ergoCub
IIT · licence BSD-3-Clause · source: github.com/icub-tech-iit/ergocub-software @ v0.7.7
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 59e6370b45382ae4 -->
<robot name="ergoCub">
<link name="root_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0024748962432214403 -0.0001050794470993344 0.023450368787955644" rpy="0.0 -0.0 0.0" />
<mass value="2.823751482824641" />
<inertia ixx="0.005630606285299466" ixy="1.4369039688385168e-06" ixz="2.329934099458601e-05" iyy="0.004380033669258687" iyz="1.4098441290533537e-05" izz="0.003616681010808376" />
</inertial>
</link>
<joint name="l_hip_pitch" type="revolute">
<origin xyz="0.02109999999999964 0.050500000000000836 1.942890293094024e-16" rpy="3.958535957527503e-15 3.810968172190701e-15 1.167434911886406e-16" />
<parent link="root_link" />
<child link="l_hip_1" />
<axis xyz="-5.772831379991284e-17 -1.0 -1.3843833381666392e-17" />
<limit effort="1000000000.0" velocity="1000000000.0" lower="-0.7504915783575618" upper="1.7976891295541595" />
<dynamics damping="2.0" friction="0.0" />
</joint>
<link name="l_hip_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0040154224851623455 0.028247280560774652 -0.0006811143992383195" rpy="0.0 -0.0 0.0" />
<mass value="2.231768868859629" />
<inertia ixx="0.002210921814931002" ixy="5.971255499379551e-05" ixz="-1.5432160879022988e-05" iyy="0.002695326128467937" iyz="-5.838535051658118e-06" izz="0.0024610381641843883" />
</inertial>
</link>
<joint name="r_hip_pitch" type="revolute">
<origin xyz="0.021099999999999643 -0.05049999999999917 -2.220446049250313e-16" rpy="3.986223624290839e-15 9.012328668422501e-14 4.978996250550603e-17" />
<parent link="root_link" />
<child link="r_hip_1" />
<axis xyz="-1.0880513989386065e-16 -1.0 1.384383338166008e-17" />
<limit effort="1000000000.0" velocity="1000000000.0" lower="-0.7504915783575618" upper="1.7976891295541595" />
<dynamics damping="2.0" friction="0.0" />
</joint>
<link name="r_hip_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.004032117730258793 -0.028249385885545365 -0.0006739019720393702" rpy="0.0 -0.0 0.0" />
<mass value="2.2320852637398954" />
<inertia ixx="0.00221225947743564" ixy="-6.126720536020865e-05" ixz="-1.5035655169601288e-05" iyy="0.002695545891317729" iyz="6.443355522460266e-06" izz="0.0024608876750051726" />
</inertial>
</link>
<joint name="torso_roll" type="revolute">
<origin xyz="-2.23890229767886e-18 -5.551115123142428e-20 0.060500000000000095" rpy="0.0 -2.2470258116354473e-44 5.656623812198896e-30" />
<parent link="root_link" />
<child link="torso_1" />
<axis xyz="-1.0 0.0 1.4239886692466155e-15" />
<limit effort="1000000000.0" velocity="1000000000.0" lower="-0.4014257279586958" upper="0.4014257279586958" />
<dynamics damping="2.0" friction="0.0" />
</joint>
<link name="torso_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00963997362197503 0.0006168494736287859 0.08244231288506354" rpy="0.0 -0.0 0.0" />
<mass value="2.0645667" />
<inertia ixx="0.005816920576319003" ixy="-6.9752032776433695e-06" ixz="-0.0007227736063238389" iyy="0.007094744408479672" iyz="-1.2586871224008617e-05" izz="0.002953654264837283" />
</inertial>
</link>
<joint name="torso_pitch" type="revolute">
<origin xyz="-7.30886630439206e-17 -4.930380657631324e-32 0.11800000000000001" rpy="3.9719461100401744e-15 2.710505431213761e-20 1.0587911275090697e-22" />
<parent link="torso_1" />
<child link="torso_2" />
<axis xyz="1.058791184074231e-22 1.0 4.336808689942018e-19" />
<limit effort="1000000000.0" velocity="1000000000.0" lower="-0.3141592653589793" upper="0.7853981633974483" />
<dynamics damping="2.0" friction="0.0" />
</joint>
<link name="torso_2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0015724674776760373 0.0036223466761378907 0.026019504666210766" rpy="0.0 -0.0 0.0" />
<mass value="0.7051627057068411" />
<inertia ixx="0.0012590296877101025" ixy="4.1986239270733835e-06" ixz="-5.398163583772818e-06" iyy="0.0006675525890436374" iyz="7.014302140884287e-05" izz="0.001145822810927014" />
</inertial>
</link>
<joint name="torso_yaw" type="revolute">
<origin xyz="7.441613918977653e-12 2.6928553289098135e-16 0.06446999999999994" rpy="-5.0024312019752794e-15 1.1542823239978046e-10 -3.182148030458047e-22" />
<parent link="torso_2" />
<child link="chest" />
<axis xyz="1.1543031726420953e-10 -1.083564369658416e-15 -1.0" />
<limit effort="1000000000.0" velocity="1000000000.0" lower="-0.7504915783575618" upper="0.7504915783575618" />
<dynamics damping="2.0" friction="0.0" />
</joint>
<link name="chest">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-3_chest.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-3_chest.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.03443742716446768 -0.00039294689908270166 0.08872320596126153" rpy="0.0 -0.0 0.0" />
<mass value="8.7013693071296" />
<inertia ixx="0.0471862222992817" ixy="6.214939406626824e-05" ixz="-0.0015310723400944366" iyy="0.05975275087156849" iyz="-0.0001701880177609289" izz="0.04226647012430816" />
</inertial>
</link>
<joint name="neck_pitch" type="revolute">
<origin xyz="0.004899999966321172 2.016626664826681e-16 0.2273000000005654" rpy="1.2351224860400058e-15 -1.154319564878164e-10 7.461699457715907e-16" />
<parent link="chest" />
<child link="neck_2" />
<axis xyz="-2.4626495883381276e-15 -1.0 3.2706219863955566e-16" />
<limit effort="1000000000.0" velocity="1000000000.0" lower="-0.5235987755982988" upper="0.3839724354387525" />
<dynamics damping="2.0" friction="0.0" />
</joint>
<link name="neck_2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.006305773955890982 3.0141314376407138e-05 0.006373188453183354" rpy="0.0 -0.0 0.0" />
<mass value="0.12100314943032965" />
<inertia ixx="4.5383766592166864e-05" ixy="-9.375752008423039e-08" ixz="8.622664755132213e-06" iyy="3.848306673536227e-05" iyz="4.870043501244136e-08" izz="3.7535538604448367e-05" />
</inertial>
</link>
<joint name="l_shoulder_pitch" type="revolute">
<origin xyz="-0.013518676864309373 0.06704761117227485 0.12351981080785726" rpy="0.2536123239046727 -0.0520316056155768 -0.2752787324155064" />
<parent link="chest" />
<child link="l_shoulder_1" />
<axis xyz="2.629396873843337e-11 1.0000000000000002 -3.132558101803795e-11" />
<limit effort="1000000000.0" velocity="1000000000.0" lower="-2.9670597283903604" upper="0.6108652381980153" />
<dynamics damping="2.0" friction="0.0" />
</joint>
<link name="l_shoulder_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00014824275422014796 0.06782971819041986 0.0005036196460999898" rpy="0.0 -0.0 0.0" />
<mass value="0.7913756606310043" />
<inertia ixx="0.0012090260632276477" ixy="3.837452877706498e-06" ixz="3.4979966648173376e-07" iyy="0.00032970130687487713" iyz="1.0257960656819495e-05" izz="0.0011953232413247816" />
</inertial>
</link>
<joint name="r_shoulder_pitch" type="revolute">
<origin xyz="-0.013518676864309565 -0.06704761117227466 0.12351981080785729" rpy="-0.2536123239046778 -0.05203160561557753 0.2752787324155041" />
<parent link="chest" />
<child link="r_shoulder_1" />
<axis xyz="-2.6293323421300308e-11 1.0000000000000002 3.133054926607315e-11" />
<limit effort="1000000000.0" velocity="1000000000.0" lower="-2.9670597283903604" upper="0.6108652381980153" />
<dynamics damping="2.0" friction="0.0" />
</joint>
<link name="r_shoulder_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00017243569867328445 -0.06784040318161474 0.00047600094527533443" rpy="0.0 -0.0 0.0" />
<mass value="0.7922822880502421" />
<inertia ixx="0.0012096539626434014" ixy="-3.680808987116546e-06" ixz="8.229428308001538e-07" iyy="0.00033067105254799123" iyz="-1.0172274013350282e-05" izz="0.0011958286331174221" />
</inertial>
</link>
<joint name="r_shoulder_roll" type="revolute">
<origin xyz="0.007499999999999977 -0.09330000000000004 -3.885780586188048e-16" rpy="-9.325873406851307e-15 9.520162436160717e-15 -4.718447854656912e-15" />
<parent link="r_shoulder_1" />
<child link="r_shoulder_2" />
<axis xyz="-1.0000000000000007 8.760353553682006e-16 -4.510281037539194e-16" />
<limit effort="1000000000.0" velocity="1000000000.0" lower="-0.2617993877991494" upper="2.6179938779914944" />
<dynamics damping="2.0" friction="0.0" />
</joint>
<link name="r_shoulder_2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.005113618901434032 -0.000213348557806331 -0.020425805469504787" rpy="0.0 -0.0 0.0" />
<mass value="0.4392272062642899" />
<inertia ixx="0.00029042245268154257" ixy="-9.557527654531481e-07" ixz="-9.749291990105912e-05" iyy="0.0004271705089556584" iyz="-1.2227717602335833e-06" izz="0.00026647274612786855" />
</inertial>
</link>
<joint name="r_arm_ft_sensor" type="fixed">
<origin xyz="-0.006850000000000004 -5.551115123125783e-17 -0.054300000000000015" rpy="-2.220446049250312e-16 -2.3592239273284576e-16 1.6098233857064762e-15" />
<parent link="r_shoulder_2" />
<child link="r_shoulder_3" />
</joint>
<link name="r_shoulder_3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="-8.31167799586717e-05 -3.0654831449927755e-05 -0.007966545320293866" rpy="0.0 -0.0 0.0" />
<mass value="0.271466272759966" />
<inertia ixx="7.620284216410257e-05" ixy="-3.654997747197785e-07" ixz="-3.6240077897294374e-08" iyy="7.648716704064904e-05" iyz="-6.051355657868799e-08" izz="0.00012740184766279634" />
</inertial>
</link>
<joint name="r_shoulder_yaw" type="revolute">
<origin xyz="-7.979727989493313e-17 5.551115123125783e-17 -0.02249999999999998" rpy="-5.55111512312578e-17 -3.0531133177191805e-16 7.660538869913577e-15" />
<parent link="r_shoulder_3" />
<child link="r_upper_arm" />
<axis xyz="2.567390744445681e-16 2.775557561562927e-17 1.0000000000000004" />
<limit effort="1000000000.0" velocity="1000000000.0" lower="-0.8726646259971648" upper="1.3962634015954636" />
<dynamics damping="2.0" friction="0.0" />
</joint>
<link name="r_upper_arm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00014699786491786937 -0.0023354938418406186 -0.05011711267210951" rpy="0.0 -0.0 0.0" />
<mass value="1.7722348545631907" />
<inertia ixx="0.0034219198528275844" ixy="3.081029189714289e-05" ixz="2.5743017599563002e-05" iyy="0.003510878854314856" iyz="-0.00010938393403810045" izz="0.0015765483711818404" />
</inertial>
</link>
<joint name="r_elbow" type="revolute">
<origin xyz="0.01000000000000002 0.0015000000000005287 -0.12369999999999992" rpy="-4.1633363423443286e-16 -5.842548667089886e-15 -8.326672684688652e-15" />
<parent link="r_upper_arm" />
<child link="r_forearm" />
<axis xyz="3.001071613439684e-16 -1.0000000000000027 1.2712053631958044e-14" />
<limit effort="1000000000.0" velocity="1000000000.0" lower="-0.05235987755982989" upper="1.3089969389957472" />
<dynamics damping="2.0" friction="0.0" />
</joint>
<link name="r_forearm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.01830687629472739 -0.002214887320910963 -0.08814943647449926" rpy="0.0 -0.0 0.0" />
<mass value="1.4760712424977045" />
<inertia ixx="0.004018141035792247" ixy="-1.0169837170335636e-06" ixz="-6.092751707960711e-05" iyy="0.004094401103638503" iyz="2.3622606931134418e-05" izz="0.00151761593950533" />
</inertial>
</link>
<joint name="r_wrist_yaw" type="revolute">
<origin xyz="-0.014999999999999767 -0.0019999999999965323 -0.1943500000000011" rpy="-2.081668171172164e-15 -1.1587952819525071e-14 -2.997602166487915e-15" />
<parent link="r_forearm" />
<child link="r_wrist_1" />
<axis xyz="5.5788706987414416e-15 -1.2628786905111175e-14 1.000000000000002" />
<limit effort="1000000000.0" velocity="1000000000.0" lower="-1.6057029118347832" upper="1.6057029118347832" />
<dynamics damping="2.0" friction="0.0" />
</joint>
<link name="r_wrist_1">
<visual>
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<link name="r_upper_leg">
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<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upper_leg.obj" scale="0.001 0.001 0.001" />
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<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upper_leg.obj" scale="0.001 0.001 0.001" />
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<link name="r_lower_leg">
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<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_lower_leg.obj" scale="0.001 0.001 0.001" />
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<link name="r_ankle_1">
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<link name="r_ankle_2">
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<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_2.obj" scale="0.001 0.001 0.001" />
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<child link="r_foot_front" />
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<link name="r_foot_front">
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<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_front.obj" scale="0.001 0.001 0.001" />
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<link name="r_foot_rear">
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<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_rear.obj" scale="0.001 0.001 0.001" />
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<link name="l_hip_2">
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<link name="l_hip_3">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
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<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_3.obj" scale="0.001 0.001 0.001" />
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<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_3.obj" scale="0.001 0.001 0.001" />
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<link name="l_upper_leg">
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<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upper_leg.obj" scale="0.001 0.001 0.001" />
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<link name="l_lower_leg">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
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<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_lower_leg.obj" scale="0.001 0.001 0.001" />
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<link name="l_ankle_1">
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<link name="l_ankle_2">
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<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.obj" scale="0.001 0.001 0.001" />
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<parent link="l_ankle_2" />
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<link name="l_foot_front">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
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<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_front.obj" scale="0.001 0.001 0.001" />
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<parent link="l_ankle_2" />
<child link="l_foot_rear" />
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<link name="l_foot_rear">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
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<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_rear.obj" scale="0.001 0.001 0.001" />
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<joint name="head_imu_0_fixed_joint" type="fixed">
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<parent link="head" />
<child link="head_imu_0" />
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<parent link="l_hand_ring_2" />
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<link name="r_hand_ring_skin_1" />
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<parent link="r_hand_ring_2" />
<child link="r_hand_ring_skin_1" />
</joint>
<link name="r_hand_ring_skin_10" />
<joint name="r_hand_ring_skin_10_fixed_joint" type="fixed">
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<parent link="r_hand_ring_2" />
<child link="r_hand_ring_skin_10" />
</joint>
<link name="r_hand_ring_skin_11" />
<joint name="r_hand_ring_skin_11_fixed_joint" type="fixed">
<origin xyz="-0.0033000000000000026 -0.0031311478434340456 -0.033280417983737876" rpy="1.4138064386867392e-16 1.2200948955791715 -1.5707963267948966" />
<parent link="r_hand_ring_2" />
<child link="r_hand_ring_skin_11" />
</joint>
<link name="r_hand_ring_skin_2" />
<joint name="r_hand_ring_skin_2_fixed_joint" type="fixed">
<origin xyz="1.214306433183765e-17 -0.0037582418957782804 -0.035192049382594015" rpy="1.324114038587985e-16 1.305681325969319 -1.5707963267948966" />
<parent link="r_hand_ring_2" />
<child link="r_hand_ring_skin_2" />
</joint>
<link name="r_hand_ring_skin_3" />
<joint name="r_hand_ring_skin_3_fixed_joint" type="fixed">
<origin xyz="0.003299999999999987 -0.004081941248315901 -0.03776668456986537" rpy="3.1415926535897927 1.5049109781350702 1.5707963267948974" />
<parent link="r_hand_ring_2" />
<child link="r_hand_ring_skin_3" />
</joint>
<link name="r_hand_ring_skin_4" />
<joint name="r_hand_ring_skin_4_fixed_joint" type="fixed">
<origin xyz="0.005929525942276352 -0.0011923209501843446 -0.03799999999179421" rpy="-3.1415926295995895 1.2994442254243346 2.777155565437974" />
<parent link="r_hand_ring_2" />
<child link="r_hand_ring_skin_4" />
</joint>
<link name="r_hand_ring_skin_5" />
<joint name="r_hand_ring_skin_5_fixed_joint" type="fixed">
<origin xyz="-1.214306433183765e-17 -0.0034840924374092974 -0.03982136609465514" rpy="3.141592653589793 1.0887513366805477 1.570796326794897" />
<parent link="r_hand_ring_2" />
<child link="r_hand_ring_skin_5" />
</joint>
<link name="r_hand_ring_skin_6" />
<joint name="r_hand_ring_skin_6_fixed_joint" type="fixed">
<origin xyz="0.0032999999999999974 -0.0018288020063398913 -0.04176963439156578" rpy="-3.141592645661621 0.7788155932536848 2.53206776215024" />
<parent link="r_hand_ring_2" />
<child link="r_hand_ring_skin_6" />
</joint>
<link name="r_hand_ring_skin_7" />
<joint name="r_hand_ring_skin_7_fixed_joint" type="fixed">
<origin xyz="3.469446951953614e-18 -0.0002901849620998431 -0.04325964090988388" rpy="-3.141592653586272 0.6209480251844615 1.5712124826341647" />
<parent link="r_hand_ring_2" />
<child link="r_hand_ring_skin_7" />
</joint>
<link name="r_hand_ring_skin_8" />
<joint name="r_hand_ring_skin_8_fixed_joint" type="fixed">
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<parent link="r_hand_ring_2" />
<child link="r_hand_ring_skin_8" />
</joint>
<link name="r_hand_ring_skin_9" />
<joint name="r_hand_ring_skin_9_fixed_joint" type="fixed">
<origin xyz="-0.0059295259422763695 -0.0011923209501843723 -0.03799999999179421" rpy="3.141592629599589 1.2994442254243332 0.36443708815181947" />
<parent link="r_hand_ring_2" />
<child link="r_hand_ring_skin_9" />
</joint>
<link name="r_sole" />
<joint name="r_sole_fixed_joint" type="fixed">
<origin xyz="0.05963 -1.3877787807814457e-17 -0.02429999999999999" rpy="0.0 3.1371750050201436e-30 0.0" />
<parent link="r_foot_rear" />
<child link="r_sole" />
</joint>
<link name="r_hand_thumb_skin_0" />
<joint name="r_hand_thumb_skin_0_fixed_joint" type="fixed">
<origin xyz="0.02640545777888894 -0.002433918058236617 0.0" rpy="-1.5707963267948961 2.220446049250313e-16 2.793301925464017" />
<parent link="r_hand_thumb_3" />
<child link="r_hand_thumb_skin_0" />
</joint>
<link name="r_hand_thumb_skin_1" />
<joint name="r_hand_thumb_skin_1_fixed_joint" type="fixed">
<origin xyz="0.028280418005286932 -0.0031311476143919825 0.003300000000000025" rpy="-1.570796326794896 -7.216449660063518e-16 -2.1816615649914324" />
<parent link="r_hand_thumb_3" />
<child link="r_hand_thumb_skin_1" />
</joint>
<link name="r_hand_thumb_skin_10" />
<joint name="r_hand_thumb_skin_10_fixed_joint" type="fixed">
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<parent link="r_hand_thumb_3" />
<child link="r_hand_thumb_skin_10" />
</joint>
<link name="r_hand_thumb_skin_11" />
<joint name="r_hand_thumb_skin_11_fixed_joint" type="fixed">
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<parent link="r_hand_thumb_3" />
<child link="r_hand_thumb_skin_11" />
</joint>
<link name="r_hand_thumb_skin_2" />
<joint name="r_hand_thumb_skin_2_fixed_joint" type="fixed">
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<parent link="r_hand_thumb_3" />
<child link="r_hand_thumb_skin_2" />
</joint>
<link name="r_hand_thumb_skin_3" />
<joint name="r_hand_thumb_skin_3_fixed_joint" type="fixed">
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<parent link="r_hand_thumb_3" />
<child link="r_hand_thumb_skin_3" />
</joint>
<link name="r_hand_thumb_skin_4" />
<joint name="r_hand_thumb_skin_4_fixed_joint" type="fixed">
<origin xyz="0.03300000000000006 -0.0011923206886612636 0.005929525942276415" rpy="-3.1415926535897927 2.220446049250313e-16 -3.1415926535883125" />
<parent link="r_hand_thumb_3" />
<child link="r_hand_thumb_skin_4" />
</joint>
<link name="r_hand_thumb_skin_5" />
<joint name="r_hand_thumb_skin_5_fixed_joint" type="fixed">
<origin xyz="0.03482136611863341 -0.0034840921633512434 0.0" rpy="-1.5707963267948961 -1.6653345369377348e-16 -2.659547656593256" />
<parent link="r_hand_thumb_3" />
<child link="r_hand_thumb_skin_5" />
</joint>
<link name="r_hand_thumb_skin_6" />
<joint name="r_hand_thumb_skin_6_fixed_joint" type="fixed">
<origin xyz="0.036769634404151964 -0.0018288017188734518 0.0032999999999999974" rpy="1.570796326794897 -2.220446049250313e-16 -2.399827721490722" />
<parent link="r_hand_thumb_3" />
<child link="r_hand_thumb_skin_6" />
</joint>
<link name="r_hand_thumb_skin_7" />
<joint name="r_hand_thumb_skin_7_fixed_joint" type="fixed">
<origin xyz="0.03825964091188099 -0.0002901846643789119 0.0" rpy="-1.5705542046266139 -0.00033847088311368976 -2.191744386072823" />
<parent link="r_hand_thumb_3" />
<child link="r_hand_thumb_skin_7" />
</joint>
<link name="r_hand_thumb_skin_8" />
<joint name="r_hand_thumb_skin_8_fixed_joint" type="fixed">
<origin xyz="0.036769634404152 -0.0018288017188734518 -0.003300000000000025" rpy="-2.3592109405351698 0.6231239758157898 -2.6159603834403367" />
<parent link="r_hand_thumb_3" />
<child link="r_hand_thumb_skin_8" />
</joint>
<link name="r_hand_thumb_skin_9" />
<joint name="r_hand_thumb_skin_9_fixed_joint" type="fixed">
<origin xyz="0.03300000000000001 -0.0011923206886612636 -0.005929525942276359" rpy="-2.7645689049691455 0.25312544974719 -3.042753660865159" />
<parent link="r_hand_thumb_3" />
<child link="r_hand_thumb_skin_9" />
</joint>
<link name="waist_imu_0" />
<joint name="waist_imu_0_fixed_joint" type="fixed">
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708" />
<parent link="torso_1" />
<child link="waist_imu_0" />
</joint>
<link name="base_link" />
<joint name="base_link_fixed_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<parent link="root_link" />
<child link="base_link" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 59e6370b45382ae4 -->
<mujoco model="ergoCub">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
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<mesh name="sim_ecub_1n1_head_neck_2_0p001_0p001_0p001" file="ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.obj" scale="0.001 0.001 0.001" />
<mesh name="sim_ecub_1n1_l_shoulder_1_0p001_0p001_0p001" file="ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.obj" scale="0.001 0.001 0.001" />
<mesh name="sim_ecub_1n1_r_shoulder_1_0p001_0p001_0p001" file="ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.obj" scale="0.001 0.001 0.001" />
<mesh name="sim_ecub_1n1_r_shoulder_2_0p001_0p001_0p001" file="ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.obj" scale="0.001 0.001 0.001" />
<mesh name="sim_ecub_1n1_r_shoulder_3_0p001_0p001_0p001" file="ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.obj" scale="0.001 0.001 0.001" />
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<mesh name="sim_ecub_1n1_r_hand_pinkie_1_0p001_0p001_0p001" file="ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_pinkie_1.obj" scale="0.001 0.001 0.001" />
<mesh name="sim_ecub_1n1_r_hand_ring_1_0p001_0p001_0p001" file="ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_ring_1.obj" scale="0.001 0.001 0.001" />
<mesh name="sim_ecub_1n1_r_hand_thumb_1_0p001_0p001_0p001" file="ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_1.obj" scale="0.001 0.001 0.001" />
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<mesh name="sim_ecub_1n1_r_hand_pinkie_2_0p001_0p001_0p001" file="ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_pinkie_2.obj" scale="0.001 0.001 0.001" />
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<exclude body1="r_hand_palm" body2="r_hand_pinkie_1" />
<exclude body1="r_hand_palm" body2="r_hand_ring_1" />
<exclude body1="r_hand_palm" body2="r_hand_thumb_1" />
<exclude body1="r_hand_thumb_1" body2="r_hand_thumb_2" />
<exclude body1="r_hand_thumb_2" body2="r_hand_thumb_3" />
<exclude body1="r_hand_ring_1" body2="r_hand_ring_2" />
<exclude body1="r_hand_pinkie_1" body2="r_hand_pinkie_2" />
<exclude body1="r_hand_middle_1" body2="r_hand_middle_2" />
<exclude body1="r_hand_index_1" body2="r_hand_index_2" />
<exclude body1="r_hand_index_2" body2="r_hand_index_3" />
<exclude body1="l_shoulder_1" body2="l_shoulder_2" />
<exclude body1="l_shoulder_2" body2="l_shoulder_3" />
<exclude body1="l_shoulder_3" body2="l_upper_arm" />
<exclude body1="l_upper_arm" body2="l_forearm" />
<exclude body1="l_forearm" body2="l_wrist_1" />
<exclude body1="l_wrist_1" body2="l_wrist_2" />
<exclude body1="l_wrist_2" body2="l_hand_palm" />
<exclude body1="l_hand_palm" body2="l_hand_index_1" />
<exclude body1="l_hand_palm" body2="l_hand_middle_1" />
<exclude body1="l_hand_palm" body2="l_hand_pinkie_1" />
<exclude body1="l_hand_palm" body2="l_hand_ring_1" />
<exclude body1="l_hand_palm" body2="l_hand_thumb_1" />
<exclude body1="l_hand_thumb_1" body2="l_hand_thumb_2" />
<exclude body1="l_hand_thumb_2" body2="l_hand_thumb_3" />
<exclude body1="l_hand_ring_1" body2="l_hand_ring_2" />
<exclude body1="l_hand_pinkie_1" body2="l_hand_pinkie_2" />
<exclude body1="l_hand_middle_1" body2="l_hand_middle_2" />
<exclude body1="l_hand_index_1" body2="l_hand_index_2" />
<exclude body1="l_hand_index_2" body2="l_hand_index_3" />
<exclude body1="neck_2" body2="neck_3" />
<exclude body1="neck_3" body2="head" />
<exclude body1="head" body2="realsense" />
<exclude body1="r_hip_1" body2="r_hip_2" />
<exclude body1="r_hip_2" body2="r_hip_3" />
<exclude body1="r_hip_3" body2="r_upper_leg" />
<exclude body1="r_upper_leg" body2="r_lower_leg" />
<exclude body1="r_lower_leg" body2="r_ankle_1" />
<exclude body1="r_ankle_1" body2="r_ankle_2" />
<exclude body1="r_ankle_2" body2="r_foot_front" />
<exclude body1="r_ankle_2" body2="r_foot_rear" />
<exclude body1="l_hip_1" body2="l_hip_2" />
<exclude body1="l_hip_2" body2="l_hip_3" />
<exclude body1="l_hip_3" body2="l_upper_leg" />
<exclude body1="l_upper_leg" body2="l_lower_leg" />
<exclude body1="l_lower_leg" body2="l_ankle_1" />
<exclude body1="l_ankle_1" body2="l_ankle_2" />
<exclude body1="l_ankle_2" body2="l_foot_front" />
<exclude body1="l_ankle_2" body2="l_foot_rear" />
<exclude body1="head" body2="head_imu_0" />
<exclude body1="realsense" body2="realsense_imu_0" />
<exclude body1="l_shoulder_2" body2="l_arm_ft" />
<exclude body1="l_ankle_2" body2="l_foot_front_ft" />
<exclude body1="l_ankle_2" body2="l_foot_rear_ft" />
<exclude body1="l_hip_2" body2="l_leg_ft" />
<exclude body1="r_shoulder_2" body2="r_arm_ft" />
<exclude body1="r_ankle_2" body2="r_foot_front_ft" />
<exclude body1="r_ankle_2" body2="r_foot_rear_ft" />
<exclude body1="r_hip_2" body2="r_leg_ft" />
<exclude body1="realsense" body2="realsense_depth_frame" />
<exclude body1="head" body2="imu_frame" />
<exclude body1="realsense" body2="realsense_rgb_frame" />
<exclude body1="head" body2="head_laser_frame" />
<exclude body1="l_hand_index_3" body2="l_hand_index_skin_0" />
<exclude body1="l_hand_index_3" body2="l_hand_index_skin_1" />
<exclude body1="l_hand_index_3" body2="l_hand_index_skin_10" />
<exclude body1="l_hand_index_3" body2="l_hand_index_skin_11" />
<exclude body1="l_hand_index_3" body2="l_hand_index_skin_2" />
<exclude body1="l_hand_index_3" body2="l_hand_index_skin_3" />
<exclude body1="l_hand_index_3" body2="l_hand_index_skin_4" />
<exclude body1="l_hand_index_3" body2="l_hand_index_skin_5" />
<exclude body1="l_hand_index_3" body2="l_hand_index_skin_6" />
<exclude body1="l_hand_index_3" body2="l_hand_index_skin_7" />
<exclude body1="l_hand_index_3" body2="l_hand_index_skin_8" />
<exclude body1="l_hand_index_3" body2="l_hand_index_skin_9" />
<exclude body1="l_hand_middle_2" body2="l_hand_middle_skin_0" />
<exclude body1="l_hand_middle_2" body2="l_hand_middle_skin_1" />
<exclude body1="l_hand_middle_2" body2="l_hand_middle_skin_10" />
<exclude body1="l_hand_middle_2" body2="l_hand_middle_skin_11" />
<exclude body1="l_hand_middle_2" body2="l_hand_middle_skin_2" />
<exclude body1="l_hand_middle_2" body2="l_hand_middle_skin_3" />
<exclude body1="l_hand_middle_2" body2="l_hand_middle_skin_4" />
<exclude body1="l_hand_middle_2" body2="l_hand_middle_skin_5" />
<exclude body1="l_hand_middle_2" body2="l_hand_middle_skin_6" />
<exclude body1="l_hand_middle_2" body2="l_hand_middle_skin_7" />
<exclude body1="l_hand_middle_2" body2="l_hand_middle_skin_8" />
<exclude body1="l_hand_middle_2" body2="l_hand_middle_skin_9" />
<exclude body1="l_hand_pinkie_2" body2="l_hand_pinkie_skin_0" />
<exclude body1="l_hand_pinkie_2" body2="l_hand_pinkie_skin_1" />
<exclude body1="l_hand_pinkie_2" body2="l_hand_pinkie_skin_10" />
<exclude body1="l_hand_pinkie_2" body2="l_hand_pinkie_skin_11" />
<exclude body1="l_hand_pinkie_2" body2="l_hand_pinkie_skin_2" />
<exclude body1="l_hand_pinkie_2" body2="l_hand_pinkie_skin_3" />
<exclude body1="l_hand_pinkie_2" body2="l_hand_pinkie_skin_4" />
<exclude body1="l_hand_pinkie_2" body2="l_hand_pinkie_skin_5" />
<exclude body1="l_hand_pinkie_2" body2="l_hand_pinkie_skin_6" />
<exclude body1="l_hand_pinkie_2" body2="l_hand_pinkie_skin_7" />
<exclude body1="l_hand_pinkie_2" body2="l_hand_pinkie_skin_8" />
<exclude body1="l_hand_pinkie_2" body2="l_hand_pinkie_skin_9" />
<exclude body1="l_hand_ring_2" body2="l_hand_ring_skin_0" />
<exclude body1="l_hand_ring_2" body2="l_hand_ring_skin_1" />
<exclude body1="l_hand_ring_2" body2="l_hand_ring_skin_10" />
<exclude body1="l_hand_ring_2" body2="l_hand_ring_skin_11" />
<exclude body1="l_hand_ring_2" body2="l_hand_ring_skin_2" />
<exclude body1="l_hand_ring_2" body2="l_hand_ring_skin_3" />
<exclude body1="l_hand_ring_2" body2="l_hand_ring_skin_4" />
<exclude body1="l_hand_ring_2" body2="l_hand_ring_skin_5" />
<exclude body1="l_hand_ring_2" body2="l_hand_ring_skin_6" />
<exclude body1="l_hand_ring_2" body2="l_hand_ring_skin_7" />
<exclude body1="l_hand_ring_2" body2="l_hand_ring_skin_8" />
<exclude body1="l_hand_ring_2" body2="l_hand_ring_skin_9" />
<exclude body1="l_foot_rear" body2="l_sole" />
<exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_0" />
<exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_1" />
<exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_10" />
<exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_11" />
<exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_2" />
<exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_3" />
<exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_4" />
<exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_5" />
<exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_6" />
<exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_7" />
<exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_8" />
<exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_9" />
<exclude body1="r_hand_index_3" body2="r_hand_index_skin_0" />
<exclude body1="r_hand_index_3" body2="r_hand_index_skin_1" />
<exclude body1="r_hand_index_3" body2="r_hand_index_skin_10" />
<exclude body1="r_hand_index_3" body2="r_hand_index_skin_11" />
<exclude body1="r_hand_index_3" body2="r_hand_index_skin_2" />
<exclude body1="r_hand_index_3" body2="r_hand_index_skin_3" />
<exclude body1="r_hand_index_3" body2="r_hand_index_skin_4" />
<exclude body1="r_hand_index_3" body2="r_hand_index_skin_5" />
<exclude body1="r_hand_index_3" body2="r_hand_index_skin_6" />
<exclude body1="r_hand_index_3" body2="r_hand_index_skin_7" />
<exclude body1="r_hand_index_3" body2="r_hand_index_skin_8" />
<exclude body1="r_hand_index_3" body2="r_hand_index_skin_9" />
<exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_0" />
<exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_1" />
<exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_10" />
<exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_11" />
<exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_2" />
<exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_3" />
<exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_4" />
<exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_5" />
<exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_6" />
<exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_7" />
<exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_8" />
<exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_9" />
<exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_0" />
<exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_1" />
<exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_10" />
<exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_11" />
<exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_2" />
<exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_3" />
<exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_4" />
<exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_5" />
<exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_6" />
<exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_7" />
<exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_8" />
<exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_9" />
<exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_0" />
<exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_1" />
<exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_10" />
<exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_11" />
<exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_2" />
<exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_3" />
<exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_4" />
<exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_5" />
<exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_6" />
<exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_7" />
<exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_8" />
<exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_9" />
<exclude body1="r_foot_rear" body2="r_sole" />
<exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_0" />
<exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_1" />
<exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_10" />
<exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_11" />
<exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_2" />
<exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_3" />
<exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_4" />
<exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_5" />
<exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_6" />
<exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_7" />
<exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_8" />
<exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_9" />
<exclude body1="torso_1" body2="waist_imu_0" />
<exclude body1="root_link" body2="base_link" />
</contact>
</mujoco>
Import report
Counts
| Links | 204 |
|---|---|
| Joints | 203 |
| Moving joints | 57 |
| Visuals | 66 |
| Collisions | 66 |
| Materials | 0 |
Meshes
Formats: obj.
Asset size: 24.4 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
axis | 1 | fixed joints carry no <axis>; URDF ignores it too |
dynamics | 1 | fixed joints carry no <dynamics>; URDF ignores it too |
gazebo | 114 | Gazebo simulator extensions are not part of the description |
material | 128 | anonymous material (empty name) cannot be referenced; its colour is not kept |
sensor | 22 | <sensor> is not part of the URDF subset RobotDescription mirrors |
Forward-kinematics check
Forward kinematics of 204 link frames at 20 random joint positions within limits, original URDF against robot.urdf, computed by pinocchio 3.8.0. Worst difference: 0.0e+00 m · 1.7e-15 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 57).
Source & licence
| Repository | https://github.com/icub-tech-iit/ergocub-software |
|---|---|
| Commit | v0.7.7 |
| Original file | urdf/ergoCub/robots/ergoCubSN002/model.urdf |
| Licence | BSD-3-Clause · the upstream LICENSE file |
| Files | robot.urdf · robot.xml |
Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.