Elf2
BXI Robotics · licence Apache-2.0 · source: github.com/bxirobotics/robot_models @ eabe24ce9
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 a34003a966ebb2ab -->
<robot name="elf2_dof25">
<link name="base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/base_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/base_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00030047 8.28e-06 0.03546793" rpy="0.0 0.0 0.0" />
<mass value="3.24038695" />
<inertia ixx="0.02280423" ixy="3.8e-07" ixz="-1.083e-05" iyy="0.00335281" iyz="1.75e-06" izz="0.02410611" />
</inertial>
</link>
<link name="l_hip_z_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_hip_z_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_hip_z_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0951743 -0.00029544 0.01157699" rpy="0.0 0.0 0.0" />
<mass value="1.26002534" />
<inertia ixx="0.00250858" ixy="-1.87e-05" ixz="-0.00093719" iyy="0.00299504" iyz="6.14e-06" izz="0.00188897" />
</inertial>
</link>
<joint name="l_hip_z_joint" type="revolute">
<origin xyz="0.0 0.1 -0.1008" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="l_hip_z_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="20.0" velocity="20.0" lower="-0.785" upper="0.785" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_hip_x_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_hip_x_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_hip_x_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00349545 -0.05016077 0.00015601" rpy="0.0 0.0 0.0" />
<mass value="1.75826055" />
<inertia ixx="0.00145734" ixy="0.000276" ixz="2.571e-05" iyy="0.00183603" iyz="-4e-08" izz="0.00181117" />
</inertial>
</link>
<joint name="l_hip_x_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="l_hip_z_link" />
<child link="l_hip_x_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="40.0" velocity="20.0" lower="-0.523" upper="0.785" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_hip_y_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_hip_y_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_hip_y_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00237237 0.02408075 -0.04874487" rpy="0.0 0.0 0.0" />
<mass value="2.66296335" />
<inertia ixx="0.02678784" ixy="0.00016594" ixz="0.00075939" iyy="0.02619934" iyz="-0.00371457" izz="0.0045187" />
</inertial>
</link>
<joint name="l_hip_y_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="l_hip_x_link" />
<child link="l_hip_y_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="20.0" lower="-2.0" upper="1.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_knee_y_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_knee_y_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_knee_y_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00711393 -0.00031499 -0.10977806" rpy="0.0 0.0 0.0" />
<mass value="1.63072153" />
<inertia ixx="0.01042782" ixy="1.62e-06" ixz="-0.00054999" iyy="0.01018545" iyz="-0.00015956" izz="0.00140744" />
</inertial>
</link>
<joint name="l_knee_y_joint" type="revolute">
<origin xyz="0.0 0.0 -0.3" rpy="0.0 0.0 0.0" />
<parent link="l_hip_y_link" />
<child link="l_knee_y_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="120.0" velocity="20.0" lower="0.0" upper="2.355" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_ankle_y_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_ankle_y_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_ankle_y_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.00046563" rpy="0.0 0.0 0.0" />
<mass value="0.01206963" />
<inertia ixx="2.89e-06" ixy="-0.0" ixz="-0.0" iyy="3.4e-07" iyz="-0.0" izz="3.01e-06" />
</inertial>
</link>
<joint name="l_ankle_y_joint" type="revolute">
<origin xyz="0.0 0.0 -0.3" rpy="0.0 0.0 0.0" />
<parent link="l_knee_y_link" />
<child link="l_ankle_y_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="12.0" velocity="20.0" lower="-2.0" upper="2.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_ankle_x_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_ankle_x_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_ankle_x_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00088171 0.0 -0.02245193" rpy="0.0 0.0 0.0" />
<mass value="0.27064154" />
<inertia ixx="0.00014549" ixy="-0.0" ixz="5.53e-06" iyy="0.00071745" iyz="-0.0" izz="0.00081666" />
</inertial>
</link>
<joint name="l_ankle_x_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="l_ankle_y_link" />
<child link="l_ankle_x_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="6.0" velocity="20.0" lower="-0.349" upper="0.349" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_hip_z_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_hip_z_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_hip_z_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0951743 0.00029543 0.01157699" rpy="0.0 0.0 0.0" />
<mass value="1.26002506" />
<inertia ixx="0.00250858" ixy="1.87e-05" ixz="-0.00093719" iyy="0.00299504" iyz="-6.14e-06" izz="0.00188897" />
</inertial>
</link>
<joint name="r_hip_z_joint" type="revolute">
<origin xyz="0.0 -0.1 -0.1008" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="r_hip_z_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="20.0" velocity="20.0" lower="-0.785" upper="0.785" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_hip_x_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_hip_x_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_hip_x_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00349545 0.05016077 0.000156" rpy="0.0 0.0 0.0" />
<mass value="1.75825984" />
<inertia ixx="0.00145734" ixy="-0.000276" ixz="2.571e-05" iyy="0.00183603" iyz="4e-08" izz="0.00181117" />
</inertial>
</link>
<joint name="r_hip_x_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_hip_z_link" />
<child link="r_hip_x_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="40.0" velocity="20.0" lower="-0.785" upper="0.523" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_hip_y_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_hip_y_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_hip_y_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00237237 -0.02408076 -0.04874488" rpy="0.0 0.0 0.0" />
<mass value="2.66296401" />
<inertia ixx="0.02678786" ixy="-0.00016594" ixz="0.00075939" iyy="0.02619935" iyz="0.00371458" izz="0.0045187" />
</inertial>
</link>
<joint name="r_hip_y_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_hip_x_link" />
<child link="r_hip_y_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="20.0" lower="-2.0" upper="1.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_knee_y_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_knee_y_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_knee_y_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00711396 0.00031502 -0.109778" rpy="0.0 0.0 0.0" />
<mass value="1.63072158" />
<inertia ixx="0.01042781" ixy="-1.62e-06" ixz="-0.00054998" iyy="0.01018544" iyz="0.00015955" izz="0.00140744" />
</inertial>
</link>
<joint name="r_knee_y_joint" type="revolute">
<origin xyz="0.0 0.0 -0.3" rpy="0.0 0.0 0.0" />
<parent link="r_hip_y_link" />
<child link="r_knee_y_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="120.0" velocity="20.0" lower="0.0" upper="2.355" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_ankle_y_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_ankle_y_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_ankle_y_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.00046563" rpy="0.0 0.0 0.0" />
<mass value="0.01206963" />
<inertia ixx="2.89e-06" ixy="-0.0" ixz="-0.0" iyy="3.4e-07" iyz="-0.0" izz="3.01e-06" />
</inertial>
</link>
<joint name="r_ankle_y_joint" type="revolute">
<origin xyz="0.0 0.0 -0.3" rpy="0.0 0.0 0.0" />
<parent link="r_knee_y_link" />
<child link="r_ankle_y_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="12.0" velocity="20.0" lower="-2.0" upper="2.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_ankle_x_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_ankle_x_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_ankle_x_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00088171 0.0 -0.02245193" rpy="0.0 0.0 0.0" />
<mass value="0.27064154" />
<inertia ixx="0.00014549" ixy="-0.0" ixz="5.53e-06" iyy="0.00071745" iyz="-0.0" izz="0.00081666" />
</inertial>
</link>
<joint name="r_ankle_x_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_ankle_y_link" />
<child link="r_ankle_x_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="6.0" velocity="20.0" lower="-0.349" upper="0.349" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="waist_z_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/waist_z_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/waist_z_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00448944 0.0 -0.02389195" rpy="0.0 0.0 0.0" />
<mass value="0.21792014" />
<inertia ixx="9.089e-05" ixy="-0.0" ixz="3.456e-05" iyy="0.0001491" iyz="-0.0" izz="0.00013001" />
</inertial>
</link>
<joint name="waist_z_joint" type="revolute">
<origin xyz="0.0 0.0 0.1167" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="waist_z_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="40.0" velocity="20.0" lower="-1.57" upper="1.57" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="waist_x_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/waist_x_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/waist_x_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.05316739" />
<inertia ixx="9.7e-06" ixy="-0.0" ixz="-0.0" iyy="9.7e-06" iyz="-0.0" izz="1.819e-05" />
</inertial>
</link>
<joint name="waist_x_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="waist_z_link" />
<child link="waist_x_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="50.0" velocity="20.0" lower="-0.262" upper="0.262" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="waist_y_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/waist_y_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/waist_y_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00308477 0.00223688 0.1873963" rpy="0.0 0.0 0.0" />
<mass value="8.1645757" />
<inertia ixx="0.12637158" ixy="-0.00018869" ixz="-0.0005031" iyy="0.08145202" iyz="-0.00060193" izz="0.06836301" />
</inertial>
</link>
<joint name="waist_y_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="waist_x_link" />
<child link="waist_y_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="50.0" velocity="20.0" lower="-0.523" upper="0.523" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_shld_y_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_shld_y_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_shld_y_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00068297 -0.00449372 2.22e-06" rpy="0.0 0.0 0.0" />
<mass value="0.53804971" />
<inertia ixx="0.00030648" ixy="4.03e-06" ixz="2e-08" iyy="0.00029153" iyz="1e-07" izz="0.00032312" />
</inertial>
</link>
<joint name="l_shld_y_joint" type="revolute">
<origin xyz="0.0 0.21705 0.30075" rpy="0.0 0.0 0.0" />
<parent link="waist_y_link" />
<child link="l_shld_y_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="27.0" velocity="20.0" lower="-2.0" upper="2.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_shld_x_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_shld_x_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_shld_x_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-2.047e-05 5.316e-05 -0.06162654" rpy="0.0 0.0 0.0" />
<mass value="0.48847489" />
<inertia ixx="0.00027194" ixy="4e-08" ixz="-5.4e-07" iyy="0.00033709" iyz="-5.4e-07" izz="0.0002884" />
</inertial>
</link>
<joint name="l_shld_x_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="l_shld_y_link" />
<child link="l_shld_x_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="27.0" velocity="20.0" lower="-0.5" upper="1.57" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_shld_z_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_shld_z_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_shld_z_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="4.164e-05 0.00022669 -0.2212782" rpy="0.0 0.0 0.0" />
<mass value="0.59309528" />
<inertia ixx="0.00136573" ixy="5.3e-07" ixz="-1e-08" iyy="0.00133989" iyz="1.22e-06" izz="0.00030342" />
</inertial>
</link>
<joint name="l_shld_z_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="l_shld_x_link" />
<child link="l_shld_z_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="7.0" velocity="20.0" lower="-0.785" upper="0.785" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_elb_y_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_elb_y_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_elb_y_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="5.192e-05 1.999e-05 -0.08561189" rpy="0.0 0.0 0.0" />
<mass value="0.50005725" />
<inertia ixx="0.00043713" ixy="-4e-08" ixz="-4.9e-07" iyy="0.00036043" iyz="6.3e-07" izz="0.00030266" />
</inertial>
</link>
<joint name="l_elb_y_joint" type="revolute">
<origin xyz="0.0 0.0 -0.24" rpy="0.0 0.0 0.0" />
<parent link="l_shld_z_link" />
<child link="l_elb_y_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="27.0" velocity="20.0" lower="-2.355" upper="0.5" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_elb_z_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_elb_z_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/l_elb_z_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="1.97e-06 -1.756e-05 -0.18282539" rpy="0.0 0.0 0.0" />
<mass value="0.13457416" />
<inertia ixx="0.00040001" ixy="-0.0" ixz="-2e-08" iyy="0.00039996" iyz="1.5e-07" izz="5.662e-05" />
</inertial>
</link>
<joint name="l_elb_z_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="l_elb_y_link" />
<child link="l_elb_z_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="7.0" velocity="20.0" lower="-0.785" upper="0.785" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_shld_y_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_shld_y_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_shld_y_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00068297 0.00449372 -2.22e-06" rpy="0.0 0.0 0.0" />
<mass value="0.53804971" />
<inertia ixx="0.00030648" ixy="-4.03e-06" ixz="-2e-08" iyy="0.00029153" iyz="1e-07" izz="0.00032312" />
</inertial>
</link>
<joint name="r_shld_y_joint" type="revolute">
<origin xyz="0.0 -0.21705 0.30075" rpy="0.0 0.0 0.0" />
<parent link="waist_y_link" />
<child link="r_shld_y_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="27.0" velocity="20.0" lower="-2.0" upper="2.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_shld_x_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_shld_x_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_shld_x_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="2.047e-05 -5.316e-05 -0.06162654" rpy="0.0 0.0 0.0" />
<mass value="0.48847489" />
<inertia ixx="0.00027194" ixy="4e-08" ixz="5.4e-07" iyy="0.00033709" iyz="5.4e-07" izz="0.0002884" />
</inertial>
</link>
<joint name="r_shld_x_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_shld_y_link" />
<child link="r_shld_x_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="27.0" velocity="20.0" lower="-1.57" upper="0.5" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_shld_z_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_shld_z_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_shld_z_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-4.164e-05 -0.00022669 -0.2212782" rpy="0.0 0.0 0.0" />
<mass value="0.59309528" />
<inertia ixx="0.00136573" ixy="5.3e-07" ixz="1e-08" iyy="0.00133989" iyz="-1.22e-06" izz="0.00030342" />
</inertial>
</link>
<joint name="r_shld_z_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_shld_x_link" />
<child link="r_shld_z_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="7.0" velocity="20.0" lower="-0.785" upper="0.785" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_elb_y_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_elb_y_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_elb_y_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-5.192e-05 -1.999e-05 -0.08561189" rpy="0.0 0.0 0.0" />
<mass value="0.50005725" />
<inertia ixx="0.00043713" ixy="-4e-08" ixz="4.9e-07" iyy="0.00036043" iyz="-6.3e-07" izz="0.00030266" />
</inertial>
</link>
<joint name="r_elb_y_joint" type="revolute">
<origin xyz="0.0 0.0 -0.24" rpy="0.0 0.0 0.0" />
<parent link="r_shld_z_link" />
<child link="r_elb_y_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="27.0" velocity="20.0" lower="-2.355" upper="0.5" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_elb_z_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_elb_z_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/r_elb_z_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-1.97e-06 1.756e-05 -0.18282539" rpy="0.0 0.0 0.0" />
<mass value="0.13457416" />
<inertia ixx="0.00040001" ixy="-0.0" ixz="2e-08" iyy="0.00039996" iyz="-1.5e-07" izz="5.662e-05" />
</inertial>
</link>
<joint name="r_elb_z_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_elb_y_link" />
<child link="r_elb_z_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="7.0" velocity="20.0" lower="-0.785" upper="0.785" />
<dynamics damping="0.0" friction="0.0" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content a34003a966ebb2ab -->
<mujoco model="elf2_dof25">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="base_link" file="meshes/base_link.STL" />
<mesh name="l_hip_z_link" file="meshes/l_hip_z_link.STL" />
<mesh name="l_hip_x_link" file="meshes/l_hip_x_link.STL" />
<mesh name="l_hip_y_link" file="meshes/l_hip_y_link.STL" />
<mesh name="l_knee_y_link" file="meshes/l_knee_y_link.STL" />
<mesh name="l_ankle_y_link" file="meshes/l_ankle_y_link.STL" />
<mesh name="l_ankle_x_link" file="meshes/l_ankle_x_link.STL" />
<mesh name="r_hip_z_link" file="meshes/r_hip_z_link.STL" />
<mesh name="r_hip_x_link" file="meshes/r_hip_x_link.STL" />
<mesh name="r_hip_y_link" file="meshes/r_hip_y_link.STL" />
<mesh name="r_knee_y_link" file="meshes/r_knee_y_link.STL" />
<mesh name="r_ankle_y_link" file="meshes/r_ankle_y_link.STL" />
<mesh name="r_ankle_x_link" file="meshes/r_ankle_x_link.STL" />
<mesh name="waist_z_link" file="meshes/waist_z_link.STL" />
<mesh name="waist_x_link" file="meshes/waist_x_link.STL" />
<mesh name="waist_y_link" file="meshes/waist_y_link.STL" />
<mesh name="l_shld_y_link" file="meshes/l_shld_y_link.STL" />
<mesh name="l_shld_x_link" file="meshes/l_shld_x_link.STL" />
<mesh name="l_shld_z_link" file="meshes/l_shld_z_link.STL" />
<mesh name="l_elb_y_link" file="meshes/l_elb_y_link.STL" />
<mesh name="l_elb_z_link" file="meshes/l_elb_z_link.STL" />
<mesh name="r_shld_y_link" file="meshes/r_shld_y_link.STL" />
<mesh name="r_shld_x_link" file="meshes/r_shld_x_link.STL" />
<mesh name="r_shld_z_link" file="meshes/r_shld_z_link.STL" />
<mesh name="r_elb_y_link" file="meshes/r_elb_y_link.STL" />
<mesh name="r_elb_z_link" file="meshes/r_elb_z_link.STL" />
</asset>
<worldbody>
<body name="base_link">
<inertial pos="0.00030047 8.28e-06 0.03546793" mass="3.24038695" fullinertia="0.02280423 0.00335281 0.02410611 3.8e-07 -1.083e-05 1.75e-06" />
<geom name="base_link_vis_0" type="mesh" mesh="base_link" contype="0" conaffinity="0" group="2" />
<geom name="base_link_col_0" type="mesh" mesh="base_link" group="3" />
<body name="l_hip_z_link" pos="0.0 0.1 -0.1008">
<joint name="l_hip_z_joint" type="hinge" axis="0.0 0.0 1.0" range="-0.785 0.785" />
<inertial pos="-0.0951743 -0.00029544 0.01157699" mass="1.26002534" fullinertia="0.00250858 0.00299504 0.00188897 -1.87e-05 -0.00093719 6.14e-06" />
<geom name="l_hip_z_link_vis_0" type="mesh" mesh="l_hip_z_link" contype="0" conaffinity="0" group="2" />
<geom name="l_hip_z_link_col_0" type="mesh" mesh="l_hip_z_link" group="3" />
<body name="l_hip_x_link">
<joint name="l_hip_x_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.523 0.785" />
<inertial pos="-0.00349545 -0.05016077 0.00015601" mass="1.75826055" fullinertia="0.00145734 0.00183603 0.00181117 0.000276 2.571e-05 -4e-08" />
<geom name="l_hip_x_link_vis_0" type="mesh" mesh="l_hip_x_link" contype="0" conaffinity="0" group="2" />
<geom name="l_hip_x_link_col_0" type="mesh" mesh="l_hip_x_link" group="3" />
<body name="l_hip_y_link">
<joint name="l_hip_y_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.0 1.0" />
<inertial pos="0.00237237 0.02408075 -0.04874487" mass="2.66296335" fullinertia="0.02678784 0.02619934 0.0045187 0.00016594 0.00075939 -0.00371457" />
<geom name="l_hip_y_link_vis_0" type="mesh" mesh="l_hip_y_link" contype="0" conaffinity="0" group="2" />
<geom name="l_hip_y_link_col_0" type="mesh" mesh="l_hip_y_link" group="3" />
<body name="l_knee_y_link" pos="0.0 0.0 -0.3">
<joint name="l_knee_y_joint" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.355" />
<inertial pos="0.00711393 -0.00031499 -0.10977806" mass="1.63072153" fullinertia="0.01042782 0.01018545 0.00140744 1.62e-06 -0.00054999 -0.00015956" />
<geom name="l_knee_y_link_vis_0" type="mesh" mesh="l_knee_y_link" contype="0" conaffinity="0" group="2" />
<geom name="l_knee_y_link_col_0" type="mesh" mesh="l_knee_y_link" group="3" />
<body name="l_ankle_y_link" pos="0.0 0.0 -0.3">
<joint name="l_ankle_y_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.0 2.0" />
<inertial pos="0.0 0.0 -0.00046563" mass="0.01206963" fullinertia="2.89e-06 3.4e-07 3.01e-06 -0.0 -0.0 -0.0" />
<geom name="l_ankle_y_link_vis_0" type="mesh" mesh="l_ankle_y_link" contype="0" conaffinity="0" group="2" />
<geom name="l_ankle_y_link_col_0" type="mesh" mesh="l_ankle_y_link" group="3" />
<body name="l_ankle_x_link">
<joint name="l_ankle_x_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.349 0.349" />
<inertial pos="-0.00088171 0.0 -0.02245193" mass="0.27064154" fullinertia="0.00014549 0.00071745 0.00081666 -0.0 5.53e-06 -0.0" />
<geom name="l_ankle_x_link_vis_0" type="mesh" mesh="l_ankle_x_link" contype="0" conaffinity="0" group="2" />
<geom name="l_ankle_x_link_col_0" type="mesh" mesh="l_ankle_x_link" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="r_hip_z_link" pos="0.0 -0.1 -0.1008">
<joint name="r_hip_z_joint" type="hinge" axis="0.0 0.0 1.0" range="-0.785 0.785" />
<inertial pos="-0.0951743 0.00029543 0.01157699" mass="1.26002506" fullinertia="0.00250858 0.00299504 0.00188897 1.87e-05 -0.00093719 -6.14e-06" />
<geom name="r_hip_z_link_vis_0" type="mesh" mesh="r_hip_z_link" contype="0" conaffinity="0" group="2" />
<geom name="r_hip_z_link_col_0" type="mesh" mesh="r_hip_z_link" group="3" />
<body name="r_hip_x_link">
<joint name="r_hip_x_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.785 0.523" />
<inertial pos="-0.00349545 0.05016077 0.000156" mass="1.75825984" fullinertia="0.00145734 0.00183603 0.00181117 -0.000276 2.571e-05 4e-08" />
<geom name="r_hip_x_link_vis_0" type="mesh" mesh="r_hip_x_link" contype="0" conaffinity="0" group="2" />
<geom name="r_hip_x_link_col_0" type="mesh" mesh="r_hip_x_link" group="3" />
<body name="r_hip_y_link">
<joint name="r_hip_y_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.0 1.0" />
<inertial pos="0.00237237 -0.02408076 -0.04874488" mass="2.66296401" fullinertia="0.02678786 0.02619935 0.0045187 -0.00016594 0.00075939 0.00371458" />
<geom name="r_hip_y_link_vis_0" type="mesh" mesh="r_hip_y_link" contype="0" conaffinity="0" group="2" />
<geom name="r_hip_y_link_col_0" type="mesh" mesh="r_hip_y_link" group="3" />
<body name="r_knee_y_link" pos="0.0 0.0 -0.3">
<joint name="r_knee_y_joint" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.355" />
<inertial pos="0.00711396 0.00031502 -0.109778" mass="1.63072158" fullinertia="0.01042781 0.01018544 0.00140744 -1.62e-06 -0.00054998 0.00015955" />
<geom name="r_knee_y_link_vis_0" type="mesh" mesh="r_knee_y_link" contype="0" conaffinity="0" group="2" />
<geom name="r_knee_y_link_col_0" type="mesh" mesh="r_knee_y_link" group="3" />
<body name="r_ankle_y_link" pos="0.0 0.0 -0.3">
<joint name="r_ankle_y_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.0 2.0" />
<inertial pos="0.0 0.0 -0.00046563" mass="0.01206963" fullinertia="2.89e-06 3.4e-07 3.01e-06 -0.0 -0.0 -0.0" />
<geom name="r_ankle_y_link_vis_0" type="mesh" mesh="r_ankle_y_link" contype="0" conaffinity="0" group="2" />
<geom name="r_ankle_y_link_col_0" type="mesh" mesh="r_ankle_y_link" group="3" />
<body name="r_ankle_x_link">
<joint name="r_ankle_x_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.349 0.349" />
<inertial pos="-0.00088171 0.0 -0.02245193" mass="0.27064154" fullinertia="0.00014549 0.00071745 0.00081666 -0.0 5.53e-06 -0.0" />
<geom name="r_ankle_x_link_vis_0" type="mesh" mesh="r_ankle_x_link" contype="0" conaffinity="0" group="2" />
<geom name="r_ankle_x_link_col_0" type="mesh" mesh="r_ankle_x_link" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="waist_z_link" pos="0.0 0.0 0.1167">
<joint name="waist_z_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.57 1.57" />
<inertial pos="-0.00448944 0.0 -0.02389195" mass="0.21792014" fullinertia="9.089e-05 0.0001491 0.00013001 -0.0 3.456e-05 -0.0" />
<geom name="waist_z_link_vis_0" type="mesh" mesh="waist_z_link" contype="0" conaffinity="0" group="2" />
<geom name="waist_z_link_col_0" type="mesh" mesh="waist_z_link" group="3" />
<body name="waist_x_link">
<joint name="waist_x_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.262 0.262" />
<inertial pos="0.0 0.0 0.0" mass="0.05316739" fullinertia="9.7e-06 9.7e-06 1.819e-05 -0.0 -0.0 -0.0" />
<geom name="waist_x_link_vis_0" type="mesh" mesh="waist_x_link" contype="0" conaffinity="0" group="2" />
<geom name="waist_x_link_col_0" type="mesh" mesh="waist_x_link" group="3" />
<body name="waist_y_link">
<joint name="waist_y_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.523 0.523" />
<inertial pos="-0.00308477 0.00223688 0.1873963" mass="8.1645757" fullinertia="0.12637158 0.08145202 0.06836301 -0.00018869 -0.0005031 -0.00060193" />
<geom name="waist_y_link_vis_0" type="mesh" mesh="waist_y_link" contype="0" conaffinity="0" group="2" />
<geom name="waist_y_link_col_0" type="mesh" mesh="waist_y_link" group="3" />
<body name="l_shld_y_link" pos="0.0 0.21705 0.30075">
<joint name="l_shld_y_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.0 2.0" />
<inertial pos="0.00068297 -0.00449372 2.22e-06" mass="0.53804971" fullinertia="0.00030648 0.00029153 0.00032312 4.03e-06 2e-08 1e-07" />
<geom name="l_shld_y_link_vis_0" type="mesh" mesh="l_shld_y_link" contype="0" conaffinity="0" group="2" />
<geom name="l_shld_y_link_col_0" type="mesh" mesh="l_shld_y_link" group="3" />
<body name="l_shld_x_link">
<joint name="l_shld_x_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.5 1.57" />
<inertial pos="-2.047e-05 5.316e-05 -0.06162654" mass="0.48847489" fullinertia="0.00027194 0.00033709 0.0002884 4e-08 -5.4e-07 -5.4e-07" />
<geom name="l_shld_x_link_vis_0" type="mesh" mesh="l_shld_x_link" contype="0" conaffinity="0" group="2" />
<geom name="l_shld_x_link_col_0" type="mesh" mesh="l_shld_x_link" group="3" />
<body name="l_shld_z_link">
<joint name="l_shld_z_joint" type="hinge" axis="0.0 0.0 1.0" range="-0.785 0.785" />
<inertial pos="4.164e-05 0.00022669 -0.2212782" mass="0.59309528" fullinertia="0.00136573 0.00133989 0.00030342 5.3e-07 -1e-08 1.22e-06" />
<geom name="l_shld_z_link_vis_0" type="mesh" mesh="l_shld_z_link" contype="0" conaffinity="0" group="2" />
<geom name="l_shld_z_link_col_0" type="mesh" mesh="l_shld_z_link" group="3" />
<body name="l_elb_y_link" pos="0.0 0.0 -0.24">
<joint name="l_elb_y_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.355 0.5" />
<inertial pos="5.192e-05 1.999e-05 -0.08561189" mass="0.50005725" fullinertia="0.00043713 0.00036043 0.00030266 -4e-08 -4.9e-07 6.3e-07" />
<geom name="l_elb_y_link_vis_0" type="mesh" mesh="l_elb_y_link" contype="0" conaffinity="0" group="2" />
<geom name="l_elb_y_link_col_0" type="mesh" mesh="l_elb_y_link" group="3" />
<body name="l_elb_z_link">
<joint name="l_elb_z_joint" type="hinge" axis="0.0 0.0 1.0" range="-0.785 0.785" />
<inertial pos="1.97e-06 -1.756e-05 -0.18282539" mass="0.13457416" fullinertia="0.00040001 0.00039996 5.662e-05 -0.0 -2e-08 1.5e-07" />
<geom name="l_elb_z_link_vis_0" type="mesh" mesh="l_elb_z_link" contype="0" conaffinity="0" group="2" />
<geom name="l_elb_z_link_col_0" type="mesh" mesh="l_elb_z_link" group="3" />
</body>
</body>
</body>
</body>
</body>
<body name="r_shld_y_link" pos="0.0 -0.21705 0.30075">
<joint name="r_shld_y_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.0 2.0" />
<inertial pos="0.00068297 0.00449372 -2.22e-06" mass="0.53804971" fullinertia="0.00030648 0.00029153 0.00032312 -4.03e-06 -2e-08 1e-07" />
<geom name="r_shld_y_link_vis_0" type="mesh" mesh="r_shld_y_link" contype="0" conaffinity="0" group="2" />
<geom name="r_shld_y_link_col_0" type="mesh" mesh="r_shld_y_link" group="3" />
<body name="r_shld_x_link">
<joint name="r_shld_x_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.57 0.5" />
<inertial pos="2.047e-05 -5.316e-05 -0.06162654" mass="0.48847489" fullinertia="0.00027194 0.00033709 0.0002884 4e-08 5.4e-07 5.4e-07" />
<geom name="r_shld_x_link_vis_0" type="mesh" mesh="r_shld_x_link" contype="0" conaffinity="0" group="2" />
<geom name="r_shld_x_link_col_0" type="mesh" mesh="r_shld_x_link" group="3" />
<body name="r_shld_z_link">
<joint name="r_shld_z_joint" type="hinge" axis="0.0 0.0 1.0" range="-0.785 0.785" />
<inertial pos="-4.164e-05 -0.00022669 -0.2212782" mass="0.59309528" fullinertia="0.00136573 0.00133989 0.00030342 5.3e-07 1e-08 -1.22e-06" />
<geom name="r_shld_z_link_vis_0" type="mesh" mesh="r_shld_z_link" contype="0" conaffinity="0" group="2" />
<geom name="r_shld_z_link_col_0" type="mesh" mesh="r_shld_z_link" group="3" />
<body name="r_elb_y_link" pos="0.0 0.0 -0.24">
<joint name="r_elb_y_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.355 0.5" />
<inertial pos="-5.192e-05 -1.999e-05 -0.08561189" mass="0.50005725" fullinertia="0.00043713 0.00036043 0.00030266 -4e-08 4.9e-07 -6.3e-07" />
<geom name="r_elb_y_link_vis_0" type="mesh" mesh="r_elb_y_link" contype="0" conaffinity="0" group="2" />
<geom name="r_elb_y_link_col_0" type="mesh" mesh="r_elb_y_link" group="3" />
<body name="r_elb_z_link">
<joint name="r_elb_z_joint" type="hinge" axis="0.0 0.0 1.0" range="-0.785 0.785" />
<inertial pos="-1.97e-06 1.756e-05 -0.18282539" mass="0.13457416" fullinertia="0.00040001 0.00039996 5.662e-05 -0.0 2e-08 -1.5e-07" />
<geom name="r_elb_z_link_vis_0" type="mesh" mesh="r_elb_z_link" contype="0" conaffinity="0" group="2" />
<geom name="r_elb_z_link_col_0" type="mesh" mesh="r_elb_z_link" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base_link" body2="l_hip_z_link" />
<exclude body1="l_hip_z_link" body2="l_hip_x_link" />
<exclude body1="l_hip_x_link" body2="l_hip_y_link" />
<exclude body1="l_hip_y_link" body2="l_knee_y_link" />
<exclude body1="l_knee_y_link" body2="l_ankle_y_link" />
<exclude body1="l_ankle_y_link" body2="l_ankle_x_link" />
<exclude body1="base_link" body2="r_hip_z_link" />
<exclude body1="r_hip_z_link" body2="r_hip_x_link" />
<exclude body1="r_hip_x_link" body2="r_hip_y_link" />
<exclude body1="r_hip_y_link" body2="r_knee_y_link" />
<exclude body1="r_knee_y_link" body2="r_ankle_y_link" />
<exclude body1="r_ankle_y_link" body2="r_ankle_x_link" />
<exclude body1="base_link" body2="waist_z_link" />
<exclude body1="waist_z_link" body2="waist_x_link" />
<exclude body1="waist_x_link" body2="waist_y_link" />
<exclude body1="waist_y_link" body2="l_shld_y_link" />
<exclude body1="l_shld_y_link" body2="l_shld_x_link" />
<exclude body1="l_shld_x_link" body2="l_shld_z_link" />
<exclude body1="l_shld_z_link" body2="l_elb_y_link" />
<exclude body1="l_elb_y_link" body2="l_elb_z_link" />
<exclude body1="waist_y_link" body2="r_shld_y_link" />
<exclude body1="r_shld_y_link" body2="r_shld_x_link" />
<exclude body1="r_shld_x_link" body2="r_shld_z_link" />
<exclude body1="r_shld_z_link" body2="r_elb_y_link" />
<exclude body1="r_elb_y_link" body2="r_elb_z_link" />
</contact>
</mujoco>
Import report
Counts
| Links | 26 |
|---|---|
| Joints | 25 |
| Moving joints | 25 |
| Visuals | 26 |
| Collisions | 26 |
| Materials | 0 |
Meshes
Formats: stl.
Asset size: 74.1 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
material | 26 | anonymous material (empty name) cannot be referenced; its colour is not kept |
Forward-kinematics check
Forward kinematics of 26 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 · 4.7e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 25).
Source & licence
| Repository | https://github.com/bxirobotics/robot_models |
|---|---|
| Commit | eabe24ce937f8e633077a163b883e92e8996c36e |
| Original file | elf2_dof25/urdf/elf2_dof25.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.