Ginger
Paaila Technology · licence BSD · source: github.com/Rayckey/GingerURDF @ 6a1307cd0
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 e78f182431040286 -->
<robot name="gingerurdf">
<link name="base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/base_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/base_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="2.61752017675272e-06 -0.165725126916168 0.176971895173863" rpy="0.0 0.0 0.0" />
<mass value="36.8100641165154" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<link name="Knee_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Knee_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Knee_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00452437161368133 0.278470884369769 -0.00963249354060181" rpy="0.0 0.0 0.0" />
<mass value="37.4804521490049" />
<inertia ixx="0.211387187948835" ixy="0.00352813969999868" ixz="-0.000112168416437373" iyy="0.000322803193524901" iyz="0.00721821701372064" izz="0.211201747394794" />
</inertial>
</link>
<joint name="Knee" type="continuous">
<origin xyz="0.0 -0.163753578960292 0.422732937784996" rpy="1.5707963267949 0.0562043157596906 -2.28428512229131" />
<parent link="base_link" />
<child link="Knee_Link" />
<axis xyz="-0.653442120633779 -0.0367649880485583 -0.756083150609388" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Back_Z_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Back_Z_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Back_Z_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="9.96483011486414e-05 -0.0235253287405914 1.29671680690613e-05" rpy="0.0 0.0 0.0" />
<mass value="0.362897306288371" />
<inertia ixx="1.52954696432461e-06" ixy="4.87679847394376e-05" ixz="6.8970720244594e-08" iyy="0.00155491864758516" iyz="-2.1631762177384e-09" izz="0.00155644818843089" />
</inertial>
</link>
<joint name="Back_Z" type="continuous">
<origin xyz="-0.0258402466955493 0.459273873742399 0.0" rpy="3.14159265358979 0.857307531298485 -3.0853883378301" />
<parent link="Knee_Link" />
<child link="Back_Z_Link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Back_X_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Back_X_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Back_X_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="7.25800221334472e-07 0.00710646362323375 -0.000567922552589972" rpy="0.0 0.0 0.0" />
<mass value="0.160555101690642" />
<inertia ixx="0.000646243085057801" ixy="1.76220636996922e-10" ixz="-1.3253471708974e-08" iyy="0.000646128857122526" iyz="8.59105004609635e-06" izz="1.14228478989141e-07" />
</inertial>
</link>
<joint name="Back_X" type="continuous">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="Back_Z_Link" />
<child link="Back_X_Link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Back_Y_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Back_Y_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Back_Y_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-2.43364144072691e-06 0.188450472690914 0.00594321909271028" rpy="0.0 0.0 0.0" />
<mass value="14.5524894817025" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="Back_Y" type="continuous">
<origin xyz="0.0 0.104999999999997 0.0" rpy="0.0 0.0 0.0" />
<parent link="Back_X_Link" />
<child link="Back_Y_Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Neck_Z_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Neck_Z_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Neck_Z_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000900405889931662 -0.0282382085153039 -1.99027937078933e-05" rpy="0.0 0.0 0.0" />
<mass value="0.0319419542205201" />
<inertia ixx="6.11447595931231e-08" ixy="7.98473472450901e-07" ixz="4.14523819570641e-09" iyy="1.04273395497727e-05" iyz="-3.17421643702653e-10" izz="1.04884810136062e-05" />
</inertial>
</link>
<joint name="Neck_Z" type="continuous">
<origin xyz="0.0 0.37820748993899 0.00368296133076892" rpy="0.0 0.0 0.0" />
<parent link="Back_Y_Link" />
<child link="Neck_Z_Link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Neck_X_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Neck_X_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Neck_X_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-1.09500071057212e-07 0.049706089298506 -0.00163331965794419" rpy="0.0 0.0 0.0" />
<mass value="0.0234939114340347" />
<inertia ixx="1.77042259293073e-13" ixy="3.71095030680732e-10" ixz="-1.56999356968531e-09" iyy="1.47003962258883e-05" iyz="3.96327289144965e-14" izz="1.47003960675818e-05" />
</inertial>
</link>
<joint name="Neck_X" type="continuous">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="Neck_Z_Link" />
<child link="Neck_X_Link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Head_Y_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Head_Y_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Head_Y_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="1.25749828895916e-06 0.0690353219440325 0.0128898228914063" rpy="0.0 0.0 0.0" />
<mass value="0.476573842563304" />
<inertia ixx="9.50337018432393e-05" ixy="-9.64187278849465e-10" ixz="1.21428528818022e-09" iyy="0.0002819586077855" iyz="2.85998705650742e-05" izz="0.000221694213130154" />
</inertial>
</link>
<joint name="Head_Y" type="continuous">
<origin xyz="0.0 0.0609748006263349 0.000155084351385615" rpy="0.0 0.0 0.0" />
<parent link="Neck_X_Link" />
<child link="Head_Y_Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Left_Shoulder_X_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_Shoulder_X_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_Shoulder_X_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.268082573106329" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="Left_Shoulder_X" type="continuous">
<origin xyz="0.167642819139667 0.257434208387602 -0.0153204612848375" rpy="3.14159265358979 0.0 -2.79254817387005" />
<parent link="Back_Y_Link" />
<child link="Left_Shoulder_X_Link" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Left_Shoulder_Y_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_Shoulder_Y_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_Shoulder_Y_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00247755523732418 -0.084565040288068 0.000409656965695976" rpy="0.0 0.0 0.0" />
<mass value="1.54721294678954" />
<inertia ixx="0.00010437566172806" ixy="-1.14578649847479e-05" ixz="2.35933957427568e-07" iyy="1.30256067702986e-06" iyz="2.14833443066801e-06" izz="0.000105589747799257" />
</inertial>
</link>
<joint name="Left_Shoulder_Y" type="continuous">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="Left_Shoulder_X_Link" />
<child link="Left_Shoulder_Y_Link" />
<axis xyz="0.0 0.0 -1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Left_Elbow_Z_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_Elbow_Z_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_Elbow_Z_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="2.30396076300599e-07 3.30433090420801e-05 8.57515306709744e-06" rpy="0.0 0.0 0.0" />
<mass value="0.179037804578459" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="Left_Elbow_Z" type="continuous">
<origin xyz="0.030674616894137 -0.227909089065574 0.0" rpy="3.14159265358979 0.0 -2.79254817387005" />
<parent link="Left_Shoulder_Y_Link" />
<child link="Left_Elbow_Z_Link" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Left_Elbow_X_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_Elbow_X_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_Elbow_X_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000155369147744361 -0.10692667744856 -0.00473625441145745" rpy="0.0 0.0 0.0" />
<mass value="0.829602913902082" />
<inertia ixx="7.02937922545926e-06" ixy="-2.20695990358323e-08" ixz="-4.79175563176973e-09" iyy="3.16527710515441e-07" iyz="-1.45751137904312e-06" izz="6.71299662821976e-06" />
</inertial>
</link>
<joint name="Left_Elbow_X" type="continuous">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="Left_Elbow_Z_Link" />
<child link="Left_Elbow_X_Link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Left_Wrist_Z_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_Wrist_Z_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_Wrist_Z_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0335103216382911" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="Left_Wrist_Z" type="continuous">
<origin xyz="-0.000196700073873679 -0.209557803287771 0.000545980735265489" rpy="0.0 0.0 0.0" />
<parent link="Left_Elbow_X_Link" />
<child link="Left_Wrist_Z_Link" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Left_Wrist_X_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_Wrist_X_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_Wrist_X_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-4.03806102999837e-08 0.00954726828433861 -5.12349098885645e-06" rpy="0.0 0.0 0.0" />
<mass value="0.00848129231803547" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="Left_Wrist_X" type="continuous">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="Left_Wrist_Z_Link" />
<child link="Left_Wrist_X_Link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Left_Wrist_Y_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_Wrist_Y_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_Wrist_Y_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00229863656428458 -0.06789200101782 0.00354699611628992" rpy="0.0 0.0 0.0" />
<mass value="0.045532015555053" />
<inertia ixx="1.85857720544805e-05" ixy="-5.63679094128658e-07" ixz="2.87699168533624e-06" iyy="9.09084491883334e-06" iyz="-4.46069720792228e-07" izz="1.76874122237196e-05" />
</inertial>
</link>
<joint name="Left_Wrist_Y" type="continuous">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="Left_Wrist_X_Link" />
<child link="Left_Wrist_Y_Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Left_1_1_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_1_1_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_1_1_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00843249454600604 0.010834709270152 -0.000651401535589652" rpy="0.0 0.0 0.0" />
<mass value="0.00520424970960594" />
<inertia ixx="1.50793047805093e-08" ixy="1.38197831113025e-08" ixz="5.94286347606308e-09" iyy="1.73609080831214e-08" iyz="-5.47250300877572e-09" izz="2.77335777461953e-08" />
</inertial>
</link>
<joint name="Left_1_1" type="continuous">
<origin xyz="-0.0421965979105676 -0.0941606527701363 0.0317642107824706" rpy="-3.04360255528965 0.709745009740312 0.0639720600136326" />
<parent link="Left_Wrist_Y_Link" />
<child link="Left_1_1_Link" />
<axis xyz="0.0 0.0 -1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Left_1_2_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_1_2_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_1_2_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00660248014636679 -0.00823908829762765 0.000526026111804356" rpy="0.0 0.0 0.0" />
<mass value="0.00290773695499716" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="Left_1_2" type="continuous">
<origin xyz="-0.01500125472334 0.0212358742868166 -0.000372999950111613" rpy="2.2884472095086e-14 1.23012711128467e-13 -3.09300533517314" />
<parent link="Left_1_1_Link" />
<child link="Left_1_2_Link" />
<axis xyz="0.0 0.0 -1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Left_2_1_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_2_1_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_2_1_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000669981186082719 -0.0125481771818057 0.00065968034238223" rpy="0.0 0.0 0.0" />
<mass value="0.00420342656209552" />
<inertia ixx="1.5038455832967e-08" ixy="4.34054195396496e-09" ixz="1.97070653439346e-09" iyy="4.08123304372472e-09" iyz="-5.66088842277511e-09" izz="1.3979340079904e-08" />
</inertial>
</link>
<joint name="Left_2_1" type="continuous">
<origin xyz="0.00326509462525471 -0.116385781256913 0.0255031390551703" rpy="0.0 0.0 0.0" />
<parent link="Left_Wrist_Y_Link" />
<child link="Left_2_1_Link" />
<axis xyz="0.0 0.000139239466279231 -0.999999990306185" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Left_2_2_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_2_2_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_2_2_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000705906292150477 -0.0134354100412242 -0.000382307392489512" rpy="0.0 0.0 0.0" />
<mass value="0.00402906255365732" />
<inertia ixx="5.16879700036578e-09" ixy="5.29580863145471e-10" ixz="-1.8902693040652e-09" iyy="5.53816725297636e-09" iyz="1.3427085224947e-09" izz="1.12172097508837e-09" />
</inertial>
</link>
<joint name="Left_2_2" type="continuous">
<origin xyz="0.0 -0.025999999071151 0.0" rpy="0.0 0.0 0.0" />
<parent link="Left_2_1_Link" />
<child link="Left_2_2_Link" />
<axis xyz="0.0 0.000139239466305459 -0.999999990306186" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Left_2_3_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_2_3_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_2_3_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000125064073084019 -0.0087640944815951 0.000371603970291984" rpy="0.0 0.0 0.0" />
<mass value="0.00226059944283357" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="Left_2_3" type="continuous">
<origin xyz="0.0 -0.0249999941493012 -4.37594629427718e-05" rpy="0.0 0.0 0.0" />
<parent link="Left_2_2_Link" />
<child link="Left_2_3_Link" />
<axis xyz="0.0 0.000139239466288819 -0.999999990306186" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Left_3_1_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_3_1_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_3_1_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000669981155441174 -0.012548177219125 0.000659680361280585" rpy="0.0 0.0 0.0" />
<mass value="0.00420342658906227" />
<inertia ixx="1.50384561059776e-08" ixy="4.34054183268801e-09" ixz="1.97070640641862e-09" iyy="4.08123280172375e-09" iyz="-5.66088838769205e-09" izz="1.39793403329536e-08" />
</inertial>
</link>
<joint name="Left_3_1" type="continuous">
<origin xyz="0.00526509462525551 -0.121385781256913 0.00750313905517022" rpy="0.0 0.0 0.0" />
<parent link="Left_Wrist_Y_Link" />
<child link="Left_3_1_Link" />
<axis xyz="0.0 0.000139239466279232 -0.999999990306185" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Left_3_2_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_3_2_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_3_2_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000705904591456225 -0.0134354099356395 -0.000382306617501771" rpy="0.0 0.0 0.0" />
<mass value="0.00402906251335047" />
<inertia ixx="5.16880132743416e-09" ixy="5.2957936937756e-10" ixz="-1.89026528406756e-09" iyy="5.53816787873661e-09" iyz="1.34270885036064e-09" izz="1.12171693537291e-09" />
</inertial>
</link>
<joint name="Left_3_2" type="continuous">
<origin xyz="0.0 -0.0259999990711514 0.0" rpy="0.0 0.0 0.0" />
<parent link="Left_3_1_Link" />
<child link="Left_3_2_Link" />
<axis xyz="0.0 0.000139239466313778 -0.999999990306186" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Left_3_3_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_3_3_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_3_3_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00107509314898815 -0.00869887754726673 0.000371640990971867" rpy="0.0 0.0 0.0" />
<mass value="0.00226058328673083" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="Left_3_3" type="continuous">
<origin xyz="0.0 -0.0249999941493002 -4.37594629426885e-05" rpy="0.0 0.0 0.0" />
<parent link="Left_3_2_Link" />
<child link="Left_3_3_Link" />
<axis xyz="0.0 0.00013923946628882 -0.999999990306185" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Left_4_1_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_4_1_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_4_1_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00066998118608258 -0.0125481866160555 0.00072743591409935" rpy="0.0 0.0 0.0" />
<mass value="0.00420342656209566" />
<inertia ixx="1.50384558329667e-08" ixy="4.34054195396496e-09" ixz="1.97070653439322e-09" iyy="4.08123304372412e-09" iyz="-5.66088842277455e-09" izz="1.39793400799042e-08" />
</inertial>
</link>
<joint name="Left_4_1" type="continuous">
<origin xyz="0.00326509462525509 -0.113385771822664 -0.0105646165165468" rpy="0.0 0.0 0.0" />
<parent link="Left_Wrist_Y_Link" />
<child link="Left_4_1_Link" />
<axis xyz="0.0 0.000139239466299867 -0.999999990306185" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Left_4_2_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_4_2_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_4_2_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000705907028336145 -0.0134354097339386 -0.000382306640676289" rpy="0.0 0.0 0.0" />
<mass value="0.00402906191195985" />
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</inertial>
</link>
<joint name="Left_4_2" type="continuous">
<origin xyz="0.0 -0.0260000085054002 5.92745839778919e-05" rpy="0.0 0.0 0.0" />
<parent link="Left_4_1_Link" />
<child link="Left_4_2_Link" />
<axis xyz="0.0 0.000139239466305459 -0.999999990306186" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Left_4_3_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_4_3_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_4_3_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000705266797490778 -0.00873660325738534 0.000371613751822292" rpy="0.0 0.0 0.0" />
<mass value="0.00226058559497118" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="Left_4_3" type="continuous">
<origin xyz="0.0 -0.0249999941493013 -4.37594629428273e-05" rpy="0.0 0.0 0.0" />
<parent link="Left_4_2_Link" />
<child link="Left_4_3_Link" />
<axis xyz="0.0 0.000139239466288819 -0.999999990306186" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Left_5_1_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_5_1_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_5_1_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000536988281664874 -0.0109853047236181 -0.000610711301385555" rpy="0.0 0.0 0.0" />
<mass value="0.00312159745648743" />
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</inertial>
</link>
<joint name="Left_5_1" type="continuous">
<origin xyz="0.00266509462525322 -0.108682998728874 -0.0275969639006071" rpy="0.0 0.0 0.0" />
<parent link="Left_Wrist_Y_Link" />
<child link="Left_5_1_Link" />
<axis xyz="0.0 0.00041986760230001 -0.999999911855594" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Left_5_2_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_5_2_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_5_2_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000633469611439313 -0.0120269762951264 0.000397201488298415" rpy="0.0 0.0 0.0" />
<mass value="0.00291988673041792" />
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</inertial>
</link>
<joint name="Left_5_2" type="continuous">
<origin xyz="0.0 -0.023451660741343 0.0" rpy="0.0 0.0 0.0" />
<parent link="Left_5_1_Link" />
<child link="Left_5_2_Link" />
<axis xyz="0.0 0.000139239466291091 -0.999999990306185" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Left_5_3_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_5_3_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Left_5_3_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000469386756830142 -0.00788575080004528 -0.000375376454334164" rpy="0.0 0.0 0.0" />
<mass value="0.00164577119180926" />
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</inertial>
</link>
<joint name="Left_5_3" type="continuous">
<origin xyz="0.0 -0.0224982100108189 0.000106813574332093" rpy="0.0 0.0 0.0" />
<parent link="Left_5_2_Link" />
<child link="Left_5_3_Link" />
<axis xyz="0.0 -0.000162157164103371 -0.999999986852527" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Right_Shoulder_X_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_Shoulder_X_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_Shoulder_X_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.268082573106329" />
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</inertial>
</link>
<joint name="Right_Shoulder_X" type="continuous">
<origin xyz="-0.167642819137822 0.257434208389716 -0.0153204612848374" rpy="5.79452944416604e-17 -1.59192802633449e-16 -0.349087221077984" />
<parent link="Back_Y_Link" />
<child link="Right_Shoulder_X_Link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Right_Shoulder_Y_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_Shoulder_Y_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_Shoulder_Y_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00247326028758144 -0.0845676495884058 -0.000411055639352342" rpy="0.0 0.0 0.0" />
<mass value="1.54722182937409" />
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</inertial>
</link>
<joint name="Right_Shoulder_Y" type="continuous">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 9.22447382158831e-33" />
<parent link="Right_Shoulder_X_Link" />
<child link="Right_Shoulder_Y_Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Right_Elbow_Z_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_Elbow_Z_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_Elbow_Z_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000196930469950063 3.13208023121625e-05 7.54642247449699e-06" rpy="0.0 0.0 0.0" />
<mass value="0.179037804578459" />
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</inertial>
</link>
<joint name="Right_Elbow_Z" type="continuous">
<origin xyz="0.0308685949686061 -0.227838852240102 0.0" rpy="1.15825157085799e-32 1.69410759865549e-16 0.349087221077984" />
<parent link="Right_Shoulder_Y_Link" />
<child link="Right_Elbow_Z_Link" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Right_Elbow_X_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_Elbow_X_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_Elbow_X_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-4.2497316591672e-05 -0.106927273975662 -0.00473747928888482" rpy="0.0 0.0 0.0" />
<mass value="0.829601220081052" />
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</inertial>
</link>
<joint name="Right_Elbow_X" type="continuous">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="Right_Elbow_Z_Link" />
<child link="Right_Elbow_X_Link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Right_Wrist_Z_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_Wrist_Z_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_Wrist_Z_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0335103216382911" />
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</inertial>
</link>
<joint name="Right_Wrist_Z" type="continuous">
<origin xyz="0.0 -0.209559555159009 0.000544952004672944" rpy="0.0 0.0 0.0" />
<parent link="Right_Elbow_X_Link" />
<child link="Right_Wrist_Z_Link" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Right_Wrist_X_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_Wrist_X_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_Wrist_X_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="5.28376016578624e-07 0.00954788071247181 1.8543221624312e-06" rpy="0.0 0.0 0.0" />
<mass value="0.00848105689759647" />
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</inertial>
</link>
<joint name="Right_Wrist_X" type="continuous">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="Right_Wrist_Z_Link" />
<child link="Right_Wrist_X_Link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Right_Wrist_Y_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_Wrist_Y_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_Wrist_Y_Link.STL" />
</geometry>
</collision>
<inertial>
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<mass value="0.0468003077511801" />
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</inertial>
</link>
<joint name="Right_Wrist_Y" type="continuous">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="Right_Wrist_X_Link" />
<child link="Right_Wrist_Y_Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Right_1_1_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_1_1_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_1_1_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00595800407210242 -0.0112503464220567 0.00518269565716167" rpy="0.0 0.0 0.0" />
<mass value="0.00520499928633448" />
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</inertial>
</link>
<joint name="Right_1_1" type="continuous">
<origin xyz="0.0421965979105674 -0.0941606527701362 0.0317642107824709" rpy="0.0 0.0 0.0" />
<parent link="Right_Wrist_Y_Link" />
<child link="Right_1_1_Link" />
<axis xyz="0.653442120633779 0.0561747295623823 -0.754889259918448" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Right_1_2_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_1_2_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_1_2_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0056392427710277 -0.00819754869289124 0.00357444528870934" rpy="0.0 0.0 0.0" />
<mass value="0.00290769681829447" />
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</inertial>
</link>
<joint name="Right_1_2" type="continuous">
<origin xyz="0.0111118631544056 -0.0219257069936049 0.00848109657008508" rpy="0.0 0.0 0.0" />
<parent link="Right_1_1_Link" />
<child link="Right_1_2_Link" />
<axis xyz="0.653442120633895 0.0561747295623124 -0.754889259918354" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Right_2_1_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_2_1_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_2_1_Link.STL" />
</geometry>
</collision>
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<origin xyz="-0.00066985141124809 -0.0125483197143753 0.000659735032060071" rpy="0.0 0.0 0.0" />
<mass value="0.00420346811169996" />
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</inertial>
</link>
<joint name="Right_2_1" type="continuous">
<origin xyz="-0.00326509462525471 -0.116385781256913 0.0255031390551695" rpy="0.0 0.0 0.0" />
<parent link="Right_Wrist_Y_Link" />
<child link="Right_2_1_Link" />
<axis xyz="0.0 -0.000139239466279214 0.999999990306185" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Right_2_2_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_2_2_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_2_2_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000706017398685699 -0.0134348443977895 -0.000381244916113382" rpy="0.0 0.0 0.0" />
<mass value="0.0040284859679476" />
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</inertial>
</link>
<joint name="Right_2_2" type="continuous">
<origin xyz="0.0 -0.0259999990711511 0.0" rpy="0.0 0.0 0.0" />
<parent link="Right_2_1_Link" />
<child link="Right_2_2_Link" />
<axis xyz="0.0 -0.000139239466297141 0.999999990306185" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Right_2_3_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_2_3_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_2_3_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000125439689922874 -0.0087635117310203 0.000372031223531577" rpy="0.0 0.0 0.0" />
<mass value="0.00226043678870431" />
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</inertial>
</link>
<joint name="Right_2_3" type="continuous">
<origin xyz="0.0 -0.0249999941493012 -4.37594629424387e-05" rpy="0.0 0.0 0.0" />
<parent link="Right_2_2_Link" />
<child link="Right_2_3_Link" />
<axis xyz="0.0 -0.000139239466288821 0.999999990306185" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Right_3_1_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_3_1_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_3_1_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0006698514954879 -0.0125483126581099 0.000659740070306725" rpy="0.0 0.0 0.0" />
<mass value="0.00420347191487237" />
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</link>
<joint name="Right_3_1" type="continuous">
<origin xyz="-0.00526509462525543 -0.121385781256913 0.0075031390551695" rpy="0.0 0.0 0.0" />
<parent link="Right_Wrist_Y_Link" />
<child link="Right_3_1_Link" />
<axis xyz="0.0 -0.000139239466279214 0.999999990306185" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Right_3_2_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_3_2_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_3_2_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000706016773845797 -0.0134348454094458 -0.000381244083956733" rpy="0.0 0.0 0.0" />
<mass value="0.00402848679457329" />
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</link>
<joint name="Right_3_2" type="continuous">
<origin xyz="0.0 -0.0259999990711514 0.0" rpy="0.0 0.0 0.0" />
<parent link="Right_3_1_Link" />
<child link="Right_3_2_Link" />
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<limit effort="0.0" velocity="0.0" />
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</joint>
<link name="Right_3_3_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_3_3_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_3_3_Link.STL" />
</geometry>
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<inertial>
<origin xyz="-0.00107540391792044 -0.00869825462567841 0.000372072446477467" rpy="0.0 0.0 0.0" />
<mass value="0.00226040981287638" />
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</link>
<joint name="Right_3_3" type="continuous">
<origin xyz="0.0 -0.0249999941493003 -4.37594629423554e-05" rpy="0.0 0.0 0.0" />
<parent link="Right_3_2_Link" />
<child link="Right_3_3_Link" />
<axis xyz="0.0 -0.000139239466297141 0.999999990306186" />
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</joint>
<link name="Right_4_1_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_4_1_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_4_1_Link.STL" />
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<inertial>
<origin xyz="-0.000669851866460375 -0.0125483117721521 0.000659739983277591" rpy="0.0 0.0 0.0" />
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</link>
<joint name="Right_4_1" type="continuous">
<origin xyz="-0.00326509462525512 -0.113385781256913 -0.0104968609448305" rpy="0.0 0.0 0.0" />
<parent link="Right_Wrist_Y_Link" />
<child link="Right_4_1_Link" />
<axis xyz="0.0 -0.000139239466287864 0.999999990306185" />
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</joint>
<link name="Right_4_2_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_4_2_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_4_2_Link.STL" />
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<origin xyz="-0.000706017625930283 -0.0134348437223862 -0.000381244702495481" rpy="0.0 0.0 0.0" />
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</link>
<joint name="Right_4_2" type="continuous">
<origin xyz="0.0 -0.0259999990711506 0.0" rpy="0.0 0.0 0.0" />
<parent link="Right_4_1_Link" />
<child link="Right_4_2_Link" />
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</joint>
<link name="Right_4_3_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_4_3_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_4_3_Link.STL" />
</geometry>
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<origin xyz="-0.000705597647268574 -0.00873600975469724 0.000372059188809587" rpy="0.0 0.0 0.0" />
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</link>
<joint name="Right_4_3" type="continuous">
<origin xyz="0.0 -0.0249999941493013 -4.37594629424942e-05" rpy="0.0 0.0 0.0" />
<parent link="Right_4_2_Link" />
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<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Right_5_1_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_5_1_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_5_1_Link.STL" />
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<origin xyz="-0.000537221600531851 -0.0109835392195001 -0.000610824632974141" rpy="0.0 0.0 0.0" />
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</link>
<joint name="Right_5_1" type="continuous">
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<parent link="Right_Wrist_Y_Link" />
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</joint>
<link name="Right_5_2_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_5_2_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_5_2_Link.STL" />
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</link>
<joint name="Right_5_2" type="continuous">
<origin xyz="0.0 -0.0234499990910212 0.0" rpy="0.0 0.0 0.0" />
<parent link="Right_5_1_Link" />
<child link="Right_5_2_Link" />
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</joint>
<link name="Right_5_3_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_5_3_Link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://gingerurdf/meshes/Right_5_3_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000469712313317355 -0.00788437653823271 -0.000374781743929103" rpy="0.0 0.0 0.0" />
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</link>
<joint name="Right_5_3" type="continuous">
<origin xyz="0.0 -0.0225000150691538 0.000106658283820199" rpy="0.0 0.0 0.0" />
<parent link="Right_5_2_Link" />
<child link="Right_5_3_Link" />
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<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content e78f182431040286 -->
<mujoco model="gingerurdf">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="base_link" file="gingerurdf/meshes/base_link.STL" />
<mesh name="Knee_Link" file="gingerurdf/meshes/Knee_Link.STL" />
<mesh name="Back_Z_Link" file="gingerurdf/meshes/Back_Z_Link.STL" />
<mesh name="Back_X_Link" file="gingerurdf/meshes/Back_X_Link.STL" />
<mesh name="Back_Y_Link" file="gingerurdf/meshes/Back_Y_Link.STL" />
<mesh name="Neck_Z_Link" file="gingerurdf/meshes/Neck_Z_Link.STL" />
<mesh name="Neck_X_Link" file="gingerurdf/meshes/Neck_X_Link.STL" />
<mesh name="Head_Y_Link" file="gingerurdf/meshes/Head_Y_Link.STL" />
<mesh name="Left_Shoulder_X_Link" file="gingerurdf/meshes/Left_Shoulder_X_Link.STL" />
<mesh name="Left_Shoulder_Y_Link" file="gingerurdf/meshes/Left_Shoulder_Y_Link.STL" />
<mesh name="Left_Elbow_Z_Link" file="gingerurdf/meshes/Left_Elbow_Z_Link.STL" />
<mesh name="Left_Elbow_X_Link" file="gingerurdf/meshes/Left_Elbow_X_Link.STL" />
<mesh name="Left_Wrist_Z_Link" file="gingerurdf/meshes/Left_Wrist_Z_Link.STL" />
<mesh name="Left_Wrist_X_Link" file="gingerurdf/meshes/Left_Wrist_X_Link.STL" />
<mesh name="Left_Wrist_Y_Link" file="gingerurdf/meshes/Left_Wrist_Y_Link.STL" />
<mesh name="Left_1_1_Link" file="gingerurdf/meshes/Left_1_1_Link.STL" />
<mesh name="Left_1_2_Link" file="gingerurdf/meshes/Left_1_2_Link.STL" />
<mesh name="Left_2_1_Link" file="gingerurdf/meshes/Left_2_1_Link.STL" />
<mesh name="Left_2_2_Link" file="gingerurdf/meshes/Left_2_2_Link.STL" />
<mesh name="Left_2_3_Link" file="gingerurdf/meshes/Left_2_3_Link.STL" />
<mesh name="Left_3_1_Link" file="gingerurdf/meshes/Left_3_1_Link.STL" />
<mesh name="Left_3_2_Link" file="gingerurdf/meshes/Left_3_2_Link.STL" />
<mesh name="Left_3_3_Link" file="gingerurdf/meshes/Left_3_3_Link.STL" />
<mesh name="Left_4_1_Link" file="gingerurdf/meshes/Left_4_1_Link.STL" />
<mesh name="Left_4_2_Link" file="gingerurdf/meshes/Left_4_2_Link.STL" />
<mesh name="Left_4_3_Link" file="gingerurdf/meshes/Left_4_3_Link.STL" />
<mesh name="Left_5_1_Link" file="gingerurdf/meshes/Left_5_1_Link.STL" />
<mesh name="Left_5_2_Link" file="gingerurdf/meshes/Left_5_2_Link.STL" />
<mesh name="Left_5_3_Link" file="gingerurdf/meshes/Left_5_3_Link.STL" />
<mesh name="Right_Shoulder_X_Link" file="gingerurdf/meshes/Right_Shoulder_X_Link.STL" />
<mesh name="Right_Shoulder_Y_Link" file="gingerurdf/meshes/Right_Shoulder_Y_Link.STL" />
<mesh name="Right_Elbow_Z_Link" file="gingerurdf/meshes/Right_Elbow_Z_Link.STL" />
<mesh name="Right_Elbow_X_Link" file="gingerurdf/meshes/Right_Elbow_X_Link.STL" />
<mesh name="Right_Wrist_Z_Link" file="gingerurdf/meshes/Right_Wrist_Z_Link.STL" />
<mesh name="Right_Wrist_X_Link" file="gingerurdf/meshes/Right_Wrist_X_Link.STL" />
<mesh name="Right_Wrist_Y_Link" file="gingerurdf/meshes/Right_Wrist_Y_Link.STL" />
<mesh name="Right_1_1_Link" file="gingerurdf/meshes/Right_1_1_Link.STL" />
<mesh name="Right_1_2_Link" file="gingerurdf/meshes/Right_1_2_Link.STL" />
<mesh name="Right_2_1_Link" file="gingerurdf/meshes/Right_2_1_Link.STL" />
<mesh name="Right_2_2_Link" file="gingerurdf/meshes/Right_2_2_Link.STL" />
<mesh name="Right_2_3_Link" file="gingerurdf/meshes/Right_2_3_Link.STL" />
<mesh name="Right_3_1_Link" file="gingerurdf/meshes/Right_3_1_Link.STL" />
<mesh name="Right_3_2_Link" file="gingerurdf/meshes/Right_3_2_Link.STL" />
<mesh name="Right_3_3_Link" file="gingerurdf/meshes/Right_3_3_Link.STL" />
<mesh name="Right_4_1_Link" file="gingerurdf/meshes/Right_4_1_Link.STL" />
<mesh name="Right_4_2_Link" file="gingerurdf/meshes/Right_4_2_Link.STL" />
<mesh name="Right_4_3_Link" file="gingerurdf/meshes/Right_4_3_Link.STL" />
<mesh name="Right_5_1_Link" file="gingerurdf/meshes/Right_5_1_Link.STL" />
<mesh name="Right_5_2_Link" file="gingerurdf/meshes/Right_5_2_Link.STL" />
<mesh name="Right_5_3_Link" file="gingerurdf/meshes/Right_5_3_Link.STL" />
</asset>
<worldbody>
<body name="base_link">
<inertial pos="2.61752017675272e-06 -0.165725126916168 0.176971895173863" mass="36.8100641165154" diaginertia="0 0 0" />
<geom name="base_link_vis_0" type="mesh" mesh="base_link" contype="0" conaffinity="0" group="2" />
<geom name="base_link_col_0" type="mesh" mesh="base_link" group="3" />
<body name="Knee_Link" pos="0.0 -0.163753578960292 0.422732937784996" quat="0.27571956443733836 0.31186160627687776 -0.6346198378008739 -0.6511364847606703">
<joint name="Knee" type="hinge" axis="-0.653442120633779 -0.0367649880485583 -0.756083150609388" limited="false" />
<inertial pos="-0.00452437161368133 0.278470884369769 -0.00963249354060181" mass="37.4804521490049" fullinertia="0.211387187948835 0.000322803193524901 0.211201747394794 0.00352813969999868 -0.000112168416437373 0.00721821701372064" />
<geom name="Knee_Link_vis_0" type="mesh" mesh="Knee_Link" contype="0" conaffinity="0" group="2" />
<geom name="Knee_Link_col_0" type="mesh" mesh="Knee_Link" group="3" />
<body name="Back_Z_Link" pos="-0.0258402466955493 0.459273873742399 0.0" quat="-0.41548263030955346 0.025556282870667385 -0.9091670146367454 -0.011679033067739916">
<joint name="Back_Z" type="hinge" axis="0.0 1.0 0.0" limited="false" />
<inertial pos="9.96483011486414e-05 -0.0235253287405914 1.29671680690613e-05" mass="0.362897306288371" fullinertia="1.52954696432461e-06 0.00155491864758516 0.00155644818843089 4.87679847394376e-05 6.8970720244594e-08 -2.1631762177384e-09" />
<geom name="Back_Z_Link_vis_0" type="mesh" mesh="Back_Z_Link" contype="0" conaffinity="0" group="2" />
<geom name="Back_Z_Link_col_0" type="mesh" mesh="Back_Z_Link" group="3" />
<body name="Back_X_Link">
<joint name="Back_X" type="hinge" axis="1.0 0.0 0.0" limited="false" />
<inertial pos="7.25800221334472e-07 0.00710646362323375 -0.000567922552589972" mass="0.160555101690642" fullinertia="0.000646243085057801 0.000646128857122526 1.14228478989141e-07 1.76220636996922e-10 -1.3253471708974e-08 8.59105004609635e-06" />
<geom name="Back_X_Link_vis_0" type="mesh" mesh="Back_X_Link" contype="0" conaffinity="0" group="2" />
<geom name="Back_X_Link_col_0" type="mesh" mesh="Back_X_Link" group="3" />
<body name="Back_Y_Link" pos="0.0 0.104999999999997 0.0">
<joint name="Back_Y" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="-2.43364144072691e-06 0.188450472690914 0.00594321909271028" mass="14.5524894817025" diaginertia="0 0 0" />
<geom name="Back_Y_Link_vis_0" type="mesh" mesh="Back_Y_Link" contype="0" conaffinity="0" group="2" />
<geom name="Back_Y_Link_col_0" type="mesh" mesh="Back_Y_Link" group="3" />
<body name="Neck_Z_Link" pos="0.0 0.37820748993899 0.00368296133076892">
<joint name="Neck_Z" type="hinge" axis="0.0 1.0 0.0" limited="false" />
<inertial pos="-0.000900405889931662 -0.0282382085153039 -1.99027937078933e-05" mass="0.0319419542205201" fullinertia="6.11447595931231e-08 1.04273395497727e-05 1.04884810136062e-05 7.98473472450901e-07 4.14523819570641e-09 -3.17421643702653e-10" />
<geom name="Neck_Z_Link_vis_0" type="mesh" mesh="Neck_Z_Link" contype="0" conaffinity="0" group="2" />
<geom name="Neck_Z_Link_col_0" type="mesh" mesh="Neck_Z_Link" group="3" />
<body name="Neck_X_Link">
<joint name="Neck_X" type="hinge" axis="1.0 0.0 0.0" limited="false" />
<inertial pos="-1.09500071057212e-07 0.049706089298506 -0.00163331965794419" mass="0.0234939114340347" fullinertia="1.77042259293073e-13 1.47003962258883e-05 1.47003960675818e-05 3.71095030680732e-10 -1.56999356968531e-09 3.96327289144965e-14" />
<geom name="Neck_X_Link_vis_0" type="mesh" mesh="Neck_X_Link" contype="0" conaffinity="0" group="2" />
<geom name="Neck_X_Link_col_0" type="mesh" mesh="Neck_X_Link" group="3" />
<body name="Head_Y_Link" pos="0.0 0.0609748006263349 0.000155084351385615">
<joint name="Head_Y" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="1.25749828895916e-06 0.0690353219440325 0.0128898228914063" mass="0.476573842563304" fullinertia="9.50337018432393e-05 0.0002819586077855 0.000221694213130154 -9.64187278849465e-10 1.21428528818022e-09 2.85998705650742e-05" />
<geom name="Head_Y_Link_vis_0" type="mesh" mesh="Head_Y_Link" contype="0" conaffinity="0" group="2" />
<geom name="Head_Y_Link_col_0" type="mesh" mesh="Head_Y_Link" group="3" />
</body>
</body>
</body>
<body name="Left_Shoulder_X_Link" pos="0.167642819139667 0.257434208387602 -0.0153204612848375" quat="2.8051937088987226e-16 0.17363765465177372 -0.9848096084457296 -1.5910038197735787e-15">
<joint name="Left_Shoulder_X" type="hinge" axis="-1.0 0.0 0.0" limited="false" />
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<geom name="Left_Shoulder_X_Link_vis_0" type="mesh" mesh="Left_Shoulder_X_Link" contype="0" conaffinity="0" group="2" />
<geom name="Left_Shoulder_X_Link_col_0" type="mesh" mesh="Left_Shoulder_X_Link" group="3" />
<body name="Left_Shoulder_Y_Link">
<joint name="Left_Shoulder_Y" type="hinge" axis="0.0 0.0 -1.0" limited="false" />
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<geom name="Left_Shoulder_Y_Link_vis_0" type="mesh" mesh="Left_Shoulder_Y_Link" contype="0" conaffinity="0" group="2" />
<geom name="Left_Shoulder_Y_Link_col_0" type="mesh" mesh="Left_Shoulder_Y_Link" group="3" />
<body name="Left_Elbow_Z_Link" pos="0.030674616894137 -0.227909089065574 0.0" quat="2.8051937088987226e-16 0.17363765465177372 -0.9848096084457296 -1.5910038197735787e-15">
<joint name="Left_Elbow_Z" type="hinge" axis="0.0 -1.0 0.0" limited="false" />
<inertial pos="2.30396076300599e-07 3.30433090420801e-05 8.57515306709744e-06" mass="0.179037804578459" diaginertia="0 0 0" />
<geom name="Left_Elbow_Z_Link_vis_0" type="mesh" mesh="Left_Elbow_Z_Link" contype="0" conaffinity="0" group="2" />
<geom name="Left_Elbow_Z_Link_col_0" type="mesh" mesh="Left_Elbow_Z_Link" group="3" />
<body name="Left_Elbow_X_Link">
<joint name="Left_Elbow_X" type="hinge" axis="1.0 0.0 0.0" limited="false" />
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<geom name="Left_Elbow_X_Link_vis_0" type="mesh" mesh="Left_Elbow_X_Link" contype="0" conaffinity="0" group="2" />
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<body name="Left_Wrist_Z_Link" pos="-0.000196700073873679 -0.209557803287771 0.000545980735265489">
<joint name="Left_Wrist_Z" type="hinge" axis="0.0 -1.0 0.0" limited="false" />
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<geom name="Left_Wrist_Z_Link_vis_0" type="mesh" mesh="Left_Wrist_Z_Link" contype="0" conaffinity="0" group="2" />
<geom name="Left_Wrist_Z_Link_col_0" type="mesh" mesh="Left_Wrist_Z_Link" group="3" />
<body name="Left_Wrist_X_Link">
<joint name="Left_Wrist_X" type="hinge" axis="1.0 0.0 0.0" limited="false" />
<inertial pos="-4.03806102999837e-08 0.00954726828433861 -5.12349098885645e-06" mass="0.00848129231803547" diaginertia="0 0 0" />
<geom name="Left_Wrist_X_Link_vis_0" type="mesh" mesh="Left_Wrist_X_Link" contype="0" conaffinity="0" group="2" />
<geom name="Left_Wrist_X_Link_col_0" type="mesh" mesh="Left_Wrist_X_Link" group="3" />
<body name="Left_Wrist_Y_Link">
<joint name="Left_Wrist_Y" type="hinge" axis="0.0 0.0 1.0" limited="false" />
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<geom name="Left_Wrist_Y_Link_vis_0" type="mesh" mesh="Left_Wrist_Y_Link" contype="0" conaffinity="0" group="2" />
<geom name="Left_Wrist_Y_Link_col_0" type="mesh" mesh="Left_Wrist_Y_Link" group="3" />
<body name="Left_1_1_Link" pos="-0.0421965979105676 -0.0941606527701363 0.0317642107824706" quat="0.03480135567461254 -0.936630720651402 -0.012943071168058172 0.3483449952044425">
<joint name="Left_1_1" type="hinge" axis="0.0 0.0 -1.0" limited="false" />
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<geom name="Left_1_1_Link_vis_0" type="mesh" mesh="Left_1_1_Link" contype="0" conaffinity="0" group="2" />
<geom name="Left_1_1_Link_col_0" type="mesh" mesh="Left_1_1_Link" group="3" />
<body name="Left_1_2_Link" pos="-0.01500125472334 0.0212358742868166 -0.000372999950111613" quat="0.024291269665939454 6.176615293006703e-14 -9.944792244244231e-15 -0.9997049235739597">
<joint name="Left_1_2" type="hinge" axis="0.0 0.0 -1.0" limited="false" />
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<geom name="Left_1_2_Link_vis_0" type="mesh" mesh="Left_1_2_Link" contype="0" conaffinity="0" group="2" />
<geom name="Left_1_2_Link_col_0" type="mesh" mesh="Left_1_2_Link" group="3" />
</body>
</body>
<body name="Left_2_1_Link" pos="0.00326509462525471 -0.116385781256913 0.0255031390551703">
<joint name="Left_2_1" type="hinge" axis="0.0 0.000139239466279231 -0.999999990306185" limited="false" />
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<geom name="Left_2_1_Link_vis_0" type="mesh" mesh="Left_2_1_Link" contype="0" conaffinity="0" group="2" />
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<body name="Left_2_2_Link" pos="0.0 -0.025999999071151 0.0">
<joint name="Left_2_2" type="hinge" axis="0.0 0.000139239466305459 -0.999999990306186" limited="false" />
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<geom name="Left_2_2_Link_vis_0" type="mesh" mesh="Left_2_2_Link" contype="0" conaffinity="0" group="2" />
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<body name="Left_2_3_Link" pos="0.0 -0.0249999941493012 -4.37594629427718e-05">
<joint name="Left_2_3" type="hinge" axis="0.0 0.000139239466288819 -0.999999990306186" limited="false" />
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<geom name="Left_2_3_Link_vis_0" type="mesh" mesh="Left_2_3_Link" contype="0" conaffinity="0" group="2" />
<geom name="Left_2_3_Link_col_0" type="mesh" mesh="Left_2_3_Link" group="3" />
</body>
</body>
</body>
<body name="Left_3_1_Link" pos="0.00526509462525551 -0.121385781256913 0.00750313905517022">
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<geom name="Left_3_1_Link_vis_0" type="mesh" mesh="Left_3_1_Link" contype="0" conaffinity="0" group="2" />
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<body name="Left_3_2_Link" pos="0.0 -0.0259999990711514 0.0">
<joint name="Left_3_2" type="hinge" axis="0.0 0.000139239466313778 -0.999999990306186" limited="false" />
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<geom name="Left_3_2_Link_vis_0" type="mesh" mesh="Left_3_2_Link" contype="0" conaffinity="0" group="2" />
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<body name="Left_3_3_Link" pos="0.0 -0.0249999941493002 -4.37594629426885e-05">
<joint name="Left_3_3" type="hinge" axis="0.0 0.00013923946628882 -0.999999990306185" limited="false" />
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<geom name="Left_3_3_Link_vis_0" type="mesh" mesh="Left_3_3_Link" contype="0" conaffinity="0" group="2" />
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</body>
</body>
</body>
<body name="Left_4_1_Link" pos="0.00326509462525509 -0.113385771822664 -0.0105646165165468">
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<exclude body1="Right_Shoulder_X_Link" body2="Right_Shoulder_Y_Link" />
<exclude body1="Right_Shoulder_Y_Link" body2="Right_Elbow_Z_Link" />
<exclude body1="Right_Elbow_Z_Link" body2="Right_Elbow_X_Link" />
<exclude body1="Right_Elbow_X_Link" body2="Right_Wrist_Z_Link" />
<exclude body1="Right_Wrist_Z_Link" body2="Right_Wrist_X_Link" />
<exclude body1="Right_Wrist_X_Link" body2="Right_Wrist_Y_Link" />
<exclude body1="Right_Wrist_Y_Link" body2="Right_1_1_Link" />
<exclude body1="Right_1_1_Link" body2="Right_1_2_Link" />
<exclude body1="Right_Wrist_Y_Link" body2="Right_2_1_Link" />
<exclude body1="Right_2_1_Link" body2="Right_2_2_Link" />
<exclude body1="Right_2_2_Link" body2="Right_2_3_Link" />
<exclude body1="Right_Wrist_Y_Link" body2="Right_3_1_Link" />
<exclude body1="Right_3_1_Link" body2="Right_3_2_Link" />
<exclude body1="Right_3_2_Link" body2="Right_3_3_Link" />
<exclude body1="Right_Wrist_Y_Link" body2="Right_4_1_Link" />
<exclude body1="Right_4_1_Link" body2="Right_4_2_Link" />
<exclude body1="Right_4_2_Link" body2="Right_4_3_Link" />
<exclude body1="Right_Wrist_Y_Link" body2="Right_5_1_Link" />
<exclude body1="Right_5_1_Link" body2="Right_5_2_Link" />
<exclude body1="Right_5_2_Link" body2="Right_5_3_Link" />
</contact>
</mujoco>
Import report
Counts
| Links | 50 |
|---|---|
| Joints | 49 |
| Moving joints | 49 |
| Visuals | 50 |
| Collisions | 50 |
| Materials | 0 |
Meshes
Formats: stl.
Asset size: 18.5 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
limit | 49 | no <limit>; RobotDescription always writes one, so effort = velocity = 0 |
material | 50 | anonymous material (empty name) cannot be referenced; its colour is not kept |
Forward-kinematics check
Forward kinematics of 50 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 · 1.0e-15 rad.
MuJoCo
robot.xml did not compile in MuJoCo: Error: error 'inertia must have positive eigenvalues' in fullinertia
Source & licence
| Repository | https://github.com/Rayckey/GingerURDF |
|---|---|
| Commit | 6a1307cd0ee2b77c82f8839cdce3a2e2eed2bd8f |
| Original file | urdf/gingerurdf.urdf |
| Licence | BSD · 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.