Go2
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 db26ad7d3b78907f -->
<robot name="go2_description">
<material name="深色橡胶_001-effect">
<color rgba="0.6717055 0.6924257 0.7742702 1.0" />
</material>
<link name="base">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://go2_description/dae/base.dae" />
</geometry>
<material name="深色橡胶_001-effect" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.3762 0.0935 0.114" />
</geometry>
</collision>
<inertial>
<origin xyz="0.021112 0.0 -0.005366" rpy="0.0 0.0 0.0" />
<mass value="6.921" />
<inertia ixx="0.02448" ixy="0.00012166" ixz="0.0014849" iyy="0.098077" iyz="-3.12e-05" izz="0.107" />
</inertial>
</link>
<link name="Head_upper">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.09" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06" />
</inertial>
</link>
<joint name="Head_upper_joint" type="fixed">
<origin xyz="0.285 0.0 0.01" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="Head_upper" />
</joint>
<link name="Head_lower">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.047" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06" />
</inertial>
</link>
<joint name="Head_lower_joint" type="fixed">
<origin xyz="0.008 0.0 -0.07" rpy="0.0 0.0 0.0" />
<parent link="Head_upper" />
<child link="Head_lower" />
</joint>
<link name="FL_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://go2_description/dae/hip.dae" />
</geometry>
<material name="深色橡胶_001-effect" />
</visual>
<collision>
<origin xyz="0.0 0.08 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.04" radius="0.046" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0054 0.00194 -0.000105" rpy="0.0 0.0 0.0" />
<mass value="0.678" />
<inertia ixx="0.00048" ixy="-3.01e-06" ixz="1.11e-06" iyy="0.000884" iyz="-1.42e-06" izz="0.000596" />
</inertial>
</link>
<joint name="FL_hip_joint" type="revolute">
<origin xyz="0.1934 0.0465 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="FL_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="23.7" velocity="30.1" lower="-1.0472" upper="1.0472" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FL_hip_rotor">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.089" />
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05" />
</inertial>
</link>
<joint name="FL_hip_rotor_joint" type="fixed">
<origin xyz="0.11215 0.04675 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="FL_hip_rotor" />
</joint>
<material name="深色橡胶_003-effect">
<color rgba="0.6717055 0.6924257 0.7742702 1.0" />
</material>
<link name="FL_thigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://go2_description/dae/thigh.dae" />
</geometry>
<material name="深色橡胶_003-effect" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.1065" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<box size="0.213 0.0245 0.034" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00374 -0.0223 -0.0327" rpy="0.0 0.0 0.0" />
<mass value="1.152" />
<inertia ixx="0.00584" ixy="8.72e-05" ixz="-0.000289" iyy="0.0058" iyz="0.000808" izz="0.00103" />
</inertial>
</link>
<joint name="FL_thigh_joint" type="revolute">
<origin xyz="0.0 0.0955 0.0" rpy="0.0 0.0 0.0" />
<parent link="FL_hip" />
<child link="FL_thigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="23.7" velocity="30.1" lower="-1.5708" upper="3.4907" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FL_thigh_rotor">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.089" />
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05" />
</inertial>
</link>
<joint name="FL_thigh_rotor_joint" type="fixed">
<origin xyz="0.0 -0.00015 0.0" rpy="0.0 0.0 0.0" />
<parent link="FL_hip" />
<child link="FL_thigh_rotor" />
</joint>
<material name="黑色足端_005-effect">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
<link name="FL_calf">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://go2_description/dae/calf.dae" />
</geometry>
<material name="黑色足端_005-effect" />
</visual>
<collision>
<origin xyz="0.008 0.0 -0.06" rpy="0.0 -0.21 0.0" />
<geometry>
<cylinder length="0.12" radius="0.012" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00548 -0.000975 -0.115" rpy="0.0 0.0 0.0" />
<mass value="0.154" />
<inertia ixx="0.00108" ixy="3.4e-07" ixz="1.72e-05" iyy="0.0011" iyz="8.28e-06" izz="3.29e-05" />
</inertial>
</link>
<joint name="FL_calf_joint" type="revolute">
<origin xyz="0.0 0.0 -0.213" rpy="0.0 0.0 0.0" />
<parent link="FL_thigh" />
<child link="FL_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="45.43" velocity="15.7" lower="-2.7227" upper="-0.83776" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FL_calflower">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.065" radius="0.011" />
</geometry>
</collision>
</link>
<joint name="FL_calflower_joint" type="fixed">
<origin xyz="0.02 0.0 -0.148" rpy="0.0 0.05 0.0" />
<parent link="FL_calf" />
<child link="FL_calflower" />
</joint>
<link name="FL_calflower1">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.03" radius="0.0155" />
</geometry>
</collision>
</link>
<joint name="FL_calflower1_joint" type="fixed">
<origin xyz="-0.01 0.0 -0.04" rpy="0.0 0.48 0.0" />
<parent link="FL_calflower" />
<child link="FL_calflower1" />
</joint>
<link name="FL_calf_rotor">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.089" />
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05" />
</inertial>
</link>
<joint name="FL_calf_rotor_joint" type="fixed">
<origin xyz="0.0 -0.03235 0.0" rpy="0.0 0.0 0.0" />
<parent link="FL_thigh" />
<child link="FL_calf_rotor" />
</joint>
<material name="黑色足端_007-effect">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
<link name="FL_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://go2_description/dae/foot.dae" />
</geometry>
<material name="黑色足端_007-effect" />
</visual>
<collision>
<origin xyz="-0.002 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.022" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.04" />
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06" />
</inertial>
</link>
<joint name="FL_foot_joint" type="fixed">
<origin xyz="0.0 0.0 -0.213" rpy="0.0 0.0 0.0" />
<parent link="FL_calf" />
<child link="FL_foot" />
</joint>
<link name="FR_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.1415 0.0 0.0" />
<geometry>
<mesh filename="package://go2_description/dae/hip.dae" />
</geometry>
<material name="深色橡胶_001-effect" />
</visual>
<collision>
<origin xyz="0.0 -0.08 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.04" radius="0.046" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0054 -0.00194 -0.000105" rpy="0.0 0.0 0.0" />
<mass value="0.678" />
<inertia ixx="0.00048" ixy="3.01e-06" ixz="1.11e-06" iyy="0.000884" iyz="1.42e-06" izz="0.000596" />
</inertial>
</link>
<joint name="FR_hip_joint" type="revolute">
<origin xyz="0.1934 -0.0465 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="FR_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="23.7" velocity="30.1" lower="-1.0472" upper="1.0472" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FR_hip_rotor">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.089" />
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05" />
</inertial>
</link>
<joint name="FR_hip_rotor_joint" type="fixed">
<origin xyz="0.11215 -0.04675 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="FR_hip_rotor" />
</joint>
<material name="深色橡胶_012-effect">
<color rgba="0.6717055 0.6924257 0.7742702 1.0" />
</material>
<link name="FR_thigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://go2_description/dae/thigh_mirror.dae" />
</geometry>
<material name="深色橡胶_012-effect" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.1065" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<box size="0.213 0.0245 0.034" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00374 0.0223 -0.0327" rpy="0.0 0.0 0.0" />
<mass value="1.152" />
<inertia ixx="0.00584" ixy="-8.72e-05" ixz="-0.000289" iyy="0.0058" iyz="-0.000808" izz="0.00103" />
</inertial>
</link>
<joint name="FR_thigh_joint" type="revolute">
<origin xyz="0.0 -0.0955 0.0" rpy="0.0 0.0 0.0" />
<parent link="FR_hip" />
<child link="FR_thigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="23.7" velocity="30.1" lower="-1.5708" upper="3.4907" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FR_thigh_rotor">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.089" />
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05" />
</inertial>
</link>
<joint name="FR_thigh_rotor_joint" type="fixed">
<origin xyz="0.0 0.00015 0.0" rpy="0.0 0.0 0.0" />
<parent link="FR_hip" />
<child link="FR_thigh_rotor" />
</joint>
<material name="黑色足端_006-effect">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
<link name="FR_calf">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://go2_description/dae/calf_mirror.dae" />
</geometry>
<material name="黑色足端_006-effect" />
</visual>
<collision>
<origin xyz="0.01 0.0 -0.06" rpy="0.0 -0.2 0.0" />
<geometry>
<cylinder length="0.12" radius="0.013" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00548 0.000975 -0.115" rpy="0.0 0.0 0.0" />
<mass value="0.154" />
<inertia ixx="0.00108" ixy="-3.4e-07" ixz="1.72e-05" iyy="0.0011" iyz="-8.28e-06" izz="3.29e-05" />
</inertial>
</link>
<joint name="FR_calf_joint" type="revolute">
<origin xyz="0.0 0.0 -0.213" rpy="0.0 0.0 0.0" />
<parent link="FR_thigh" />
<child link="FR_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="45.43" velocity="15.7" lower="-2.7227" upper="-0.83776" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FR_calflower">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.065" radius="0.011" />
</geometry>
</collision>
</link>
<joint name="FR_calflower_joint" type="fixed">
<origin xyz="0.02 0.0 -0.148" rpy="0.0 0.05 0.0" />
<parent link="FR_calf" />
<child link="FR_calflower" />
</joint>
<link name="FR_calflower1">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.03" radius="0.0155" />
</geometry>
</collision>
</link>
<joint name="FR_calflower1_joint" type="fixed">
<origin xyz="-0.01 0.0 -0.04" rpy="0.0 0.48 0.0" />
<parent link="FR_calflower" />
<child link="FR_calflower1" />
</joint>
<link name="FR_calf_rotor">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.089" />
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05" />
</inertial>
</link>
<joint name="FR_calf_rotor_joint" type="fixed">
<origin xyz="0.0 0.03235 0.0" rpy="0.0 0.0 0.0" />
<parent link="FR_thigh" />
<child link="FR_calf_rotor" />
</joint>
<link name="FR_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://go2_description/dae/foot.dae" />
</geometry>
<material name="黑色足端_007-effect" />
</visual>
<collision>
<origin xyz="-0.002 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.022" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.04" />
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06" />
</inertial>
</link>
<joint name="FR_foot_joint" type="fixed">
<origin xyz="0.0 0.0 -0.213" rpy="0.0 0.0 0.0" />
<parent link="FR_calf" />
<child link="FR_foot" />
</joint>
<link name="RL_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 3.1415 0.0" />
<geometry>
<mesh filename="package://go2_description/dae/hip.dae" />
</geometry>
<material name="深色橡胶_001-effect" />
</visual>
<collision>
<origin xyz="0.0 0.08 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.04" radius="0.046" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0054 0.00194 -0.000105" rpy="0.0 0.0 0.0" />
<mass value="0.678" />
<inertia ixx="0.00048" ixy="3.01e-06" ixz="-1.11e-06" iyy="0.000884" iyz="-1.42e-06" izz="0.000596" />
</inertial>
</link>
<joint name="RL_hip_joint" type="revolute">
<origin xyz="-0.1934 0.0465 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="RL_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="23.7" velocity="30.1" lower="-1.0472" upper="1.0472" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RL_hip_rotor">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.089" />
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05" />
</inertial>
</link>
<joint name="RL_hip_rotor_joint" type="fixed">
<origin xyz="-0.11215 0.04675 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="RL_hip_rotor" />
</joint>
<link name="RL_thigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://go2_description/dae/thigh.dae" />
</geometry>
<material name="深色橡胶_003-effect" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.1065" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<box size="0.213 0.0245 0.034" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00374 -0.0223 -0.0327" rpy="0.0 0.0 0.0" />
<mass value="1.152" />
<inertia ixx="0.00584" ixy="8.72e-05" ixz="-0.000289" iyy="0.0058" iyz="0.000808" izz="0.00103" />
</inertial>
</link>
<joint name="RL_thigh_joint" type="revolute">
<origin xyz="0.0 0.0955 0.0" rpy="0.0 0.0 0.0" />
<parent link="RL_hip" />
<child link="RL_thigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="23.7" velocity="30.1" lower="-0.5236" upper="4.5379" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RL_thigh_rotor">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.089" />
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05" />
</inertial>
</link>
<joint name="RL_thigh_rotor_joint" type="fixed">
<origin xyz="0.0 -0.00015 0.0" rpy="0.0 0.0 0.0" />
<parent link="RL_hip" />
<child link="RL_thigh_rotor" />
</joint>
<link name="RL_calf">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://go2_description/dae/calf.dae" />
</geometry>
<material name="黑色足端_005-effect" />
</visual>
<collision>
<origin xyz="0.01 0.0 -0.06" rpy="0.0 -0.2 0.0" />
<geometry>
<cylinder length="0.12" radius="0.013" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00548 -0.000975 -0.115" rpy="0.0 0.0 0.0" />
<mass value="0.154" />
<inertia ixx="0.00108" ixy="3.4e-07" ixz="1.72e-05" iyy="0.0011" iyz="8.28e-06" izz="3.29e-05" />
</inertial>
</link>
<joint name="RL_calf_joint" type="revolute">
<origin xyz="0.0 0.0 -0.213" rpy="0.0 0.0 0.0" />
<parent link="RL_thigh" />
<child link="RL_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="45.43" velocity="15.7" lower="-2.7227" upper="-0.83776" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RL_calflower">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.065" radius="0.011" />
</geometry>
</collision>
</link>
<joint name="RL_calflower_joint" type="fixed">
<origin xyz="0.02 0.0 -0.148" rpy="0.0 0.05 0.0" />
<parent link="RL_calf" />
<child link="RL_calflower" />
</joint>
<link name="RL_calflower1">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.03" radius="0.0155" />
</geometry>
</collision>
</link>
<joint name="RL_calflower1_joint" type="fixed">
<origin xyz="-0.01 0.0 -0.04" rpy="0.0 0.48 0.0" />
<parent link="RL_calflower" />
<child link="RL_calflower1" />
</joint>
<link name="RL_calf_rotor">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.089" />
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05" />
</inertial>
</link>
<joint name="RL_calf_rotor_joint" type="fixed">
<origin xyz="0.0 -0.03235 0.0" rpy="0.0 0.0 0.0" />
<parent link="RL_thigh" />
<child link="RL_calf_rotor" />
</joint>
<link name="RL_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://go2_description/dae/foot.dae" />
</geometry>
<material name="黑色足端_007-effect" />
</visual>
<collision>
<origin xyz="-0.002 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.022" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.04" />
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06" />
</inertial>
</link>
<joint name="RL_foot_joint" type="fixed">
<origin xyz="0.0 0.0 -0.213" rpy="0.0 0.0 0.0" />
<parent link="RL_calf" />
<child link="RL_foot" />
</joint>
<link name="RR_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.1415 3.1415 0.0" />
<geometry>
<mesh filename="package://go2_description/dae/hip.dae" />
</geometry>
<material name="深色橡胶_001-effect" />
</visual>
<collision>
<origin xyz="0.0 -0.08 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.04" radius="0.046" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0054 -0.00194 -0.000105" rpy="0.0 0.0 0.0" />
<mass value="0.678" />
<inertia ixx="0.00048" ixy="-3.01e-06" ixz="-1.11e-06" iyy="0.000884" iyz="1.42e-06" izz="0.000596" />
</inertial>
</link>
<joint name="RR_hip_joint" type="revolute">
<origin xyz="-0.1934 -0.0465 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="RR_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="23.7" velocity="30.1" lower="-1.0472" upper="1.0472" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RR_hip_rotor">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.089" />
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05" />
</inertial>
</link>
<joint name="RR_hip_rotor_joint" type="fixed">
<origin xyz="-0.11215 -0.04675 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="RR_hip_rotor" />
</joint>
<link name="RR_thigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://go2_description/dae/thigh_mirror.dae" />
</geometry>
<material name="深色橡胶_012-effect" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.1065" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<box size="0.213 0.0245 0.034" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00374 0.0223 -0.0327" rpy="0.0 0.0 0.0" />
<mass value="1.152" />
<inertia ixx="0.00584" ixy="-8.72e-05" ixz="-0.000289" iyy="0.0058" iyz="-0.000808" izz="0.00103" />
</inertial>
</link>
<joint name="RR_thigh_joint" type="revolute">
<origin xyz="0.0 -0.0955 0.0" rpy="0.0 0.0 0.0" />
<parent link="RR_hip" />
<child link="RR_thigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="23.7" velocity="30.1" lower="-0.5236" upper="4.5379" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RR_thigh_rotor">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.089" />
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05" />
</inertial>
</link>
<joint name="RR_thigh_rotor_joint" type="fixed">
<origin xyz="0.0 0.00015 0.0" rpy="0.0 0.0 0.0" />
<parent link="RR_hip" />
<child link="RR_thigh_rotor" />
</joint>
<link name="RR_calf">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://go2_description/dae/calf_mirror.dae" />
</geometry>
<material name="黑色足端_006-effect" />
</visual>
<collision>
<origin xyz="0.01 0.0 -0.06" rpy="0.0 -0.2 0.0" />
<geometry>
<cylinder length="0.12" radius="0.013" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00548 0.000975 -0.115" rpy="0.0 0.0 0.0" />
<mass value="0.154" />
<inertia ixx="0.00108" ixy="-3.4e-07" ixz="1.72e-05" iyy="0.0011" iyz="-8.28e-06" izz="3.29e-05" />
</inertial>
</link>
<joint name="RR_calf_joint" type="revolute">
<origin xyz="0.0 0.0 -0.213" rpy="0.0 0.0 0.0" />
<parent link="RR_thigh" />
<child link="RR_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="45.43" velocity="15.7" lower="-2.7227" upper="-0.83776" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RR_calflower">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.065" radius="0.011" />
</geometry>
</collision>
</link>
<joint name="RR_calflower_joint" type="fixed">
<origin xyz="0.02 0.0 -0.148" rpy="0.0 0.05 0.0" />
<parent link="RR_calf" />
<child link="RR_calflower" />
</joint>
<link name="RR_calflower1">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.03" radius="0.0155" />
</geometry>
</collision>
</link>
<joint name="RR_calflower1_joint" type="fixed">
<origin xyz="-0.01 0.0 -0.04" rpy="0.0 0.48 0.0" />
<parent link="RR_calflower" />
<child link="RR_calflower1" />
</joint>
<link name="RR_calf_rotor">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.089" />
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05" />
</inertial>
</link>
<joint name="RR_calf_rotor_joint" type="fixed">
<origin xyz="0.0 0.03235 0.0" rpy="0.0 0.0 0.0" />
<parent link="RR_thigh" />
<child link="RR_calf_rotor" />
</joint>
<link name="RR_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://go2_description/dae/foot.dae" />
</geometry>
<material name="黑色足端_007-effect" />
</visual>
<collision>
<origin xyz="-0.002 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.022" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.04" />
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06" />
</inertial>
</link>
<joint name="RR_foot_joint" type="fixed">
<origin xyz="0.0 0.0 -0.213" rpy="0.0 0.0 0.0" />
<parent link="RR_calf" />
<child link="RR_foot" />
</joint>
<link name="imu">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<origin xyz="-0.02557 0.0 0.04232" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="imu" />
</joint>
<link name="radar">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="radar_joint" type="fixed">
<origin xyz="0.28945 0.0 -0.046825" rpy="0.0 2.8782 0.0" />
<parent link="base" />
<child link="radar" />
</joint>
<joint name="front_camera_joint" type="fixed">
<origin xyz="0.32715 -3e-05 0.04297" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="front_camera" />
</joint>
<link name="front_camera" />
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content db26ad7d3b78907f -->
<mujoco model="go2_description">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="深色橡胶_001-effect" rgba="0.6717055 0.6924257 0.7742702 1.0" />
<material name="深色橡胶_003-effect" rgba="0.6717055 0.6924257 0.7742702 1.0" />
<material name="黑色足端_005-effect" rgba="0.0 0.0 0.0 1.0" />
<material name="黑色足端_007-effect" rgba="0.0 0.0 0.0 1.0" />
<material name="深色橡胶_012-effect" rgba="0.6717055 0.6924257 0.7742702 1.0" />
<material name="黑色足端_006-effect" rgba="0.0 0.0 0.0 1.0" />
<mesh name="base" file="go2_description/dae/base.dae" />
<mesh name="hip" file="go2_description/dae/hip.dae" />
<mesh name="thigh" file="go2_description/dae/thigh.dae" />
<mesh name="calf" file="go2_description/dae/calf.dae" />
<mesh name="foot" file="go2_description/dae/foot.dae" />
<mesh name="thigh_mirror" file="go2_description/dae/thigh_mirror.dae" />
<mesh name="calf_mirror" file="go2_description/dae/calf_mirror.dae" />
</asset>
<worldbody>
<body name="base">
<inertial pos="0.021112 0.0 -0.005366" mass="6.921" fullinertia="0.02448 0.098077 0.107 0.00012166 0.0014849 -3.12e-05" />
<geom name="base_vis_0" type="mesh" mesh="base" contype="0" conaffinity="0" group="2" material="深色橡胶_001-effect" />
<geom name="base_col_0" type="box" size="0.1881 0.04675 0.057" group="3" />
<body name="Head_upper" pos="0.285 0.0 0.01">
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="9.6e-06 9.6e-06 9.6e-06 0.0 0.0 0.0" />
<geom name="Head_upper_col_0" type="cylinder" size="0.05 0.045" group="3" />
<body name="Head_lower" pos="0.008 0.0 -0.07">
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="9.6e-06 9.6e-06 9.6e-06 0.0 0.0 0.0" />
<geom name="Head_lower_col_0" type="sphere" size="0.047" group="3" />
</body>
</body>
<body name="FL_hip" pos="0.1934 0.0465 0.0">
<joint name="FL_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.0472 1.0472" />
<inertial pos="-0.0054 0.00194 -0.000105" mass="0.678" fullinertia="0.00048 0.000884 0.000596 -3.01e-06 1.11e-06 -1.42e-06" />
<geom name="FL_hip_vis_0" type="mesh" mesh="hip" contype="0" conaffinity="0" group="2" material="深色橡胶_001-effect" />
<geom name="FL_hip_col_0" type="cylinder" size="0.046 0.02" pos="0.0 0.08 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
<body name="FL_thigh" pos="0.0 0.0955 0.0">
<joint name="FL_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.5708 3.4907" />
<inertial pos="-0.00374 -0.0223 -0.0327" mass="1.152" fullinertia="0.00584 0.0058 0.00103 8.72e-05 -0.000289 0.000808" />
<geom name="FL_thigh_vis_0" type="mesh" mesh="thigh" contype="0" conaffinity="0" group="2" material="深色橡胶_003-effect" />
<geom name="FL_thigh_col_0" type="box" size="0.1065 0.01225 0.017" pos="0.0 0.0 -0.1065" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
<body name="FL_calf" pos="0.0 0.0 -0.213">
<joint name="FL_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.7227 -0.83776" />
<inertial pos="0.00548 -0.000975 -0.115" mass="0.154" fullinertia="0.00108 0.0011 3.29e-05 3.4e-07 1.72e-05 8.28e-06" />
<geom name="FL_calf_vis_0" type="mesh" mesh="calf" contype="0" conaffinity="0" group="2" material="黑色足端_005-effect" />
<geom name="FL_calf_col_0" type="cylinder" size="0.012 0.06" pos="0.008 0.0 -0.06" quat="0.9944925627484974 0.0 -0.10480716882888248 0.0" group="3" />
<body name="FL_calflower" pos="0.02 0.0 -0.148" quat="0.9996875162757026 0.0 0.024997395914712332 0.0">
<geom name="FL_calflower_col_0" type="cylinder" size="0.011 0.0325" group="3" />
<body name="FL_calflower1" pos="-0.01 0.0 -0.04" quat="0.9713379748520297 0.0 0.23770262642713458 0.0">
<geom name="FL_calflower1_col_0" type="cylinder" size="0.0155 0.015" group="3" />
</body>
</body>
<body name="FL_foot" pos="0.0 0.0 -0.213">
<inertial pos="0.0 0.0 0.0" mass="0.04" fullinertia="9.6e-06 9.6e-06 9.6e-06 0.0 0.0 0.0" />
<geom name="FL_foot_vis_0" type="mesh" mesh="foot" contype="0" conaffinity="0" group="2" material="黑色足端_007-effect" />
<geom name="FL_foot_col_0" type="sphere" size="0.022" pos="-0.002 0.0 0.0" group="3" />
</body>
</body>
<body name="FL_calf_rotor" pos="0.0 -0.03235 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.089" fullinertia="5.9647e-05 0.000111842 5.9647e-05 0.0 0.0 0.0" />
</body>
</body>
<body name="FL_thigh_rotor" pos="0.0 -0.00015 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.089" fullinertia="5.9647e-05 0.000111842 5.9647e-05 0.0 0.0 0.0" />
</body>
</body>
<body name="FL_hip_rotor" pos="0.11215 0.04675 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.089" fullinertia="0.000111842 5.9647e-05 5.9647e-05 0.0 0.0 0.0" />
</body>
<body name="FR_hip" pos="0.1934 -0.0465 0.0">
<joint name="FR_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.0472 1.0472" />
<inertial pos="-0.0054 -0.00194 -0.000105" mass="0.678" fullinertia="0.00048 0.000884 0.000596 3.01e-06 1.11e-06 1.42e-06" />
<geom name="FR_hip_vis_0" type="mesh" mesh="hip" quat="4.632679487995776e-05 0.999999998926914 0.0 0.0" contype="0" conaffinity="0" group="2" material="深色橡胶_001-effect" />
<geom name="FR_hip_col_0" type="cylinder" size="0.046 0.02" pos="0.0 -0.08 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
<body name="FR_thigh" pos="0.0 -0.0955 0.0">
<joint name="FR_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.5708 3.4907" />
<inertial pos="-0.00374 0.0223 -0.0327" mass="1.152" fullinertia="0.00584 0.0058 0.00103 -8.72e-05 -0.000289 -0.000808" />
<geom name="FR_thigh_vis_0" type="mesh" mesh="thigh_mirror" contype="0" conaffinity="0" group="2" material="深色橡胶_012-effect" />
<geom name="FR_thigh_col_0" type="box" size="0.1065 0.01225 0.017" pos="0.0 0.0 -0.1065" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
<body name="FR_calf" pos="0.0 0.0 -0.213">
<joint name="FR_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.7227 -0.83776" />
<inertial pos="0.00548 0.000975 -0.115" mass="0.154" fullinertia="0.00108 0.0011 3.29e-05 -3.4e-07 1.72e-05 -8.28e-06" />
<geom name="FR_calf_vis_0" type="mesh" mesh="calf_mirror" contype="0" conaffinity="0" group="2" material="黑色足端_006-effect" />
<geom name="FR_calf_col_0" type="cylinder" size="0.013 0.06" pos="0.01 0.0 -0.06" quat="0.9950041652780258 0.0 -0.09983341664682815 0.0" group="3" />
<body name="FR_calflower" pos="0.02 0.0 -0.148" quat="0.9996875162757026 0.0 0.024997395914712332 0.0">
<geom name="FR_calflower_col_0" type="cylinder" size="0.011 0.0325" group="3" />
<body name="FR_calflower1" pos="-0.01 0.0 -0.04" quat="0.9713379748520297 0.0 0.23770262642713458 0.0">
<geom name="FR_calflower1_col_0" type="cylinder" size="0.0155 0.015" group="3" />
</body>
</body>
<body name="FR_foot" pos="0.0 0.0 -0.213">
<inertial pos="0.0 0.0 0.0" mass="0.04" fullinertia="9.6e-06 9.6e-06 9.6e-06 0.0 0.0 0.0" />
<geom name="FR_foot_vis_0" type="mesh" mesh="foot" contype="0" conaffinity="0" group="2" material="黑色足端_007-effect" />
<geom name="FR_foot_col_0" type="sphere" size="0.022" pos="-0.002 0.0 0.0" group="3" />
</body>
</body>
<body name="FR_calf_rotor" pos="0.0 0.03235 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.089" fullinertia="5.9647e-05 0.000111842 5.9647e-05 0.0 0.0 0.0" />
</body>
</body>
<body name="FR_thigh_rotor" pos="0.0 0.00015 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.089" fullinertia="5.9647e-05 0.000111842 5.9647e-05 0.0 0.0 0.0" />
</body>
</body>
<body name="FR_hip_rotor" pos="0.11215 -0.04675 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.089" fullinertia="0.000111842 5.9647e-05 5.9647e-05 0.0 0.0 0.0" />
</body>
<body name="RL_hip" pos="-0.1934 0.0465 0.0">
<joint name="RL_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.0472 1.0472" />
<inertial pos="0.0054 0.00194 -0.000105" mass="0.678" fullinertia="0.00048 0.000884 0.000596 3.01e-06 -1.11e-06 -1.42e-06" />
<geom name="RL_hip_vis_0" type="mesh" mesh="hip" quat="4.632679487995776e-05 0.0 0.999999998926914 0.0" contype="0" conaffinity="0" group="2" material="深色橡胶_001-effect" />
<geom name="RL_hip_col_0" type="cylinder" size="0.046 0.02" pos="0.0 0.08 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
<body name="RL_thigh" pos="0.0 0.0955 0.0">
<joint name="RL_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.5236 4.5379" />
<inertial pos="-0.00374 -0.0223 -0.0327" mass="1.152" fullinertia="0.00584 0.0058 0.00103 8.72e-05 -0.000289 0.000808" />
<geom name="RL_thigh_vis_0" type="mesh" mesh="thigh" contype="0" conaffinity="0" group="2" material="深色橡胶_003-effect" />
<geom name="RL_thigh_col_0" type="box" size="0.1065 0.01225 0.017" pos="0.0 0.0 -0.1065" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
<body name="RL_calf" pos="0.0 0.0 -0.213">
<joint name="RL_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.7227 -0.83776" />
<inertial pos="0.00548 -0.000975 -0.115" mass="0.154" fullinertia="0.00108 0.0011 3.29e-05 3.4e-07 1.72e-05 8.28e-06" />
<geom name="RL_calf_vis_0" type="mesh" mesh="calf" contype="0" conaffinity="0" group="2" material="黑色足端_005-effect" />
<geom name="RL_calf_col_0" type="cylinder" size="0.013 0.06" pos="0.01 0.0 -0.06" quat="0.9950041652780258 0.0 -0.09983341664682815 0.0" group="3" />
<body name="RL_calflower" pos="0.02 0.0 -0.148" quat="0.9996875162757026 0.0 0.024997395914712332 0.0">
<geom name="RL_calflower_col_0" type="cylinder" size="0.011 0.0325" group="3" />
<body name="RL_calflower1" pos="-0.01 0.0 -0.04" quat="0.9713379748520297 0.0 0.23770262642713458 0.0">
<geom name="RL_calflower1_col_0" type="cylinder" size="0.0155 0.015" group="3" />
</body>
</body>
<body name="RL_foot" pos="0.0 0.0 -0.213">
<inertial pos="0.0 0.0 0.0" mass="0.04" fullinertia="9.6e-06 9.6e-06 9.6e-06 0.0 0.0 0.0" />
<geom name="RL_foot_vis_0" type="mesh" mesh="foot" contype="0" conaffinity="0" group="2" material="黑色足端_007-effect" />
<geom name="RL_foot_col_0" type="sphere" size="0.022" pos="-0.002 0.0 0.0" group="3" />
</body>
</body>
<body name="RL_calf_rotor" pos="0.0 -0.03235 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.089" fullinertia="5.9647e-05 0.000111842 5.9647e-05 0.0 0.0 0.0" />
</body>
</body>
<body name="RL_thigh_rotor" pos="0.0 -0.00015 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.089" fullinertia="5.9647e-05 0.000111842 5.9647e-05 0.0 0.0 0.0" />
</body>
</body>
<body name="RL_hip_rotor" pos="-0.11215 0.04675 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.089" fullinertia="0.000111842 5.9647e-05 5.9647e-05 0.0 0.0 0.0" />
</body>
<body name="RR_hip" pos="-0.1934 -0.0465 0.0">
<joint name="RR_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.0472 1.0472" />
<inertial pos="0.0054 -0.00194 -0.000105" mass="0.678" fullinertia="0.00048 0.000884 0.000596 -3.01e-06 -1.11e-06 1.42e-06" />
<geom name="RR_hip_vis_0" type="mesh" mesh="hip" quat="2.14617192384968e-09 4.632679483024512e-05 4.632679483024512e-05 -0.9999999978538281" contype="0" conaffinity="0" group="2" material="深色橡胶_001-effect" />
<geom name="RR_hip_col_0" type="cylinder" size="0.046 0.02" pos="0.0 -0.08 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
<body name="RR_thigh" pos="0.0 -0.0955 0.0">
<joint name="RR_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.5236 4.5379" />
<inertial pos="-0.00374 0.0223 -0.0327" mass="1.152" fullinertia="0.00584 0.0058 0.00103 -8.72e-05 -0.000289 -0.000808" />
<geom name="RR_thigh_vis_0" type="mesh" mesh="thigh_mirror" contype="0" conaffinity="0" group="2" material="深色橡胶_012-effect" />
<geom name="RR_thigh_col_0" type="box" size="0.1065 0.01225 0.017" pos="0.0 0.0 -0.1065" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
<body name="RR_calf" pos="0.0 0.0 -0.213">
<joint name="RR_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.7227 -0.83776" />
<inertial pos="0.00548 0.000975 -0.115" mass="0.154" fullinertia="0.00108 0.0011 3.29e-05 -3.4e-07 1.72e-05 -8.28e-06" />
<geom name="RR_calf_vis_0" type="mesh" mesh="calf_mirror" contype="0" conaffinity="0" group="2" material="黑色足端_006-effect" />
<geom name="RR_calf_col_0" type="cylinder" size="0.013 0.06" pos="0.01 0.0 -0.06" quat="0.9950041652780258 0.0 -0.09983341664682815 0.0" group="3" />
<body name="RR_calflower" pos="0.02 0.0 -0.148" quat="0.9996875162757026 0.0 0.024997395914712332 0.0">
<geom name="RR_calflower_col_0" type="cylinder" size="0.011 0.0325" group="3" />
<body name="RR_calflower1" pos="-0.01 0.0 -0.04" quat="0.9713379748520297 0.0 0.23770262642713458 0.0">
<geom name="RR_calflower1_col_0" type="cylinder" size="0.0155 0.015" group="3" />
</body>
</body>
<body name="RR_foot" pos="0.0 0.0 -0.213">
<inertial pos="0.0 0.0 0.0" mass="0.04" fullinertia="9.6e-06 9.6e-06 9.6e-06 0.0 0.0 0.0" />
<geom name="RR_foot_vis_0" type="mesh" mesh="foot" contype="0" conaffinity="0" group="2" material="黑色足端_007-effect" />
<geom name="RR_foot_col_0" type="sphere" size="0.022" pos="-0.002 0.0 0.0" group="3" />
</body>
</body>
<body name="RR_calf_rotor" pos="0.0 0.03235 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.089" fullinertia="5.9647e-05 0.000111842 5.9647e-05 0.0 0.0 0.0" />
</body>
</body>
<body name="RR_thigh_rotor" pos="0.0 0.00015 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.089" fullinertia="5.9647e-05 0.000111842 5.9647e-05 0.0 0.0 0.0" />
</body>
</body>
<body name="RR_hip_rotor" pos="-0.11215 -0.04675 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.089" fullinertia="0.000111842 5.9647e-05 5.9647e-05 0.0 0.0 0.0" />
</body>
<body name="imu" pos="-0.02557 0.0 0.04232">
<inertial pos="0.0 0.0 0.0" mass="0.0" diaginertia="0 0 0" />
</body>
<body name="radar" pos="0.28945 0.0 -0.046825" quat="0.1313159683094573 0.0 0.9913405653290647 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.0" diaginertia="0 0 0" />
</body>
<body name="front_camera" pos="0.32715 -3e-05 0.04297" />
</body>
</worldbody>
<contact>
<exclude body1="base" body2="Head_upper" />
<exclude body1="Head_upper" body2="Head_lower" />
<exclude body1="base" body2="FL_hip" />
<exclude body1="base" body2="FL_hip_rotor" />
<exclude body1="FL_hip" body2="FL_thigh" />
<exclude body1="FL_hip" body2="FL_thigh_rotor" />
<exclude body1="FL_thigh" body2="FL_calf" />
<exclude body1="FL_calf" body2="FL_calflower" />
<exclude body1="FL_calflower" body2="FL_calflower1" />
<exclude body1="FL_thigh" body2="FL_calf_rotor" />
<exclude body1="FL_calf" body2="FL_foot" />
<exclude body1="base" body2="FR_hip" />
<exclude body1="base" body2="FR_hip_rotor" />
<exclude body1="FR_hip" body2="FR_thigh" />
<exclude body1="FR_hip" body2="FR_thigh_rotor" />
<exclude body1="FR_thigh" body2="FR_calf" />
<exclude body1="FR_calf" body2="FR_calflower" />
<exclude body1="FR_calflower" body2="FR_calflower1" />
<exclude body1="FR_thigh" body2="FR_calf_rotor" />
<exclude body1="FR_calf" body2="FR_foot" />
<exclude body1="base" body2="RL_hip" />
<exclude body1="base" body2="RL_hip_rotor" />
<exclude body1="RL_hip" body2="RL_thigh" />
<exclude body1="RL_hip" body2="RL_thigh_rotor" />
<exclude body1="RL_thigh" body2="RL_calf" />
<exclude body1="RL_calf" body2="RL_calflower" />
<exclude body1="RL_calflower" body2="RL_calflower1" />
<exclude body1="RL_thigh" body2="RL_calf_rotor" />
<exclude body1="RL_calf" body2="RL_foot" />
<exclude body1="base" body2="RR_hip" />
<exclude body1="base" body2="RR_hip_rotor" />
<exclude body1="RR_hip" body2="RR_thigh" />
<exclude body1="RR_hip" body2="RR_thigh_rotor" />
<exclude body1="RR_thigh" body2="RR_calf" />
<exclude body1="RR_calf" body2="RR_calflower" />
<exclude body1="RR_calflower" body2="RR_calflower1" />
<exclude body1="RR_thigh" body2="RR_calf_rotor" />
<exclude body1="RR_calf" body2="RR_foot" />
<exclude body1="base" body2="imu" />
<exclude body1="base" body2="radar" />
<exclude body1="base" body2="front_camera" />
</contact>
</mujoco>
Import report
Counts
| Links | 42 |
|---|---|
| Joints | 41 |
| Moving joints | 12 |
| Visuals | 17 |
| Collisions | 27 |
| Materials | 6 |
Meshes
Formats: dae.
Asset size: 25.9 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
@dont_collapse | 6 | attribute 'dont_collapse' is not part of the URDF subset RobotDescription mirrors |
axis | 16 | fixed joints carry no <axis>; URDF ignores it too |
material | 16 | a <visual> takes one <material>; the first is kept |
Forward-kinematics check
Forward kinematics of 42 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 · 2.5e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 12).
Source & licence
| Repository | https://github.com/unitreerobotics/unitree_ros |
|---|---|
| Commit | 267182b8521c8d6a631bab1fe63836873237a525 |
| Original file | robots/go2_description/urdf/go2_description.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.