgripper_finger_L1_1" pos="0.072569 0.03 0.0" quat="0.5000106632411975 -0.5000124998862906 -0.4999893364463025 0.4999874998862933">
<inertial pos="0.0 0.0 0.0" mass="0.025" fullinertia="0.01 0.01 0.01 0.0 0.0 0.0" />
<geom name="left_ezgripper_finger_L1_1_vis_0" type="mesh" mesh="SAKE_Finger_L1_Gen2" contype="0" conaffinity="0" group="2" material="white" />
<body name="left_ezgripper_finger_L2_1" pos="0.052 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.025" fullinertia="0.01 0.01 0.01 0.0 0.0 0.0" />
<geom name="left_ezgripper_finger_L2_1_vis_0" type="mesh" mesh="SAKE_Finger_L2_Gen2" contype="0" conaffinity="0" group="2" material="white" />
<geom name="left_ezgripper_finger_L2_1_col_0" type="mesh" mesh="SAKE_Finger_L2_Gen2" group="3" />
</body>
</body>
<body name="left_ezgripper_finger_L1_2" pos="0.072569 -0.03 0.0" quat="0.5000106632411975 0.5000124998862906 -0.4999893364463025 -0.4999874998862933">
<inertial pos="0.0 0.0 0.0" mass="0.025" fullinertia="0.01 0.01 0.01 0.0 0.0 0.0" />
<geom name="left_ezgripper_finger_L1_2_vis_0" type="mesh" mesh="SAKE_Finger_L1_Gen2" contype="0" conaffinity="0" group="2" material="white" />
<body name="left_ezgripper_finger_L2_2" pos="0.052 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.025" fullinertia="0.01 0.01 0.01 0.0 0.0 0.0" />
<geom name="left_ezgripper_finger_L2_2_vis_0" type="mesh" mesh="SAKE_Finger_L2_Gen2" contype="0" conaffinity="0" group="2" material="white" />
<geom name="left_ezgripper_finger_L2_2_col_0" type="mesh" mesh="SAKE_Finger_L2_Gen2" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="r_shoulder_fe_link" pos="-0.05 -0.156 0.2625" quat="0.9659257972493452 -0.25881915348021844 0.0 0.0">
<joint name="r_shoulder_fe" type="hinge" axis="0.0 1.0 0.0" range="-2.26893 0.698132" />
<inertial pos="-0.0825089 0.0272215 6.40505e-05" mass="1.02127" fullinertia="0.003 0.002 0.002 -0.000198378 3.31293e-05 -3.00004e-06" />
<geom name="r_shoulder_fe_link_vis_0" type="mesh" mesh="r_shoulder_fe_link" pos="0.05 0.27 -0.15" quat="0.9659257972493452 0.25881915348021844 0.0 0.0" contype="0" conaffinity="0" group="2" material="black" />
<body name="r_shoulder_aa_link" quat="0.9659257972493452 0.25881915348021844 0.0 0.0">
<joint name="r_shoulder_aa" type="hinge" axis="1.0 0.0 0.0" range="-2.0944 0.0" />
<inertial pos="0.0189446 0.000135529 0.00688183" mass="0.880498" fullinertia="0.00104194 0.00190054 0.00224159 5.17675e-06 -0.000110264 6.87354e-06" />
<geom name="r_shoulder_aa_link_vis_0" type="mesh" mesh="r_shoulder_aa_link" contype="0" conaffinity="0" group="2" material="black" />
<body name="r_shoulder_ie_link">
<joint name="r_shoulder_ie" type="hinge" axis="0.0 0.0 1.0" range="-1.48353 1.48353" />
<inertial pos="-0.00404627 -0.029987 -0.137257" mass="1.21235" fullinertia="0.00490973 0.00459809 0.002074 -4.37742e-05 -6.62765e-05 -3.39569e-05" />
<geom name="r_shoulder_ie_link_vis_0" type="mesh" mesh="r_shoulder_ie_link3" pos="0.05 0.15 -0.26" contype="0" conaffinity="0" group="2" />
<body name="r_elbow_fe_link" pos="0.0 0.0 -0.25">
<joint name="r_elbow_fe" type="hinge" axis="0.0 1.0 0.0" range="-2.0944 0.0872665" />
<inertial pos="-0.0190415 1.75896e-05 -0.0633849" mass="0.990031" fullinertia="0.00220407 0.00297478 0.00210481 -2.9063e-08 -0.000310786 2.27528e-07" />
<geom name="r_elbow_fe_link_vis_0" type="mesh" mesh="r_elbow_fe_link" pos="0.055 0.15 -0.01" contype="0" conaffinity="0" group="2" material="black" />
<body name="r_wrist_ps_link">
<joint name="r_wrist_ps" type="hinge" axis="0.0 0.0 1.0" range="-1.5708 1.5708" />
<inertial pos="0.000229308 0.0158433 -0.154481" mass="0.64434" fullinertia="0.001 0.001 0.001 5.23851e-06 -4.22277e-06 3.40912e-05" />
<geom name="r_wrist_ps_link_vis_0" type="mesh" mesh="r_wrist_ps_link" pos="0.05 0.15 0.0" contype="0" conaffinity="0" group="2" material="black" />
<body name="r_wrist_pitch_link" pos="0.0 0.0 -0.1578">
<joint name="r_wrist_pitch" type="hinge" axis="0.0 1.0 0.0" range="-1.5708 1.5708" />
<inertial pos="0.0 0.0 0.0" mass="1e-09" diaginertia="0 0 0" />
<body name="r_sake_gripper_link">
<inertial pos="5.4498e-05 0.000382544 -0.0372594" mass="0.145" fullinertia="0.001 0.0004628 0.001 3.07738e-09 2.26958e-07 -6.35882e-06" />
<geom name="r_sake_gripper_link_vis_0" type="mesh" mesh="r_sake_gripper_mount" contype="0" conaffinity="0" group="2" material="white" />
<body name="r_hand_contact" pos="0.0 0.0 -0.2">
<inertial pos="0.0 0.0 0.0" mass="1e-09" diaginertia="0 0 0" />
<geom name="r_hand_contact_vis_0" type="sphere" size="0.001" contype="0" conaffinity="0" group="2" />
</body>
</body>
<body name="right_ezgripper_palm_link" pos="0.0 0.0 -0.053" quat="0.7073882691671998 0.0 0.706825181105366 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.3" fullinertia="0.01 0.01 0.01 0.0 0.0 0.0" />
<geom name="right_ezgripper_palm_link_vis_0" type="mesh" mesh="SAKE_Palm_Dual_Gen2" contype="0" conaffinity="0" group="2" material="white" />
<body name="right_ezgripper_finger_L1_1" pos="0.072569 0.03 0.0" quat="0.5000106632411975 -0.5000124998862906 -0.4999893364463025 0.4999874998862933">
<inertial pos="0.0 0.0 0.0" mass="0.025" fullinertia="0.01 0.01 0.01 0.0 0.0 0.0" />
<geom name="right_ezgripper_finger_L1_1_vis_0" type="mesh" mesh="SAKE_Finger_L1_Gen2" contype="0" conaffinity="0" group="2" material="white" />
<body name="right_ezgripper_finger_L2_1" pos="0.052 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.025" fullinertia="0.01 0.01 0.01 0.0 0.0 0.0" />
<geom name="right_ezgripper_finger_L2_1_vis_0" type="mesh" mesh="SAKE_Finger_L2_Gen2" contype="0" conaffinity="0" group="2" material="white" />
<geom name="right_ezgripper_finger_L2_1_col_0" type="mesh" mesh="SAKE_Finger_L2_Gen2" group="3" />
</body>
</body>
<body name="right_ezgripper_finger_L1_2" pos="0.072569 -0.03 0.0" quat="0.5000106632411975 0.5000124998862906 -0.4999893364463025 -0.4999874998862933">
<inertial pos="0.0 0.0 0.0" mass="0.025" fullinertia="0.01 0.01 0.01 0.0 0.0 0.0" />
<geom name="right_ezgripper_finger_L1_2_vis_0" type="mesh" mesh="SAKE_Finger_L1_Gen2" contype="0" conaffinity="0" group="2" material="white" />
<body name="right_ezgripper_finger_L2_2" pos="0.052 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.025" fullinertia="0.01 0.01 0.01 0.0 0.0 0.0" />
<geom name="right_ezgripper_finger_L2_2_vis_0" type="mesh" mesh="SAKE_Finger_L2_Gen2" contype="0" conaffinity="0" group="2" material="white" />
<geom name="right_ezgripper_finger_L2_2_col_0" type="mesh" mesh="SAKE_Finger_L2_Gen2" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="l_hip_ie_link" pos="0.0 0.06 -0.0893782" quat="0.9659257972493452 0.25881915348021844 0.0 0.0">
<joint name="l_hip_ie" type="hinge" axis="0.0 0.0 1.0" range="-0.872665 0.872665" />
<inertial pos="-0.00699855 0.00580214 -0.0245826" mass="0.139743" fullinertia="0.000107251 0.000199571 0.00015888 -6.29131e-06 5.03369e-06 -2.59816e-07" />
<geom name="l_hip_ie_link_vis_0" type="mesh" mesh="l_hip_ie_link" contype="0" conaffinity="0" group="2" material="black" />
<body name="l_hip_aa_link" pos="0.0 0.0 -0.07" quat="0.9659257972493452 -0.25881915348021844 0.0 0.0">
<joint name="l_hip_aa" type="hinge" axis="1.0 0.0 0.0" range="-0.261799 0.785398" />
<inertial pos="0.00107664 0.00164809 -0.00149004" mass="0.77975" fullinertia="0.001 0.001 0.001 1.93711e-05 -1.45347e-06 2.96392e-05" />
<geom name="l_hip_aa_link_vis_0" type="mesh" mesh="l_hip_aa_link" pos="0.0 -0.1 0.15" contype="0" conaffinity="0" group="2" material="black" />
<body name="l_hip_fe_link">
<joint name="l_hip_fe" type="hinge" axis="0.0 1.0 0.0" range="-1.52716 0.523599" />
<inertial pos="0.00057 -0.00303734 -0.164021" mass="4.549" fullinertia="0.0497956 0.0552997 0.0129964 0.000306806 0.000744022 0.00394109" />
<geom name="l_hip_fe_link_vis_0" type="mesh" mesh="l_hip_fe_link3" pos="0.0 -0.1 0.15" contype="0" conaffinity="0" group="2" />
<body name="l_knee_fe_lp" pos="0.0 0.0 -0.324231">
<joint name="l_knee_fe_jp" type="hinge" axis="0.0 1.0 0.0" range="-0.0872665 1.52716" />
<inertial pos="-4.80156e-09 0.00425279 -0.0291238" mass="0.135683" fullinertia="0.00048051 0.000329965 0.000282787 4.39106e-11 3.91495e-11 -3.71846e-05" />
<geom name="l_knee_fe_lp_vis_0" type="mesh" mesh="l_knee_fe_lp" pos="0.005 -0.1 0.47" contype="0" conaffinity="0" group="2" material="black" />
<body name="l_knee_adj_link" pos="0.0 0.0 -0.0557693">
<inertial pos="0.0 0.006 -0.0323676" mass="0.090042" fullinertia="0.000230283 7.20839e-05 0.000195694 7.86884e-09 -1.29921e-20 -1.23413e-18" />
<geom name="l_knee_adj_link_vis_0" type="mesh" mesh="l_knee_adj_link" contype="0" conaffinity="0" group="2" material="black" />
</body>
<body name="l_knee_fe_ld" pos="0.0 0.0 -0.1115386">
<joint name="l_knee_fe_jd" type="hinge" axis="0.0 1.0 0.0" range="-0.0872665 1.52716" />
<inertial pos="0.00392246 0.00238405 -0.07941" mass="2.55664" fullinertia="0.011 0.013 0.005 -0.000259001 -0.000169 0.001" />
<geom name="l_knee_fe_ld_vis_0" type="mesh" mesh="l_knee_fe_ld3" pos="0.0 -0.1 0.59" contype="0" conaffinity="0" group="2" />
<body name="l_ankle_fe_link" pos="0.0 0.00599 -0.248231">
<joint name="l_ankle_fe" type="hinge" axis="0.0 1.0 0.0" range="-1.5708 1.0472" />
<inertial pos="2.67715e-05 0.0277455 -0.000699218" mass="0.183143" fullinertia="8.90758e-05 5.81098e-05 0.000101604 2.90654e-07 -2.26413e-06 1.95082e-07" />
<geom name="l_ankle_fe_link_vis_0" type="mesh" mesh="l_ankle_fe_link" pos="0.0 -0.105 0.83" contype="0" conaffinity="0" group="2" material="white" />
<body name="l_ankle_ie_link">
<joint name="l_ankle_ie" type="hinge" axis="1.0 0.0 0.0" range="-0.785398 0.261799" />
<inertial pos="-0.00320518 -0.0068186 -0.0444808" mass="0.436553" fullinertia="0.000962376 0.00165909 0.00108264 -2.58627e-05 0.000122026 0.000188621" />
<geom name="l_ankle_ie_link_vis_0" type="mesh" mesh="l_ankle_ie_link" pos="0.01 -0.08 0.835" contype="0" conaffinity="0" group="2" material="white" />
<geom name="l_ankle_ie_link_col_0" type="box" size="0.125 0.075 0.02955" pos="0.0 -0.005 -0.046" group="3" />
<body name="l_foot_contact" pos="0.0 0.0 -0.076">
<inertial pos="0.0 0.0 0.0" mass="1e-09" diaginertia="0 0 0" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="r_hip_ie_link" pos="0.0 -0.06 -0.0893782" quat="0.9659257972493452 -0.25881915348021844 0.0 0.0">
<joint name="r_hip_ie" type="hinge" axis="0.0 0.0 1.0" range="-0.872665 0.872665" />
<inertial pos="-0.00703461 -0.00580298 -0.0246181" mass="0.139506" fullinertia="0.000107149 0.000199317 0.000158733 6.38614e-06 5.12641e-06 2.66262e-07" />
<geom name="r_hip_ie_link_vis_0" type="mesh" mesh="r_hip_ie_link" contype="0" conaffinity="0" group="2" material="black" />
<body name="r_hip_aa_link" pos="0.0 0.0 -0.07" quat="0.9659257972493452 0.25881915348021844 0.0 0.0">
<joint name="r_hip_aa" type="hinge" axis="1.0 0.0 0.0" range="-0.785398 0.261799" />
<inertial pos="-0.000513526 -0.0019221 -0.00112805" mass="0.849423" fullinertia="0.000807304 0.000791593 0.000937825 -2.90747e-05 1.16932e-05 -2.47696e-05" />
<geom name="r_hip_aa_link_vis_0" type="mesh" mesh="r_hip_aa_link" pos="0.0 0.1 0.15" contype="0" conaffinity="0" group="2" material="black" />
<body name="r_hip_fe_link">
<joint name="r_hip_fe" type="hinge" axis="0.0 1.0 0.0" range="-1.52716 0.523599" />
<inertial pos="0.00121565 -0.000254558 -0.171535" mass="4.983" fullinertia="0.057 0.063 0.015 -0.0003353 0.001 -0.004" />
<geom name="r_hip_fe_link_vis_0" type="mesh" mesh="r_hip_fe_link3" pos="0.0 0.1 0.15" contype="0" conaffinity="0" group="2" />
<body name="r_knee_fe_lp" pos="0.0 0.0 -0.324231">
<joint name="r_knee_fe_jp" type="hinge" axis="0.0 1.0 0.0" range="-0.0872665 1.52716" />
<inertial pos="4.28378e-09 -0.000374047 -0.0259832" mass="0.152083" fullinertia="0.001 0.000343441 0.000321184 4.75046e-11 -3.71034e-11 2.06816e-05" />
<geom name="r_knee_fe_lp_vis_0" type="mesh" mesh="r_knee_fe_lp" pos="0.005 0.1 0.47" contype="0" conaffinity="0" group="2" material="black" />
<body name="r_knee_adj_link" pos="0.0 0.0 -0.0557693">
<inertial pos="0.0 -0.006 -0.0323676" mass="0.090042" fullinertia="0.000230283 7.20839e-05 0.000195694 7.86884e-09 2.52488e-19 -8.07064e-19" />
<geom name="r_knee_adj_link_vis_0" type="mesh" mesh="r_knee_adj_link" contype="0" conaffinity="0" group="2" material="black" />
</body>
<body name="r_knee_fe_ld" pos="0.0 0.0 -0.1115386">
<joint name="r_knee_fe_jd" type="hinge" axis="0.0 1.0 0.0" range="-0.0872665 1.52716" />
<inertial pos="0.00388972 -0.00235124 -0.0784681" mass="2.58619" fullinertia="0.0110576 0.0125163 0.005 0.00025372 -0.000138968 -0.001" />
<geom name="r_knee_fe_ld_vis_0" type="mesh" mesh="r_knee_fe_ld3" pos="0.0 0.1 0.59" contype="0" conaffinity="0" group="2" />
<body name="r_ankle_fe_link" pos="0.0 -0.006 -0.248231">
<joint name="r_ankle_fe" type="hinge" axis="0.0 1.0 0.0" range="-1.5708 1.0472" />
<inertial pos="0.0 -0.0277456 -0.000698932" mass="0.183145" fullinertia="8.9077e-05 5.81093e-05 0.000101603 -5.7205e-07 -2.14649e-06 -1.95113e-07" />
<geom name="r_ankle_fe_link_vis_0" type="mesh" mesh="r_ankle_fe_link" pos="0.0 0.105 0.83" contype="0" conaffinity="0" group="2" material="white" />
<body name="r_ankle_ie_link">
<joint name="r_ankle_ie" type="hinge" axis="1.0 0.0 0.0" range="-0.261799 0.785398" />
<inertial pos="-0.00300438 0.00685638 -0.0443499" mass="0.437539" fullinertia="0.000967631 0.00163004 0.00111644 2.37588e-05 0.000131807 -0.000128971" />
<geom name="r_ankle_ie_link_vis_0" type="mesh" mesh="r_ankle_ie_link" pos="0.01 0.08 0.835" contype="0" conaffinity="0" group="2" material="white" />
<geom name="r_ankle_ie_link_col_0" type="box" size="0.125 0.075 0.02955" pos="0.0 0.005 -0.046" group="3" />
<body name="r_foot_contact" pos="0.0 0.0 -0.076">
<inertial pos="0.0 0.0 0.0" mass="1e-09" diaginertia="0 0 0" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="torso_link" body2="torso_com_link" />
<exclude body1="torso_link" body2="neck_pitch_link" />
<exclude body1="neck_pitch_link" body2="camera" />
<exclude body1="torso_link" body2="l_shoulder_fe_link" />
<exclude body1="l_shoulder_fe_link" body2="l_shoulder_aa_link" />
<exclude body1="l_shoulder_aa_link" body2="l_shoulder_ie_link" />
<exclude body1="l_shoulder_ie_link" body2="l_elbow_fe_link" />
<exclude body1="l_elbow_fe_link" body2="l_wrist_ps_link" />
<exclude body1="l_wrist_ps_link" body2="l_wrist_pitch_link" />
<exclude body1="l_wrist_pitch_link" body2="l_sake_gripper_link" />
<exclude body1="l_wrist_pitch_link" body2="left_ezgripper_palm_link" />
<exclude body1="left_ezgripper_palm_link" body2="left_ezgripper_finger_L1_1" />
<exclude body1="left_ezgripper_palm_link" body2="left_ezgripper_finger_L1_2" />
<exclude body1="left_ezgripper_finger_L1_1" body2="left_ezgripper_finger_L2_1" />
<exclude body1="left_ezgripper_finger_L1_2" body2="left_ezgripper_finger_L2_2" />
<exclude body1="l_sake_gripper_link" body2="l_hand_contact" />
<exclude body1="torso_link" body2="r_shoulder_fe_link" />
<exclude body1="r_shoulder_fe_link" body2="r_shoulder_aa_link" />
<exclude body1="r_shoulder_aa_link" body2="r_shoulder_ie_link" />
<exclude body1="r_shoulder_ie_link" body2="r_elbow_fe_link" />
<exclude body1="r_elbow_fe_link" body2="r_wrist_ps_link" />
<exclude body1="r_wrist_ps_link" body2="r_wrist_pitch_link" />
<exclude body1="r_wrist_pitch_link" body2="r_sake_gripper_link" />
<exclude body1="r_wrist_pitch_link" body2="right_ezgripper_palm_link" />
<exclude body1="right_ezgripper_palm_link" body2="right_ezgripper_finger_L1_1" />
<exclude body1="right_ezgripper_palm_link" body2="right_ezgripper_finger_L1_2" />
<exclude body1="right_ezgripper_finger_L1_1" body2="right_ezgripper_finger_L2_1" />
<exclude body1="right_ezgripper_finger_L1_2" body2="right_ezgripper_finger_L2_2" />
<exclude body1="r_sake_gripper_link" body2="r_hand_contact" />
<exclude body1="torso_link" body2="l_hip_ie_link" />
<exclude body1="l_hip_ie_link" body2="l_hip_aa_link" />
<exclude body1="l_hip_aa_link" body2="l_hip_fe_link" />
<exclude body1="l_hip_fe_link" body2="l_knee_fe_lp" />
<exclude body1="l_knee_fe_lp" body2="l_knee_adj_link" />
<exclude body1="l_knee_fe_lp" body2="l_knee_fe_ld" />
<exclude body1="l_knee_fe_ld" body2="l_ankle_fe_link" />
<exclude body1="l_ankle_fe_link" body2="l_ankle_ie_link" />
<exclude body1="l_ankle_ie_link" body2="l_foot_contact" />
<exclude body1="torso_link" body2="r_hip_ie_link" />
<exclude body1="r_hip_ie_link" body2="r_hip_aa_link" />
<exclude body1="r_hip_aa_link" body2="r_hip_fe_link" />
<exclude body1="r_hip_fe_link" body2="r_knee_fe_lp" />
<exclude body1="r_knee_fe_lp" body2="r_knee_adj_link" />
<exclude body1="r_knee_fe_lp" body2="r_knee_fe_ld" />
<exclude body1="r_knee_fe_ld" body2="r_ankle_fe_link" />
<exclude body1="r_ankle_fe_link" body2="r_ankle_ie_link" />
<exclude body1="r_ankle_ie_link" body2="r_foot_contact" />
</contact>
</mujoco>
Import report
Counts
| Links | 48 |
|---|---|
| Joints | 47 |
| Moving joints | 27 |
| Visuals | 43 |
| Collisions | 6 |
| Materials | 5 |
Meshes
Formats: obj, stl.
Asset size: 41.7 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
axis | 13 | fixed joints carry no <axis>; URDF ignores it too |
joint_properties | 28 | <joint_properties> is not part of the URDF subset RobotDescription mirrors |
limit | 10 | fixed joints carry no <limit>; URDF ignores it too |
material | 4 | <material> is not part of the URDF subset RobotDescription mirrors |
Forward-kinematics check
Forward kinematics of 48 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 · 4.5e-16 rad.
MuJoCo
robot.xml did not compile in MuJoCo: Error: inertia must satisfy A + B >= C; use 'balanceinertia' to fix
Source & licence
| Repository | https://github.com/shbang91/draco3_description |
|---|---|
| Commit | 5afd19733d7b3e9f1135ba93e0aad90ed1a24cc7 |
| Original file | urdf/draco3.urdf |
| Licence | BSD-2-Clause · the upstream LICENSE file |
| Files | robot.urdf · robot.xml |
Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.