G1
UNITREE Robotics · licence BSD-3-Clause · source: github.com/unitreerobotics/unitree_ros @ 267182b85
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 50db2cd8987cf9ab -->
<robot name="g1_29dof">
<material name="dark">
<color rgba="0.2 0.2 0.2 1.0" />
</material>
<material name="white">
<color rgba="0.7 0.7 0.7 1.0" />
</material>
<link name="pelvis">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/pelvis.STL" />
</geometry>
<material name="dark" />
</visual>
<inertial>
<origin xyz="0.0 0.0 -0.07605" rpy="0.0 0.0 0.0" />
<mass value="3.813" />
<inertia ixx="0.010549" ixy="0.0" ixz="2.1e-06" iyy="0.0093089" iyz="0.0" izz="0.0079184" />
</inertial>
</link>
<link name="pelvis_contour_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/pelvis_contour_link.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="meshes/pelvis_contour_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<joint name="pelvis_contour_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="pelvis" />
<child link="pelvis_contour_link" />
</joint>
<link name="left_hip_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_hip_pitch_link.STL" />
</geometry>
<material name="dark" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_hip_pitch_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.002741 0.047791 -0.02606" rpy="0.0 0.0 0.0" />
<mass value="1.35" />
<inertia ixx="0.001811" ixy="3.68e-05" ixz="-3.44e-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812" />
</inertial>
</link>
<joint name="left_hip_pitch_joint" type="revolute">
<origin xyz="0.0 0.064452 -0.1027" rpy="0.0 0.0 0.0" />
<parent link="pelvis" />
<child link="left_hip_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="88.0" velocity="32.0" lower="-2.5307" upper="2.8798" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_hip_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_hip_roll_link.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="meshes/left_hip_roll_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.029812 -0.001045 -0.087934" rpy="0.0 0.0 0.0" />
<mass value="1.52" />
<inertia ixx="0.0023773" ixy="-3.8e-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84e-05" izz="0.0016595" />
</inertial>
</link>
<joint name="left_hip_roll_joint" type="revolute">
<origin xyz="0.0 0.052 -0.030465" rpy="0.0 -0.1749 0.0" />
<parent link="left_hip_pitch_link" />
<child link="left_hip_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="88.0" velocity="32.0" lower="-0.5236" upper="2.9671" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_hip_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_hip_yaw_link.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="meshes/left_hip_yaw_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.057709 -0.010981 -0.15078" rpy="0.0 0.0 0.0" />
<mass value="1.702" />
<inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149" />
</inertial>
</link>
<joint name="left_hip_yaw_joint" type="revolute">
<origin xyz="0.025001 0.0 -0.12412" rpy="0.0 0.0 0.0" />
<parent link="left_hip_roll_link" />
<child link="left_hip_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="88.0" velocity="32.0" lower="-2.7576" upper="2.7576" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_knee_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_knee_link.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="meshes/left_knee_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.005457 0.003964 -0.12074" rpy="0.0 0.0 0.0" />
<mass value="1.932" />
<inertia ixx="0.011329" ixy="4.82e-05" ixz="-4.49e-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168" />
</inertial>
</link>
<joint name="left_knee_joint" type="revolute">
<origin xyz="-0.078273 0.0021489 -0.17734" rpy="0.0 0.1749 0.0" />
<parent link="left_hip_yaw_link" />
<child link="left_knee_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="139.0" velocity="20.0" lower="-0.087267" upper="2.8798" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_ankle_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_ankle_pitch_link.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="meshes/left_ankle_pitch_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.007269 0.0 0.011137" rpy="0.0 0.0 0.0" />
<mass value="0.074" />
<inertia ixx="8.4e-06" ixy="0.0" ixz="-2.9e-06" iyy="1.89e-05" iyz="0.0" izz="1.26e-05" />
</inertial>
</link>
<joint name="left_ankle_pitch_joint" type="revolute">
<origin xyz="0.0 -9.4445e-05 -0.30001" rpy="0.0 0.0 0.0" />
<parent link="left_knee_link" />
<child link="left_ankle_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="35.0" velocity="30.0" lower="-0.87267" upper="0.5236" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_ankle_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_ankle_roll_link.STL" />
</geometry>
<material name="dark" />
</visual>
<collision>
<origin xyz="-0.05 0.025 -0.03" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.005" />
</geometry>
</collision>
<collision>
<origin xyz="-0.05 -0.025 -0.03" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.005" />
</geometry>
</collision>
<collision>
<origin xyz="0.12 0.03 -0.03" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.005" />
</geometry>
</collision>
<collision>
<origin xyz="0.12 -0.03 -0.03" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.005" />
</geometry>
</collision>
<inertial>
<origin xyz="0.026505 0.0 -0.016425" rpy="0.0 0.0 0.0" />
<mass value="0.608" />
<inertia ixx="0.0002231" ixy="2e-07" ixz="8.91e-05" iyy="0.0016161" iyz="-1e-07" izz="0.0016667" />
</inertial>
</link>
<joint name="left_ankle_roll_joint" type="revolute">
<origin xyz="0.0 0.0 -0.017558" rpy="0.0 0.0 0.0" />
<parent link="left_ankle_pitch_link" />
<child link="left_ankle_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="35.0" velocity="30.0" lower="-0.2618" upper="0.2618" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_hip_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_hip_pitch_link.STL" />
</geometry>
<material name="dark" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_hip_pitch_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.002741 -0.047791 -0.02606" rpy="0.0 0.0 0.0" />
<mass value="1.35" />
<inertia ixx="0.001811" ixy="-3.68e-05" ixz="-3.44e-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812" />
</inertial>
</link>
<joint name="right_hip_pitch_joint" type="revolute">
<origin xyz="0.0 -0.064452 -0.1027" rpy="0.0 0.0 0.0" />
<parent link="pelvis" />
<child link="right_hip_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="88.0" velocity="32.0" lower="-2.5307" upper="2.8798" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_hip_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_hip_roll_link.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="meshes/right_hip_roll_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.029812 0.001045 -0.087934" rpy="0.0 0.0 0.0" />
<mass value="1.52" />
<inertia ixx="0.0023773" ixy="3.8e-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84e-05" izz="0.0016595" />
</inertial>
</link>
<joint name="right_hip_roll_joint" type="revolute">
<origin xyz="0.0 -0.052 -0.030465" rpy="0.0 -0.1749 0.0" />
<parent link="right_hip_pitch_link" />
<child link="right_hip_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="88.0" velocity="32.0" lower="-2.9671" upper="0.5236" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_hip_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_hip_yaw_link.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="meshes/right_hip_yaw_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.057709 0.010981 -0.15078" rpy="0.0 0.0 0.0" />
<mass value="1.702" />
<inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149" />
</inertial>
</link>
<joint name="right_hip_yaw_joint" type="revolute">
<origin xyz="0.025001 0.0 -0.12412" rpy="0.0 0.0 0.0" />
<parent link="right_hip_roll_link" />
<child link="right_hip_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="88.0" velocity="32.0" lower="-2.7576" upper="2.7576" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_knee_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_knee_link.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="meshes/right_knee_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.005457 -0.003964 -0.12074" rpy="0.0 0.0 0.0" />
<mass value="1.932" />
<inertia ixx="0.011329" ixy="-4.82e-05" ixz="4.49e-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168" />
</inertial>
</link>
<joint name="right_knee_joint" type="revolute">
<origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0.0 0.1749 0.0" />
<parent link="right_hip_yaw_link" />
<child link="right_knee_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="139.0" velocity="20.0" lower="-0.087267" upper="2.8798" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_ankle_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_ankle_pitch_link.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="meshes/right_ankle_pitch_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.007269 0.0 0.011137" rpy="0.0 0.0 0.0" />
<mass value="0.074" />
<inertia ixx="8.4e-06" ixy="0.0" ixz="-2.9e-06" iyy="1.89e-05" iyz="0.0" izz="1.26e-05" />
</inertial>
</link>
<joint name="right_ankle_pitch_joint" type="revolute">
<origin xyz="0.0 9.4445e-05 -0.30001" rpy="0.0 0.0 0.0" />
<parent link="right_knee_link" />
<child link="right_ankle_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="35.0" velocity="30.0" lower="-0.87267" upper="0.5236" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_ankle_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_ankle_roll_link.STL" />
</geometry>
<material name="dark" />
</visual>
<collision>
<origin xyz="-0.05 0.025 -0.03" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.005" />
</geometry>
</collision>
<collision>
<origin xyz="-0.05 -0.025 -0.03" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.005" />
</geometry>
</collision>
<collision>
<origin xyz="0.12 0.03 -0.03" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.005" />
</geometry>
</collision>
<collision>
<origin xyz="0.12 -0.03 -0.03" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.005" />
</geometry>
</collision>
<inertial>
<origin xyz="0.026505 0.0 -0.016425" rpy="0.0 0.0 0.0" />
<mass value="0.608" />
<inertia ixx="0.0002231" ixy="-2e-07" ixz="8.91e-05" iyy="0.0016161" iyz="1e-07" izz="0.0016667" />
</inertial>
</link>
<joint name="right_ankle_roll_joint" type="revolute">
<origin xyz="0.0 0.0 -0.017558" rpy="0.0 0.0 0.0" />
<parent link="right_ankle_pitch_link" />
<child link="right_ankle_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="35.0" velocity="30.0" lower="-0.2618" upper="0.2618" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="waist_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/waist_yaw_link.STL" />
</geometry>
<material name="white" />
</visual>
<inertial>
<origin xyz="0.003964 0.0 0.018769" rpy="0.0 0.0 0.0" />
<mass value="0.244" />
<inertia ixx="9.9587e-05" ixy="-1.833e-06" ixz="-1.2617e-05" iyy="0.00012411" iyz="-1.18e-07" izz="0.00015586" />
</inertial>
</link>
<joint name="waist_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="pelvis" />
<child link="waist_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="88.0" velocity="32.0" lower="-2.618" upper="2.618" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="waist_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/waist_roll_link.STL" />
</geometry>
<material name="white" />
</visual>
<inertial>
<origin xyz="0.0 -0.000236 0.010111" rpy="0.0 0.0 0.0" />
<mass value="0.047" />
<inertia ixx="7.515e-06" ixy="0.0" ixz="0.0" iyy="6.398e-06" iyz="9.9e-08" izz="3.988e-06" />
</inertial>
</link>
<joint name="waist_roll_joint" type="revolute">
<origin xyz="-0.0039635 0.0 0.035" rpy="0.0 0.0 0.0" />
<parent link="waist_yaw_link" />
<child link="waist_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="35.0" velocity="30.0" lower="-0.52" upper="0.52" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="torso_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/torso_link.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="meshes/torso_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.002601 0.000257 0.153719" rpy="0.0 0.0 0.0" />
<mass value="8.562" />
<inertia ixx="0.065674966" ixy="-8.597e-05" ixz="-0.001737252" iyy="0.053535188" iyz="8.6899e-05" izz="0.030808125" />
</inertial>
</link>
<joint name="waist_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 0.019" rpy="0.0 0.0 0.0" />
<parent link="waist_roll_link" />
<child link="torso_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="35.0" velocity="30.0" lower="-0.52" upper="0.52" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="logo_joint" type="fixed">
<origin xyz="0.0039635 0.0 -0.054" rpy="0.0 0.0 0.0" />
<parent link="torso_link" />
<child link="logo_link" />
</joint>
<link name="logo_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/logo_link.STL" />
</geometry>
<material name="dark" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/logo_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<link name="head_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/head_link.STL" />
</geometry>
<material name="dark" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/head_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.005267 0.000299 0.449869" rpy="0.0 0.0 0.0" />
<mass value="1.036" />
<inertia ixx="0.004085051" ixy="-2.543e-06" ixz="-6.9455e-05" iyy="0.004185212" iyz="-3.726e-06" izz="0.001807911" />
</inertial>
</link>
<joint name="head_joint" type="fixed">
<origin xyz="0.0039635 0.0 -0.054" rpy="0.0 0.0 0.0" />
<parent link="torso_link" />
<child link="head_link" />
</joint>
<link name="waist_support_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/waist_support_link.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="meshes/waist_support_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<joint name="waist_support_joint" type="fixed">
<origin xyz="0.0039635 0.0 -0.054" rpy="0.0 0.0 0.0" />
<parent link="torso_link" />
<child link="waist_support_link" />
</joint>
<link name="imu_in_torso" />
<joint name="imu_in_torso_joint" type="fixed">
<origin xyz="-0.03959 -0.00224 0.13792" rpy="0.0 0.0 0.0" />
<parent link="torso_link" />
<child link="imu_in_torso" />
</joint>
<link name="imu_in_pelvis" />
<joint name="imu_in_pelvis_joint" type="fixed">
<origin xyz="0.04525 0.0 -0.08339" rpy="0.0 0.0 0.0" />
<parent link="pelvis" />
<child link="imu_in_pelvis" />
</joint>
<link name="d435_link" />
<joint name="d435_joint" type="fixed">
<origin xyz="0.0576235 0.01753 0.41987" rpy="0.0 0.8307767239493009 0.0" />
<parent link="torso_link" />
<child link="d435_link" />
</joint>
<link name="mid360_link" />
<joint name="mid360_joint" type="fixed">
<origin xyz="0.0002835 3e-05 0.40618" rpy="0.0 0.04014257279586953 0.0" />
<parent link="torso_link" />
<child link="mid360_link" />
</joint>
<link name="left_shoulder_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_shoulder_pitch_link.STL" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 0.04 -0.01" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<cylinder length="0.05" radius="0.03" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.035892 -0.011628" rpy="0.0 0.0 0.0" />
<mass value="0.718" />
<inertia ixx="0.0004291" ixy="-9.2e-06" ixz="6.4e-06" iyy="0.000453" iyz="2.26e-05" izz="0.000423" />
</inertial>
</link>
<joint name="left_shoulder_pitch_joint" type="revolute">
<origin xyz="0.0039563 0.10022 0.23778" rpy="0.27931 5.4949e-05 -0.00019159" />
<parent link="torso_link" />
<child link="left_shoulder_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="25.0" velocity="37.0" lower="-3.0892" upper="2.6704" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_shoulder_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_shoulder_roll_link.STL" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="-0.004 0.006 -0.053" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.03" radius="0.03" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000227 0.00727 -0.063243" rpy="0.0 0.0 0.0" />
<mass value="0.643" />
<inertia ixx="0.0006177" ixy="-1e-06" ixz="8.7e-06" iyy="0.0006912" iyz="-5.3e-06" izz="0.0003894" />
</inertial>
</link>
<joint name="left_shoulder_roll_joint" type="revolute">
<origin xyz="0.0 0.038 -0.013831" rpy="-0.27925 0.0 0.0" />
<parent link="left_shoulder_pitch_link" />
<child link="left_shoulder_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="25.0" velocity="37.0" lower="-1.5882" upper="2.2515" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_shoulder_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_shoulder_yaw_link.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="meshes/left_shoulder_yaw_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.010773 -0.002949 -0.072009" rpy="0.0 0.0 0.0" />
<mass value="0.734" />
<inertia ixx="0.0009988" ixy="7.9e-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86e-05" izz="0.0004354" />
</inertial>
</link>
<joint name="left_shoulder_yaw_joint" type="revolute">
<origin xyz="0.0 0.00624 -0.1032" rpy="0.0 0.0 0.0" />
<parent link="left_shoulder_roll_link" />
<child link="left_shoulder_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="25.0" velocity="37.0" lower="-2.618" upper="2.618" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_elbow_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_elbow_link.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="meshes/left_elbow_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.064956 0.004454 -0.010062" rpy="0.0 0.0 0.0" />
<mass value="0.6" />
<inertia ixx="0.0002891" ixy="6.53e-05" ixz="1.72e-05" iyy="0.0004152" iyz="-5.6e-06" izz="0.0004197" />
</inertial>
</link>
<joint name="left_elbow_joint" type="revolute">
<origin xyz="0.015783 0.0 -0.080518" rpy="0.0 0.0 0.0" />
<parent link="left_shoulder_yaw_link" />
<child link="left_elbow_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="25.0" velocity="37.0" lower="-1.0472" upper="2.0944" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="left_wrist_roll_joint" type="revolute">
<origin xyz="0.1 0.00188791 -0.01" rpy="0.0 0.0 0.0" />
<parent link="left_elbow_link" />
<child link="left_wrist_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="25.0" velocity="37.0" lower="-1.972222054" upper="1.972222054" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_wrist_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_wrist_roll_link.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="meshes/left_wrist_roll_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.01713944778 0.00053759094 4.8864e-07" rpy="0.0 0.0 0.0" />
<mass value="0.08544498" />
<inertia ixx="4.821544023e-05" ixy="-4.24511021e-06" ixz="5.10599e-09" iyy="3.722899093e-05" iyz="-1.23525e-09" izz="5.482106541e-05" />
</inertial>
</link>
<joint name="left_wrist_pitch_joint" type="revolute">
<origin xyz="0.038 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_wrist_roll_link" />
<child link="left_wrist_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="5.0" velocity="22.0" lower="-1.614429558" upper="1.614429558" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_wrist_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_wrist_pitch_link.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="meshes/left_wrist_pitch_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.02299989837 -0.00111685314 -0.00111658096" rpy="0.0 0.0 0.0" />
<mass value="0.48404956" />
<inertia ixx="0.00016579646273" ixy="-1.231206746e-05" ixz="1.231699194e-05" iyy="0.0004295405741" iyz="8.1417712e-07" izz="0.00042953697654" />
</inertial>
</link>
<joint name="left_wrist_yaw_joint" type="revolute">
<origin xyz="0.046 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_wrist_pitch_link" />
<child link="left_wrist_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="5.0" velocity="22.0" lower="-1.614429558" upper="1.614429558" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_wrist_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_wrist_yaw_link.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="meshes/left_wrist_yaw_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.02200381568 0.00049485096 0.00053861123" rpy="0.0 0.0 0.0" />
<mass value="0.08457647" />
<inertia ixx="4.929128828e-05" ixy="-4.5735494e-07" ixz="4.45867591e-06" iyy="5.973338134e-05" iyz="4.3217198e-07" izz="3.928083826e-05" />
</inertial>
</link>
<joint name="left_hand_palm_joint" type="fixed">
<origin xyz="0.0415 0.003 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_wrist_yaw_link" />
<child link="left_rubber_hand" />
</joint>
<link name="left_rubber_hand">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_rubber_hand.STL" />
</geometry>
<material name="white" />
</visual>
<inertial>
<origin xyz="0.05361310808 -0.0029590524 0.00215413091" rpy="0.0 0.0 0.0" />
<mass value="0.17" />
<inertia ixx="0.00010099485234748" ixy="3.618590790516e-05" ixz="-7.4301518642e-07" iyy="0.00028135871571621" iyz="3.30189743286e-06" izz="0.00021894770413514" />
</inertial>
</link>
<link name="right_shoulder_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_shoulder_pitch_link.STL" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 -0.04 -0.01" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<cylinder length="0.05" radius="0.03" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.035892 -0.011628" rpy="0.0 0.0 0.0" />
<mass value="0.718" />
<inertia ixx="0.0004291" ixy="9.2e-06" ixz="6.4e-06" iyy="0.000453" iyz="-2.26e-05" izz="0.000423" />
</inertial>
</link>
<joint name="right_shoulder_pitch_joint" type="revolute">
<origin xyz="0.0039563 -0.10021 0.23778" rpy="-0.27931 5.4949e-05 0.00019159" />
<parent link="torso_link" />
<child link="right_shoulder_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="25.0" velocity="37.0" lower="-3.0892" upper="2.6704" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_shoulder_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_shoulder_roll_link.STL" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="-0.004 -0.006 -0.053" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.03" radius="0.03" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000227 -0.00727 -0.063243" rpy="0.0 0.0 0.0" />
<mass value="0.643" />
<inertia ixx="0.0006177" ixy="1e-06" ixz="8.7e-06" iyy="0.0006912" iyz="5.3e-06" izz="0.0003894" />
</inertial>
</link>
<joint name="right_shoulder_roll_joint" type="revolute">
<origin xyz="0.0 -0.038 -0.013831" rpy="0.27925 0.0 0.0" />
<parent link="right_shoulder_pitch_link" />
<child link="right_shoulder_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="25.0" velocity="37.0" lower="-2.2515" upper="1.5882" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_shoulder_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_shoulder_yaw_link.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="meshes/right_shoulder_yaw_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.010773 0.002949 -0.072009" rpy="0.0 0.0 0.0" />
<mass value="0.734" />
<inertia ixx="0.0009988" ixy="-7.9e-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86e-05" izz="0.0004354" />
</inertial>
</link>
<joint name="right_shoulder_yaw_joint" type="revolute">
<origin xyz="0.0 -0.00624 -0.1032" rpy="0.0 0.0 0.0" />
<parent link="right_shoulder_roll_link" />
<child link="right_shoulder_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="25.0" velocity="37.0" lower="-2.618" upper="2.618" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_elbow_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_elbow_link.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="meshes/right_elbow_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.064956 -0.004454 -0.010062" rpy="0.0 0.0 0.0" />
<mass value="0.6" />
<inertia ixx="0.0002891" ixy="-6.53e-05" ixz="1.72e-05" iyy="0.0004152" iyz="5.6e-06" izz="0.0004197" />
</inertial>
</link>
<joint name="right_elbow_joint" type="revolute">
<origin xyz="0.015783 0.0 -0.080518" rpy="0.0 0.0 0.0" />
<parent link="right_shoulder_yaw_link" />
<child link="right_elbow_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="25.0" velocity="37.0" lower="-1.0472" upper="2.0944" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="right_wrist_roll_joint" type="revolute">
<origin xyz="0.1 -0.00188791 -0.01" rpy="0.0 0.0 0.0" />
<parent link="right_elbow_link" />
<child link="right_wrist_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="25.0" velocity="37.0" lower="-1.972222054" upper="1.972222054" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_wrist_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_wrist_roll_link.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="meshes/right_wrist_roll_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.01713944778 -0.00053759094 4.8864e-07" rpy="0.0 0.0 0.0" />
<mass value="0.08544498" />
<inertia ixx="4.821544023e-05" ixy="4.24511021e-06" ixz="5.10599e-09" iyy="3.722899093e-05" iyz="1.23525e-09" izz="5.482106541e-05" />
</inertial>
</link>
<joint name="right_wrist_pitch_joint" type="revolute">
<origin xyz="0.038 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_wrist_roll_link" />
<child link="right_wrist_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="5.0" velocity="22.0" lower="-1.614429558" upper="1.614429558" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_wrist_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_wrist_pitch_link.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="meshes/right_wrist_pitch_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.02299989837 0.00111685314 -0.00111658096" rpy="0.0 0.0 0.0" />
<mass value="0.48404956" />
<inertia ixx="0.00016579646273" ixy="1.231206746e-05" ixz="1.231699194e-05" iyy="0.0004295405741" iyz="-8.1417712e-07" izz="0.00042953697654" />
</inertial>
</link>
<joint name="right_wrist_yaw_joint" type="revolute">
<origin xyz="0.046 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_wrist_pitch_link" />
<child link="right_wrist_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="5.0" velocity="22.0" lower="-1.614429558" upper="1.614429558" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_wrist_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_wrist_yaw_link.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="meshes/right_wrist_yaw_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.02200381568 -0.00049485096 0.00053861123" rpy="0.0 0.0 0.0" />
<mass value="0.08457647" />
<inertia ixx="4.929128828e-05" ixy="4.5735494e-07" ixz="4.45867591e-06" iyy="5.973338134e-05" iyz="-4.3217198e-07" izz="3.928083826e-05" />
</inertial>
</link>
<joint name="right_hand_palm_joint" type="fixed">
<origin xyz="0.0415 -0.003 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_wrist_yaw_link" />
<child link="right_rubber_hand" />
</joint>
<link name="right_rubber_hand">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_rubber_hand.STL" />
</geometry>
<material name="white" />
</visual>
<inertial>
<origin xyz="0.05361310808 0.0029590524 0.00215413091" rpy="0.0 0.0 0.0" />
<mass value="0.17" />
<inertia ixx="0.00010099485234748" ixy="-3.618590790516e-05" ixz="-7.4301518642e-07" iyy="0.00028135871571621" iyz="-3.30189743286e-06" izz="0.00021894770413514" />
</inertial>
</link>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 50db2cd8987cf9ab -->
<mujoco model="g1_29dof">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="dark" rgba="0.2 0.2 0.2 1.0" />
<material name="white" rgba="0.7 0.7 0.7 1.0" />
<mesh name="pelvis" file="meshes/pelvis.STL" />
<mesh name="pelvis_contour_link" file="meshes/pelvis_contour_link.STL" />
<mesh name="left_hip_pitch_link" file="meshes/left_hip_pitch_link.STL" />
<mesh name="left_hip_roll_link" file="meshes/left_hip_roll_link.STL" />
<mesh name="left_hip_yaw_link" file="meshes/left_hip_yaw_link.STL" />
<mesh name="left_knee_link" file="meshes/left_knee_link.STL" />
<mesh name="left_ankle_pitch_link" file="meshes/left_ankle_pitch_link.STL" />
<mesh name="left_ankle_roll_link" file="meshes/left_ankle_roll_link.STL" />
<mesh name="right_hip_pitch_link" file="meshes/right_hip_pitch_link.STL" />
<mesh name="right_hip_roll_link" file="meshes/right_hip_roll_link.STL" />
<mesh name="right_hip_yaw_link" file="meshes/right_hip_yaw_link.STL" />
<mesh name="right_knee_link" file="meshes/right_knee_link.STL" />
<mesh name="right_ankle_pitch_link" file="meshes/right_ankle_pitch_link.STL" />
<mesh name="right_ankle_roll_link" file="meshes/right_ankle_roll_link.STL" />
<mesh name="waist_yaw_link" file="meshes/waist_yaw_link.STL" />
<mesh name="waist_roll_link" file="meshes/waist_roll_link.STL" />
<mesh name="torso_link" file="meshes/torso_link.STL" />
<mesh name="logo_link" file="meshes/logo_link.STL" />
<mesh name="head_link" file="meshes/head_link.STL" />
<mesh name="waist_support_link" file="meshes/waist_support_link.STL" />
<mesh name="left_shoulder_pitch_link" file="meshes/left_shoulder_pitch_link.STL" />
<mesh name="left_shoulder_roll_link" file="meshes/left_shoulder_roll_link.STL" />
<mesh name="left_shoulder_yaw_link" file="meshes/left_shoulder_yaw_link.STL" />
<mesh name="left_elbow_link" file="meshes/left_elbow_link.STL" />
<mesh name="left_wrist_roll_link" file="meshes/left_wrist_roll_link.STL" />
<mesh name="left_wrist_pitch_link" file="meshes/left_wrist_pitch_link.STL" />
<mesh name="left_wrist_yaw_link" file="meshes/left_wrist_yaw_link.STL" />
<mesh name="left_rubber_hand" file="meshes/left_rubber_hand.STL" />
<mesh name="right_shoulder_pitch_link" file="meshes/right_shoulder_pitch_link.STL" />
<mesh name="right_shoulder_roll_link" file="meshes/right_shoulder_roll_link.STL" />
<mesh name="right_shoulder_yaw_link" file="meshes/right_shoulder_yaw_link.STL" />
<mesh name="right_elbow_link" file="meshes/right_elbow_link.STL" />
<mesh name="right_wrist_roll_link" file="meshes/right_wrist_roll_link.STL" />
<mesh name="right_wrist_pitch_link" file="meshes/right_wrist_pitch_link.STL" />
<mesh name="right_wrist_yaw_link" file="meshes/right_wrist_yaw_link.STL" />
<mesh name="right_rubber_hand" file="meshes/right_rubber_hand.STL" />
</asset>
<worldbody>
<body name="pelvis">
<inertial pos="0.0 0.0 -0.07605" mass="3.813" fullinertia="0.010549 0.0093089 0.0079184 0.0 2.1e-06 0.0" />
<geom name="pelvis_vis_0" type="mesh" mesh="pelvis" contype="0" conaffinity="0" group="2" material="dark" />
<body name="pelvis_contour_link">
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-07 1e-07 1e-07 0.0 0.0 0.0" />
<geom name="pelvis_contour_link_vis_0" type="mesh" mesh="pelvis_contour_link" contype="0" conaffinity="0" group="2" material="white" />
<geom name="pelvis_contour_link_col_0" type="mesh" mesh="pelvis_contour_link" group="3" />
</body>
<body name="left_hip_pitch_link" pos="0.0 0.064452 -0.1027">
<joint name="left_hip_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.5307 2.8798" />
<inertial pos="0.002741 0.047791 -0.02606" mass="1.35" fullinertia="0.001811 0.0014193 0.0012812 3.68e-05 -3.44e-05 0.000171" />
<geom name="left_hip_pitch_link_vis_0" type="mesh" mesh="left_hip_pitch_link" contype="0" conaffinity="0" group="2" material="dark" />
<geom name="left_hip_pitch_link_col_0" type="mesh" mesh="left_hip_pitch_link" group="3" />
<body name="left_hip_roll_link" pos="0.0 0.052 -0.030465" quat="0.9961786849744957 0.0 -0.08733858026373247 0.0">
<joint name="left_hip_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.5236 2.9671" />
<inertial pos="0.029812 -0.001045 -0.087934" mass="1.52" fullinertia="0.0023773 0.0024123 0.0016595 -3.8e-06 -0.0003908 1.84e-05" />
<geom name="left_hip_roll_link_vis_0" type="mesh" mesh="left_hip_roll_link" contype="0" conaffinity="0" group="2" material="white" />
<geom name="left_hip_roll_link_col_0" type="mesh" mesh="left_hip_roll_link" group="3" />
<body name="left_hip_yaw_link" pos="0.025001 0.0 -0.12412">
<joint name="left_hip_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.7576 2.7576" />
<inertial pos="-0.057709 -0.010981 -0.15078" mass="1.702" fullinertia="0.0057774 0.0076124 0.003149 -0.0005411 -0.0023948 -0.0007072" />
<geom name="left_hip_yaw_link_vis_0" type="mesh" mesh="left_hip_yaw_link" contype="0" conaffinity="0" group="2" material="white" />
<geom name="left_hip_yaw_link_col_0" type="mesh" mesh="left_hip_yaw_link" group="3" />
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.9961786849744957 0.0 0.08733858026373247 0.0">
<joint name="left_knee_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.087267 2.8798" />
<inertial pos="0.005457 0.003964 -0.12074" mass="1.932" fullinertia="0.011329 0.011277 0.0015168 4.82e-05 -4.49e-05 -0.0007146" />
<geom name="left_knee_link_vis_0" type="mesh" mesh="left_knee_link" contype="0" conaffinity="0" group="2" material="white" />
<geom name="left_knee_link_col_0" type="mesh" mesh="left_knee_link" group="3" />
<body name="left_ankle_pitch_link" pos="0.0 -9.4445e-05 -0.30001">
<joint name="left_ankle_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.87267 0.5236" />
<inertial pos="-0.007269 0.0 0.011137" mass="0.074" fullinertia="8.4e-06 1.89e-05 1.26e-05 0.0 -2.9e-06 0.0" />
<geom name="left_ankle_pitch_link_vis_0" type="mesh" mesh="left_ankle_pitch_link" contype="0" conaffinity="0" group="2" material="white" />
<geom name="left_ankle_pitch_link_col_0" type="mesh" mesh="left_ankle_pitch_link" group="3" />
<body name="left_ankle_roll_link" pos="0.0 0.0 -0.017558">
<joint name="left_ankle_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.2618 0.2618" />
<inertial pos="0.026505 0.0 -0.016425" mass="0.608" fullinertia="0.0002231 0.0016161 0.0016667 2e-07 8.91e-05 -1e-07" />
<geom name="left_ankle_roll_link_vis_0" type="mesh" mesh="left_ankle_roll_link" contype="0" conaffinity="0" group="2" material="dark" />
<geom name="left_ankle_roll_link_col_0" type="sphere" size="0.005" pos="-0.05 0.025 -0.03" group="3" />
<geom name="left_ankle_roll_link_col_1" type="sphere" size="0.005" pos="-0.05 -0.025 -0.03" group="3" />
<geom name="left_ankle_roll_link_col_2" type="sphere" size="0.005" pos="0.12 0.03 -0.03" group="3" />
<geom name="left_ankle_roll_link_col_3" type="sphere" size="0.005" pos="0.12 -0.03 -0.03" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="right_hip_pitch_link" pos="0.0 -0.064452 -0.1027">
<joint name="right_hip_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.5307 2.8798" />
<inertial pos="0.002741 -0.047791 -0.02606" mass="1.35" fullinertia="0.001811 0.0014193 0.0012812 -3.68e-05 -3.44e-05 -0.000171" />
<geom name="right_hip_pitch_link_vis_0" type="mesh" mesh="right_hip_pitch_link" contype="0" conaffinity="0" group="2" material="dark" />
<geom name="right_hip_pitch_link_col_0" type="mesh" mesh="right_hip_pitch_link" group="3" />
<body name="right_hip_roll_link" pos="0.0 -0.052 -0.030465" quat="0.9961786849744957 0.0 -0.08733858026373247 0.0">
<joint name="right_hip_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-2.9671 0.5236" />
<inertial pos="0.029812 0.001045 -0.087934" mass="1.52" fullinertia="0.0023773 0.0024123 0.0016595 3.8e-06 -0.0003908 -1.84e-05" />
<geom name="right_hip_roll_link_vis_0" type="mesh" mesh="right_hip_roll_link" contype="0" conaffinity="0" group="2" material="white" />
<geom name="right_hip_roll_link_col_0" type="mesh" mesh="right_hip_roll_link" group="3" />
<body name="right_hip_yaw_link" pos="0.025001 0.0 -0.12412">
<joint name="right_hip_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.7576 2.7576" />
<inertial pos="-0.057709 0.010981 -0.15078" mass="1.702" fullinertia="0.0057774 0.0076124 0.003149 0.0005411 -0.0023948 0.0007072" />
<geom name="right_hip_yaw_link_vis_0" type="mesh" mesh="right_hip_yaw_link" contype="0" conaffinity="0" group="2" material="white" />
<geom name="right_hip_yaw_link_col_0" type="mesh" mesh="right_hip_yaw_link" group="3" />
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.9961786849744957 0.0 0.08733858026373247 0.0">
<joint name="right_knee_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.087267 2.8798" />
<inertial pos="0.005457 -0.003964 -0.12074" mass="1.932" fullinertia="0.011329 0.011277 0.0015168 -4.82e-05 4.49e-05 0.0007146" />
<geom name="right_knee_link_vis_0" type="mesh" mesh="right_knee_link" contype="0" conaffinity="0" group="2" material="white" />
<geom name="right_knee_link_col_0" type="mesh" mesh="right_knee_link" group="3" />
<body name="right_ankle_pitch_link" pos="0.0 9.4445e-05 -0.30001">
<joint name="right_ankle_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.87267 0.5236" />
<inertial pos="-0.007269 0.0 0.011137" mass="0.074" fullinertia="8.4e-06 1.89e-05 1.26e-05 0.0 -2.9e-06 0.0" />
<geom name="right_ankle_pitch_link_vis_0" type="mesh" mesh="right_ankle_pitch_link" contype="0" conaffinity="0" group="2" material="white" />
<geom name="right_ankle_pitch_link_col_0" type="mesh" mesh="right_ankle_pitch_link" group="3" />
<body name="right_ankle_roll_link" pos="0.0 0.0 -0.017558">
<joint name="right_ankle_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.2618 0.2618" />
<inertial pos="0.026505 0.0 -0.016425" mass="0.608" fullinertia="0.0002231 0.0016161 0.0016667 -2e-07 8.91e-05 1e-07" />
<geom name="right_ankle_roll_link_vis_0" type="mesh" mesh="right_ankle_roll_link" contype="0" conaffinity="0" group="2" material="dark" />
<geom name="right_ankle_roll_link_col_0" type="sphere" size="0.005" pos="-0.05 0.025 -0.03" group="3" />
<geom name="right_ankle_roll_link_col_1" type="sphere" size="0.005" pos="-0.05 -0.025 -0.03" group="3" />
<geom name="right_ankle_roll_link_col_2" type="sphere" size="0.005" pos="0.12 0.03 -0.03" group="3" />
<geom name="right_ankle_roll_link_col_3" type="sphere" size="0.005" pos="0.12 -0.03 -0.03" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="waist_yaw_link">
<joint name="waist_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.618 2.618" />
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<geom name="waist_yaw_link_vis_0" type="mesh" mesh="waist_yaw_link" contype="0" conaffinity="0" group="2" material="white" />
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<joint name="waist_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.52 0.52" />
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<geom name="waist_roll_link_vis_0" type="mesh" mesh="waist_roll_link" contype="0" conaffinity="0" group="2" material="white" />
<body name="torso_link" pos="0.0 0.0 0.019">
<joint name="waist_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.52 0.52" />
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<geom name="torso_link_vis_0" type="mesh" mesh="torso_link" contype="0" conaffinity="0" group="2" material="white" />
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<body name="logo_link" pos="0.0039635 0.0 -0.054">
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<geom name="logo_link_vis_0" type="mesh" mesh="logo_link" contype="0" conaffinity="0" group="2" material="dark" />
<geom name="logo_link_col_0" type="mesh" mesh="logo_link" group="3" />
</body>
<body name="head_link" pos="0.0039635 0.0 -0.054">
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<geom name="head_link_vis_0" type="mesh" mesh="head_link" contype="0" conaffinity="0" group="2" material="dark" />
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</body>
<body name="waist_support_link" pos="0.0039635 0.0 -0.054">
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<geom name="waist_support_link_vis_0" type="mesh" mesh="waist_support_link" contype="0" conaffinity="0" group="2" material="white" />
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</body>
<body name="imu_in_torso" pos="-0.03959 -0.00224 0.13792" />
<body name="d435_link" pos="0.0576235 0.01753 0.41987" quat="0.9149596678498247 0.0 0.40354529635239006 0.0" />
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<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778" quat="0.9902640743722195 0.13920148374281427 1.3872204401988457e-05 -9.868683842420437e-05">
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<geom name="left_shoulder_pitch_link_vis_0" type="mesh" mesh="left_shoulder_pitch_link" contype="0" conaffinity="0" group="2" material="white" />
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<geom name="left_shoulder_roll_link_vis_0" type="mesh" mesh="left_shoulder_roll_link" contype="0" conaffinity="0" group="2" material="white" />
<geom name="left_shoulder_roll_link_col_0" type="cylinder" size="0.03 0.015" pos="-0.004 0.006 -0.053" group="3" />
<body name="left_shoulder_yaw_link" pos="0.0 0.00624 -0.1032">
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<geom name="left_shoulder_yaw_link_vis_0" type="mesh" mesh="left_shoulder_yaw_link" contype="0" conaffinity="0" group="2" material="white" />
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<geom name="left_wrist_yaw_link_vis_0" type="mesh" mesh="left_wrist_yaw_link" contype="0" conaffinity="0" group="2" material="white" />
<geom name="left_wrist_yaw_link_col_0" type="mesh" mesh="left_wrist_yaw_link" group="3" />
<body name="left_rubber_hand" pos="0.0415 0.003 0.0">
<inertial pos="0.05361310808 -0.0029590524 0.00215413091" mass="0.17" fullinertia="0.00010099485234748 0.00028135871571621 0.00021894770413514 3.618590790516e-05 -7.4301518642e-07 3.30189743286e-06" />
<geom name="left_rubber_hand_vis_0" type="mesh" mesh="left_rubber_hand" contype="0" conaffinity="0" group="2" material="white" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778" quat="0.9902640743722195 -0.13920148374281427 1.3872204401988457e-05 9.868683842420437e-05">
<joint name="right_shoulder_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-3.0892 2.6704" />
<inertial pos="0.0 -0.035892 -0.011628" mass="0.718" fullinertia="0.0004291 0.000453 0.000423 9.2e-06 6.4e-06 -2.26e-05" />
<geom name="right_shoulder_pitch_link_vis_0" type="mesh" mesh="right_shoulder_pitch_link" contype="0" conaffinity="0" group="2" material="white" />
<geom name="right_shoulder_pitch_link_col_0" type="cylinder" size="0.03 0.025" pos="0.0 -0.04 -0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
<body name="right_shoulder_roll_link" pos="0.0 -0.038 -0.013831" quat="0.9902682552548409 0.1391717738427347 0.0 0.0">
<joint name="right_shoulder_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-2.2515 1.5882" />
<inertial pos="-0.000227 -0.00727 -0.063243" mass="0.643" fullinertia="0.0006177 0.0006912 0.0003894 1e-06 8.7e-06 5.3e-06" />
<geom name="right_shoulder_roll_link_vis_0" type="mesh" mesh="right_shoulder_roll_link" contype="0" conaffinity="0" group="2" material="white" />
<geom name="right_shoulder_roll_link_col_0" type="cylinder" size="0.03 0.015" pos="-0.004 -0.006 -0.053" group="3" />
<body name="right_shoulder_yaw_link" pos="0.0 -0.00624 -0.1032">
<joint name="right_shoulder_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.618 2.618" />
<inertial pos="0.010773 0.002949 -0.072009" mass="0.734" fullinertia="0.0009988 0.0010605 0.0004354 -7.9e-06 0.0001412 2.86e-05" />
<geom name="right_shoulder_yaw_link_vis_0" type="mesh" mesh="right_shoulder_yaw_link" contype="0" conaffinity="0" group="2" material="white" />
<geom name="right_shoulder_yaw_link_col_0" type="mesh" mesh="right_shoulder_yaw_link" group="3" />
<body name="right_elbow_link" pos="0.015783 0.0 -0.080518">
<joint name="right_elbow_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.0472 2.0944" />
<inertial pos="0.064956 -0.004454 -0.010062" mass="0.6" fullinertia="0.0002891 0.0004152 0.0004197 -6.53e-05 1.72e-05 5.6e-06" />
<geom name="right_elbow_link_vis_0" type="mesh" mesh="right_elbow_link" contype="0" conaffinity="0" group="2" material="white" />
<geom name="right_elbow_link_col_0" type="mesh" mesh="right_elbow_link" group="3" />
<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
<joint name="right_wrist_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.972222054 1.972222054" />
<inertial pos="0.01713944778 -0.00053759094 4.8864e-07" mass="0.08544498" fullinertia="4.821544023e-05 3.722899093e-05 5.482106541e-05 4.24511021e-06 5.10599e-09 1.23525e-09" />
<geom name="right_wrist_roll_link_vis_0" type="mesh" mesh="right_wrist_roll_link" contype="0" conaffinity="0" group="2" material="white" />
<geom name="right_wrist_roll_link_col_0" type="mesh" mesh="right_wrist_roll_link" group="3" />
<body name="right_wrist_pitch_link" pos="0.038 0.0 0.0">
<joint name="right_wrist_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.614429558 1.614429558" />
<inertial pos="0.02299989837 0.00111685314 -0.00111658096" mass="0.48404956" fullinertia="0.00016579646273 0.0004295405741 0.00042953697654 1.231206746e-05 1.231699194e-05 -8.1417712e-07" />
<geom name="right_wrist_pitch_link_vis_0" type="mesh" mesh="right_wrist_pitch_link" contype="0" conaffinity="0" group="2" material="white" />
<geom name="right_wrist_pitch_link_col_0" type="mesh" mesh="right_wrist_pitch_link" group="3" />
<body name="right_wrist_yaw_link" pos="0.046 0.0 0.0">
<joint name="right_wrist_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.614429558 1.614429558" />
<inertial pos="0.02200381568 -0.00049485096 0.00053861123" mass="0.08457647" fullinertia="4.929128828e-05 5.973338134e-05 3.928083826e-05 4.5735494e-07 4.45867591e-06 -4.3217198e-07" />
<geom name="right_wrist_yaw_link_vis_0" type="mesh" mesh="right_wrist_yaw_link" contype="0" conaffinity="0" group="2" material="white" />
<geom name="right_wrist_yaw_link_col_0" type="mesh" mesh="right_wrist_yaw_link" group="3" />
<body name="right_rubber_hand" pos="0.0415 -0.003 0.0">
<inertial pos="0.05361310808 0.0029590524 0.00215413091" mass="0.17" fullinertia="0.00010099485234748 0.00028135871571621 0.00021894770413514 -3.618590790516e-05 -7.4301518642e-07 -3.30189743286e-06" />
<geom name="right_rubber_hand_vis_0" type="mesh" mesh="right_rubber_hand" contype="0" conaffinity="0" group="2" material="white" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="imu_in_pelvis" pos="0.04525 0.0 -0.08339" />
</body>
</worldbody>
<contact>
<exclude body1="pelvis" body2="pelvis_contour_link" />
<exclude body1="pelvis" body2="left_hip_pitch_link" />
<exclude body1="left_hip_pitch_link" body2="left_hip_roll_link" />
<exclude body1="left_hip_roll_link" body2="left_hip_yaw_link" />
<exclude body1="left_hip_yaw_link" body2="left_knee_link" />
<exclude body1="left_knee_link" body2="left_ankle_pitch_link" />
<exclude body1="left_ankle_pitch_link" body2="left_ankle_roll_link" />
<exclude body1="pelvis" body2="right_hip_pitch_link" />
<exclude body1="right_hip_pitch_link" body2="right_hip_roll_link" />
<exclude body1="right_hip_roll_link" body2="right_hip_yaw_link" />
<exclude body1="right_hip_yaw_link" body2="right_knee_link" />
<exclude body1="right_knee_link" body2="right_ankle_pitch_link" />
<exclude body1="right_ankle_pitch_link" body2="right_ankle_roll_link" />
<exclude body1="pelvis" body2="waist_yaw_link" />
<exclude body1="waist_yaw_link" body2="waist_roll_link" />
<exclude body1="waist_roll_link" body2="torso_link" />
<exclude body1="torso_link" body2="logo_link" />
<exclude body1="torso_link" body2="head_link" />
<exclude body1="torso_link" body2="waist_support_link" />
<exclude body1="torso_link" body2="imu_in_torso" />
<exclude body1="pelvis" body2="imu_in_pelvis" />
<exclude body1="torso_link" body2="d435_link" />
<exclude body1="torso_link" body2="mid360_link" />
<exclude body1="torso_link" body2="left_shoulder_pitch_link" />
<exclude body1="left_shoulder_pitch_link" body2="left_shoulder_roll_link" />
<exclude body1="left_shoulder_roll_link" body2="left_shoulder_yaw_link" />
<exclude body1="left_shoulder_yaw_link" body2="left_elbow_link" />
<exclude body1="left_elbow_link" body2="left_wrist_roll_link" />
<exclude body1="left_wrist_roll_link" body2="left_wrist_pitch_link" />
<exclude body1="left_wrist_pitch_link" body2="left_wrist_yaw_link" />
<exclude body1="left_wrist_yaw_link" body2="left_rubber_hand" />
<exclude body1="torso_link" body2="right_shoulder_pitch_link" />
<exclude body1="right_shoulder_pitch_link" body2="right_shoulder_roll_link" />
<exclude body1="right_shoulder_roll_link" body2="right_shoulder_yaw_link" />
<exclude body1="right_shoulder_yaw_link" body2="right_elbow_link" />
<exclude body1="right_elbow_link" body2="right_wrist_roll_link" />
<exclude body1="right_wrist_roll_link" body2="right_wrist_pitch_link" />
<exclude body1="right_wrist_pitch_link" body2="right_wrist_yaw_link" />
<exclude body1="right_wrist_yaw_link" body2="right_rubber_hand" />
</contact>
</mujoco>
Import report
Counts
| Links | 40 |
|---|---|
| Joints | 39 |
| Moving joints | 29 |
| Visuals | 36 |
| Collisions | 37 |
| Materials | 2 |
Meshes
Formats: stl.
Asset size: 19.1 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
mujoco | 1 | <mujoco> is not part of the URDF subset RobotDescription mirrors |
Forward-kinematics check
Forward kinematics of 40 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 · 6.6e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 29).
Source & licence
| Repository | https://github.com/unitreerobotics/unitree_ros |
|---|---|
| Commit | 267182b8521c8d6a631bab1fe63836873237a525 |
| Original file | robots/g1_description/g1_29dof.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.