GR-1
Fourier · licence GPL-3.0 · source: github.com/FFTAI/Wiki-GRx-Models @ 351245ac8
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 01b66a6e27b20278 -->
<robot name="GR1T1_nohand">
<link name="base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/base_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="-0.0425828586396115 0.0003700415157537537 0.009210089875386126" rpy="-1.5715560967510487 0.006752722386712318 -0.006757854813246755" />
<geometry>
<cylinder length="0.1371007021179978" radius="0.12239433188500067" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.06584 -9.765e-05 -0.01434" rpy="0.0 0.0 0.0" />
<mass value="3.84" />
<inertia ixx="0.0319" ixy="-3.35e-06" ixz="-0.001722" iyy="0.01048" iyz="-1.394e-05" izz="0.03496" />
</inertial>
</link>
<link name="left_thigh_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_thigh_roll_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.0327 9.169e-05 0.002323" rpy="0.0 0.0 0.0" />
<mass value="1.45" />
<inertia ixx="0.001545" ixy="8.2e-07" ixz="-2.999e-05" iyy="0.002427" iyz="-7.46e-06" izz="0.002505" />
</inertial>
</link>
<joint name="left_hip_roll_joint" type="revolute">
<origin xyz="-0.0025 0.105 -0.0276" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="left_thigh_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="48.0" velocity="12.15" lower="-0.09" upper="0.79" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_thigh_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_thigh_yaw_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.00019288 0.03547 -0.1073" rpy="0.0 0.0 0.0" />
<mass value="3.17" />
<inertia ixx="0.01555" ixy="-0.0001138" ixz="0.0001964" iyy="0.01777" iyz="0.003461" izz="0.006507" />
</inertial>
</link>
<joint name="left_hip_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_thigh_roll_link" />
<child link="left_thigh_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="66.0" velocity="16.76" lower="-0.7" upper="0.7" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_thigh_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_thigh_pitch_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0007000513673618543 -0.03015965784976181 -0.1670560397414535" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.24982894507630515" radius="0.08587689590118133" />
</geometry>
</collision>
<inertial>
<origin xyz="0.001419 -0.02869 -0.05999" rpy="0.0 0.0 0.0" />
<mass value="7.99" />
<inertia ixx="0.07222" ixy="-7.201e-05" ixz="0.001533" iyy="0.07244" iyz="-0.003014" izz="0.02139" />
</inertial>
</link>
<joint name="left_hip_pitch_joint" type="revolute">
<origin xyz="0.0 0.0223 -0.1405" rpy="0.0 0.0 0.0" />
<parent link="left_thigh_yaw_link" />
<child link="left_thigh_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="225.0" velocity="37.38" lower="-1.75" upper="0.7" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_shank_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_shank_pitch_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="-1.659010853856773e-05 -0.000842546786771745 -0.17469107292397335" rpy="-3.1410836913690487 0.0024586308191354433 -2.733338485212507" />
<geometry>
<cylinder length="0.18076995129198575" radius="0.05332138187428352" />
</geometry>
</collision>
<inertial>
<origin xyz="0.001724 -3.024e-05 -0.1128" rpy="0.0 0.0 0.0" />
<mass value="1.93" />
<inertia ixx="0.009915" ixy="-2.24e-06" ixz="-1.716e-05" iyy="0.009913" iyz="-0.0001199" izz="0.0009499" />
</inertial>
</link>
<joint name="left_knee_pitch_joint" type="revolute">
<origin xyz="0.0 -0.0213 -0.36" rpy="0.0 0.0 0.0" />
<parent link="left_thigh_pitch_link" />
<child link="left_shank_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="225.0" velocity="37.38" lower="-0.09" upper="1.92" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_foot_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_foot_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0284 0.00121 -0.0293" rpy="0.0 0.0 0.0" />
<mass value="0.538" />
<inertia ixx="0.000394" ixy="-9.64e-06" ixz="0.000173" iyy="0.00232" iyz="4.36e-06" izz="0.002474" />
</inertial>
</link>
<joint name="left_ankle_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 -0.34" rpy="0.0 0.0 0.0" />
<parent link="left_shank_pitch_link" />
<child link="left_foot_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="15.0" velocity="20.32" lower="-1.05" upper="0.52" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_foot_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_foot_roll_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.05 0.02 -0.035" rpy="0.0 1.5708 0.0" />
<geometry>
<cylinder length="0.24" radius="0.02" />
</geometry>
</collision>
<collision>
<origin xyz="0.05 -0.02 -0.035" rpy="0.0 1.5708 0.0" />
<geometry>
<cylinder length="0.24" radius="0.02" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0284 0.00121 -0.0293" rpy="0.0 0.0 0.0" />
<mass value="0.538" />
<inertia ixx="0.000394" ixy="-9.64e-06" ixz="0.000173" iyy="0.00232" iyz="4.36e-06" izz="0.002474" />
</inertial>
</link>
<joint name="left_ankle_roll_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_foot_pitch_link" />
<child link="left_foot_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="30.0" velocity="20.32" lower="-0.44" upper="0.44" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_thigh_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_thigh_roll_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.0325 -7.432e-05 0.002322" rpy="0.0 0.0 0.0" />
<mass value="1.45" />
<inertia ixx="0.001545" ixy="8.68e-06" ixz="-3.071e-05" iyy="0.002445" iyz="7.47e-06" izz="0.002523" />
</inertial>
</link>
<joint name="right_hip_roll_joint" type="revolute">
<origin xyz="-0.0025 -0.105 -0.0276" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="right_thigh_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="48.0" velocity="12.15" lower="-0.79" upper="0.09" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_thigh_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_thigh_yaw_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.0001289 -0.03547 -0.1132" rpy="0.0 0.0 0.0" />
<mass value="3.17" />
<inertia ixx="0.01555" ixy="8.397e-05" ixz="5.579e-05" iyy="0.01777" iyz="-0.003462" izz="0.006503" />
</inertial>
</link>
<joint name="right_hip_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_thigh_roll_link" />
<child link="right_thigh_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="66.0" velocity="16.76" lower="-0.7" upper="0.7" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_thigh_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_thigh_pitch_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="-0.0021232671369708286 0.0301596122658223 -0.16705638592" rpy="0.005397062281218166 0.014125499755146664 3.8118827309907216e-05" />
<geometry>
<cylinder length="0.24982123520352717" radius="0.0858779947877418" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00151 0.02868 -0.0598" rpy="0.0 0.0 0.0" />
<mass value="7.99" />
<inertia ixx="0.07228" ixy="5.837e-05" ixz="0.001505" iyy="0.0725" iyz="0.00295" izz="0.0214" />
</inertial>
</link>
<joint name="right_hip_pitch_joint" type="revolute">
<origin xyz="0.0 -0.0223 -0.1405" rpy="0.0 0.0 0.0" />
<parent link="right_thigh_yaw_link" />
<child link="right_thigh_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="225.0" velocity="37.38" lower="-1.75" upper="0.7" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_shank_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_shank_pitch_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="-1.6590107921902e-05 -0.000842557381796573 -0.17469872467626" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.180768239886" radius="0.053321055277056" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00172 3.024e-05 -0.1128" rpy="0.0 0.0 0.0" />
<mass value="1.93" />
<inertia ixx="0.009905" ixy="2.58e-06" ixz="-5.473e-05" iyy="0.009913" iyz="0.0001198" izz="0.0009603" />
</inertial>
</link>
<joint name="right_knee_pitch_joint" type="revolute">
<origin xyz="0.0 0.0213 -0.36" rpy="0.0 0.0 0.0" />
<parent link="right_thigh_pitch_link" />
<child link="right_shank_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="225.0" velocity="37.38" lower="-0.09" upper="1.92" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_foot_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_foot_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0284 -0.00121 -0.0293" rpy="0.0 0.0 0.0" />
<mass value="0.538" />
<inertia ixx="0.000394" ixy="9.6e-06" ixz="0.000173" iyy="0.00232" iyz="-4.36e-06" izz="0.00247" />
</inertial>
</link>
<joint name="right_ankle_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 -0.34" rpy="0.0 0.0 0.0" />
<parent link="right_shank_pitch_link" />
<child link="right_foot_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="15.0" velocity="20.32" lower="-1.05" upper="0.52" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_foot_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_foot_roll_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.05 0.02 -0.035" rpy="0.0 1.5708 0.0" />
<geometry>
<cylinder length="0.24" radius="0.02" />
</geometry>
</collision>
<collision>
<origin xyz="0.05 -0.02 -0.035" rpy="0.0 1.5708 0.0" />
<geometry>
<cylinder length="0.24" radius="0.02" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0284 -0.00121 -0.0293" rpy="0.0 0.0 0.0" />
<mass value="0.538" />
<inertia ixx="0.000394" ixy="9.6e-06" ixz="0.000173" iyy="0.00232" iyz="-4.36e-06" izz="0.00247" />
</inertial>
</link>
<joint name="right_ankle_roll_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_foot_pitch_link" />
<child link="right_foot_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="30.0" velocity="20.32" lower="-0.44" upper="0.44" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="waist_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/waist_yaw_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.002641 -0.009332 0.05066" rpy="0.0 0.0 0.0" />
<mass value="1.49" />
<inertia ixx="0.00302" ixy="3.832e-05" ixz="1.016e-05" iyy="0.002711" iyz="0.0005105" izz="0.001679" />
</inertial>
</link>
<joint name="waist_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="waist_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="66.0" velocity="16.76" lower="-1.05" upper="1.05" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="waist_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/waist_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00451 -0.00439 0.0406" rpy="0.0 0.0 0.0" />
<mass value="1.62" />
<inertia ixx="0.00456" ixy="-2.99e-05" ixz="-0.0002541" iyy="0.004563" iyz="-0.0002748" izz="0.001855" />
</inertial>
</link>
<joint name="waist_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 0.0873" rpy="0.0 0.0 0.0" />
<parent link="waist_yaw_link" />
<child link="waist_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="66.0" velocity="16.76" lower="-0.52" upper="1.22" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="waist_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/waist_roll_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.01038 -1.48e-06 0.01312" rpy="0.0 0.0 0.0" />
<mass value="0.91" />
<inertia ixx="0.001" ixy="-1e-08" ixz="0.0001508" iyy="0.001226" iyz="8e-08" izz="0.001087" />
</inertial>
</link>
<joint name="waist_roll_joint" type="revolute">
<origin xyz="0.0 0.0 0.081" rpy="0.0 0.0 0.0" />
<parent link="waist_pitch_link" />
<child link="waist_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="66.0" velocity="16.76" lower="-0.7" upper="0.7" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="torso_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/torso_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="-0.0158159258618006 0.005195369607133852 -0.01252051000214107" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.1603859984881334" radius="0.12742740516179016" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00667 0.0001533 0.01837" rpy="0.0 0.0 0.0" />
<mass value="6.4" />
<inertia ixx="0.04162" ixy="2.011e-05" ixz="-0.001691" iyy="0.03127" iyz="1.097e-05" izz="0.02553" />
</inertial>
</link>
<joint name="torso_joint" type="fixed">
<origin xyz="-0.00414 0.0 0.16071" rpy="0.0 0.0 0.0" />
<parent link="waist_roll_link" />
<child link="torso_link" />
</joint>
<link name="left_upper_arm_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_upper_arm_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00323 0.05324 0.000192" rpy="0.0 0.0 0.0" />
<mass value="0.81" />
<inertia ixx="0.002024" ixy="-9.67e-05" ixz="-4.2e-07" iyy="0.0005" iyz="1.71e-06" izz="0.001957" />
</inertial>
</link>
<joint name="left_shoulder_pitch_joint" type="revolute">
<origin xyz="0.0 0.10111 0.047149" rpy="0.43633 0.0 0.0" />
<parent link="torso_link" />
<child link="left_upper_arm_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="38.0" velocity="9.11" lower="-2.79" upper="1.92" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_upper_arm_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_upper_arm_roll_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.003427 0.01466 -0.02316" rpy="0.0 0.0 0.0" />
<mass value="0.5" />
<inertia ixx="0.0008749" ixy="-1.593e-05" ixz="2.96e-06" iyy="0.0006958" iyz="0.0002863" izz="0.0004119" />
</inertial>
</link>
<joint name="left_shoulder_roll_joint" type="revolute">
<origin xyz="0.0 0.09515 0.0" rpy="-0.43633 0.0 0.0" />
<parent link="left_upper_arm_pitch_link" />
<child link="left_upper_arm_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="38.0" velocity="9.11" lower="-0.57" upper="3.27" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_upper_arm_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_upper_arm_yaw_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="3.948544275722503e-05 -0.0008942898235348745 -0.079340036492981" rpy="-3.1255954464984725 0.0015124792767218231 -0.1885285227575202" />
<geometry>
<cylinder length="0.1698839909625244" radius="0.03623321337242011" />
</geometry>
</collision>
<inertial>
<origin xyz="5.47e-05 0.002013 -0.0852" rpy="0.0 0.0 0.0" />
<mass value="0.55" />
<inertia ixx="0.003544" ixy="-1.8e-07" ixz="-1.75e-06" iyy="0.003537" iyz="9.928e-05" izz="0.0002512" />
</inertial>
</link>
<joint name="left_shoulder_yaw_joint" type="revolute">
<origin xyz="0.0 0.04 -0.07095" rpy="0.0 0.0 0.0" />
<parent link="left_upper_arm_roll_link" />
<child link="left_upper_arm_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="30.0" velocity="7.33" lower="-2.97" upper="2.97" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_lower_arm_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_lower_arm_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="3.31e-06 0.007846 -0.02549" rpy="0.0 0.0 0.0" />
<mass value="0.32" />
<inertia ixx="0.0002916" ixy="1e-08" ixz="-6e-08" iyy="0.0002848" iyz="-4.858e-05" izz="0.000109" />
</inertial>
</link>
<joint name="left_elbow_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 -0.1751" rpy="0.0 0.0 0.0" />
<parent link="left_upper_arm_yaw_link" />
<child link="left_lower_arm_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="30.0" velocity="7.33" lower="-2.27" upper="2.27" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_hand_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_hand_yaw_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0010892501812804515 -0.0015411136604867 -0.07604285011805535" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.1391873595177893" radius="0.04157192402358859" />
</geometry>
</collision>
<inertial>
<origin xyz="-2.923e-05 0.002124 -0.06117" rpy="0.0 0.0 0.0" />
<mass value="0.89" />
<inertia ixx="0.001867" ixy="3.1e-07" ixz="1.064e-05" iyy="0.001863" iyz="1.649e-05" izz="0.0003211" />
</inertial>
</link>
<joint name="left_wrist_yaw_joint" type="revolute">
<origin xyz="0.0 5.033e-05 -0.05395" rpy="0.0 0.0 0.0" />
<parent link="left_lower_arm_pitch_link" />
<child link="left_hand_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.2" velocity="24.4" lower="-2.97" upper="2.97" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_hand_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_hand_roll_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.001292 -0.01174" rpy="0.0 0.0 0.0" />
<mass value="0.02955" />
<inertia ixx="5.38e-06" ixy="0.0" ixz="0.0" iyy="1e-05" iyz="-4.6e-07" izz="8.92e-06" />
</inertial>
</link>
<joint name="left_wrist_roll_joint" type="revolute">
<origin xyz="0.0 0.0 -0.18765" rpy="0.0 0.0 0.0" />
<parent link="left_hand_yaw_link" />
<child link="left_hand_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="3.95" velocity="27.96" lower="-0.87" upper="0.96" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_hand_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_hand_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.001292 -0.01174" rpy="0.0 0.0 0.0" />
<mass value="0.02955" />
<inertia ixx="5.38e-06" ixy="0.0" ixz="0.0" iyy="1e-05" iyz="-4.6e-07" izz="8.92e-06" />
</inertial>
</link>
<joint name="left_wrist_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_hand_roll_link" />
<child link="left_hand_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="3.95" velocity="27.96" lower="-0.61" upper="0.61" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_end_effector_link" />
<joint name="left_end_effector_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_hand_pitch_link" />
<child link="left_end_effector_link" />
</joint>
<link name="right_upper_arm_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_upper_arm_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00324 -0.0533 0.000185" rpy="0.0 0.0 0.0" />
<mass value="0.81" />
<inertia ixx="0.00203" ixy="0.000104" ixz="2.96e-07" iyy="0.000499" iyz="-1.1e-06" izz="0.00196" />
</inertial>
</link>
<joint name="right_shoulder_pitch_joint" type="revolute">
<origin xyz="0.0 -0.10111 0.047149" rpy="-0.43633 0.0 0.0" />
<parent link="torso_link" />
<child link="right_upper_arm_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="38.0" velocity="9.11" lower="-2.79" upper="1.92" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_upper_arm_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_upper_arm_roll_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00342 -0.0147 -0.0232" rpy="0.0 0.0 0.0" />
<mass value="0.5" />
<inertia ixx="0.000875" ixy="1.598e-05" ixz="2.96e-06" iyy="0.000696" iyz="-0.0002866" izz="0.0004121" />
</inertial>
</link>
<joint name="right_shoulder_roll_joint" type="revolute">
<origin xyz="0.0 -0.09515 0.0" rpy="0.43633 0.0 0.0" />
<parent link="right_upper_arm_pitch_link" />
<child link="right_upper_arm_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="38.0" velocity="9.11" lower="-3.27" upper="0.57" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_upper_arm_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_upper_arm_yaw_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="3.948544275722503e-05 0.0008942898235348745 -0.079340036492981" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.1698839909625244" radius="0.03623321337242011" />
</geometry>
</collision>
<inertial>
<origin xyz="7.6e-05 -0.002032 -0.08519" rpy="0.0 0.0 0.0" />
<mass value="0.55" />
<inertia ixx="0.003543" ixy="-1.9e-07" ixz="-1.49e-06" iyy="0.003536" iyz="-9.89e-05" izz="0.0002512" />
</inertial>
</link>
<joint name="right_shoulder_yaw_joint" type="revolute">
<origin xyz="0.0 -0.04 -0.07095" rpy="0.0 0.0 0.0" />
<parent link="right_upper_arm_roll_link" />
<child link="right_upper_arm_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="30.0" velocity="7.33" lower="-2.97" upper="2.97" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_lower_arm_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_lower_arm_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-1.69e-06 -0.007855 -0.02549" rpy="0.0 0.0 0.0" />
<mass value="0.32" />
<inertia ixx="0.0002914" ixy="2e-08" ixz="1e-08" iyy="0.0002847" iyz="4.85e-05" izz="0.000109" />
</inertial>
</link>
<joint name="right_elbow_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 -0.1751" rpy="0.0 0.0 0.0" />
<parent link="right_upper_arm_yaw_link" />
<child link="right_lower_arm_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="30.0" velocity="7.33" lower="-2.27" upper="2.27" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_hand_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_hand_yaw_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0010892501812804515 0.0006411136604867 -0.07604285011805535" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.1391873595177893" radius="0.04157192402358859" />
</geometry>
</collision>
<inertial>
<origin xyz="3.9e-05 -0.00212 -0.06117" rpy="0.0 0.0 0.0" />
<mass value="0.89" />
<inertia ixx="0.001866" ixy="3e-07" ixz="-1.091e-05" iyy="0.001862" iyz="-1.679e-05" izz="0.0003211" />
</inertial>
</link>
<joint name="right_wrist_yaw_joint" type="revolute">
<origin xyz="0.0 -5.033e-05 -0.05395" rpy="0.0 0.0 0.0" />
<parent link="right_lower_arm_pitch_link" />
<child link="right_hand_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.2" velocity="24.4" lower="-2.97" upper="2.97" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_hand_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_hand_roll_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 -0.00129 -0.0117" rpy="0.0 0.0 0.0" />
<mass value="0.0295" />
<inertia ixx="5.38e-06" ixy="0.0" ixz="0.0" iyy="1e-05" iyz="4.6e-07" izz="8.92e-06" />
</inertial>
</link>
<joint name="right_wrist_roll_joint" type="revolute">
<origin xyz="0.0 0.0 -0.18765" rpy="0.0 0.0 0.0" />
<parent link="right_hand_yaw_link" />
<child link="right_hand_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="3.95" velocity="27.96" lower="-0.96" upper="0.87" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_hand_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_hand_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 -0.00129 -0.0117" rpy="0.0 0.0 0.0" />
<mass value="0.0295" />
<inertia ixx="5.38e-06" ixy="0.0" ixz="0.0" iyy="1e-05" iyz="4.6e-07" izz="8.92e-06" />
</inertial>
</link>
<joint name="right_wrist_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_hand_roll_link" />
<child link="right_hand_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="3.95" velocity="27.96" lower="-0.61" upper="0.61" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_end_effector_link" />
<joint name="right_end_effector_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_hand_pitch_link" />
<child link="right_end_effector_link" />
</joint>
<link name="head_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/head_yaw_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.0001367 -0.000134 0.05313" rpy="0.0 0.0 0.0" />
<mass value="0.45" />
<inertia ixx="0.0007357" ixy="-8.7e-07" ixz="1.075e-05" iyy="0.0007692" iyz="1.54e-06" izz="0.0001691" />
</inertial>
</link>
<joint name="head_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 0.17339" rpy="0.0 0.0 0.0" />
<parent link="torso_link" />
<child link="head_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="3.95" velocity="27.96" lower="-2.71" upper="2.71" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="head_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/head_roll_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-3e-05 0.01418 -0.00267" rpy="0.0 0.0 0.0" />
<mass value="0.1267" />
<inertia ixx="1.95e-05" ixy="-1.57e-06" ixz="-1.33e-06" iyy="1.746e-05" iyz="-1.44e-06" izz="1.961e-05" />
</inertial>
</link>
<joint name="head_roll_joint" type="revolute">
<origin xyz="0.0 -0.00105 0.14195" rpy="0.0 0.0 0.0" />
<parent link="head_yaw_link" />
<child link="head_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="3.95" velocity="27.96" lower="-0.35" upper="0.35" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="head_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/head_pitch_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.018281080808229797 0.0 -0.01336201800288447" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.1086868692306477" />
</geometry>
</collision>
<inertial>
<origin xyz="0.02654 0.002225 -0.01063" rpy="0.0 0.0 0.0" />
<mass value="0.45" />
<inertia ixx="0.001107" ixy="1.689e-05" ixz="0.0002775" iyy="0.001414" iyz="-8.33e-06" izz="0.001518" />
</inertial>
</link>
<joint name="head_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="head_roll_link" />
<child link="head_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="3.95" velocity="27.96" lower="-0.87" upper="0.87" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="IMU_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/IMU_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.0003275 0.0 -0.005737" rpy="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="1.122e-05" ixy="0.0" ixz="-1.8e-07" iyy="1.199e-05" iyz="0.0" izz="1.442e-05" />
</inertial>
</link>
<joint name="IMU_joint" type="fixed">
<origin xyz="-0.064772 0.0 -0.0596" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="IMU_link" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 01b66a6e27b20278 -->
<mujoco model="GR1T1_nohand">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="base_link" file="../meshes/base_link.STL" />
<mesh name="left_thigh_roll_link" file="../meshes/left_thigh_roll_link.STL" />
<mesh name="left_thigh_yaw_link" file="../meshes/left_thigh_yaw_link.STL" />
<mesh name="left_thigh_pitch_link" file="../meshes/left_thigh_pitch_link.STL" />
<mesh name="left_shank_pitch_link" file="../meshes/left_shank_pitch_link.STL" />
<mesh name="left_foot_pitch_link" file="../meshes/left_foot_pitch_link.STL" />
<mesh name="left_foot_roll_link" file="../meshes/left_foot_roll_link.STL" />
<mesh name="right_thigh_roll_link" file="../meshes/right_thigh_roll_link.STL" />
<mesh name="right_thigh_yaw_link" file="../meshes/right_thigh_yaw_link.STL" />
<mesh name="right_thigh_pitch_link" file="../meshes/right_thigh_pitch_link.STL" />
<mesh name="right_shank_pitch_link" file="../meshes/right_shank_pitch_link.STL" />
<mesh name="right_foot_pitch_link" file="../meshes/right_foot_pitch_link.STL" />
<mesh name="right_foot_roll_link" file="../meshes/right_foot_roll_link.STL" />
<mesh name="waist_yaw_link" file="../meshes/waist_yaw_link.STL" />
<mesh name="waist_pitch_link" file="../meshes/waist_pitch_link.STL" />
<mesh name="waist_roll_link" file="../meshes/waist_roll_link.STL" />
<mesh name="torso_link" file="../meshes/torso_link.STL" />
<mesh name="left_upper_arm_pitch_link" file="../meshes/left_upper_arm_pitch_link.STL" />
<mesh name="left_upper_arm_roll_link" file="../meshes/left_upper_arm_roll_link.STL" />
<mesh name="left_upper_arm_yaw_link" file="../meshes/left_upper_arm_yaw_link.STL" />
<mesh name="left_lower_arm_pitch_link" file="../meshes/left_lower_arm_pitch_link.STL" />
<mesh name="left_hand_yaw_link" file="../meshes/left_hand_yaw_link.STL" />
<mesh name="left_hand_roll_link" file="../meshes/left_hand_roll_link.STL" />
<mesh name="left_hand_pitch_link" file="../meshes/left_hand_pitch_link.STL" />
<mesh name="right_upper_arm_pitch_link" file="../meshes/right_upper_arm_pitch_link.STL" />
<mesh name="right_upper_arm_roll_link" file="../meshes/right_upper_arm_roll_link.STL" />
<mesh name="right_upper_arm_yaw_link" file="../meshes/right_upper_arm_yaw_link.STL" />
<mesh name="right_lower_arm_pitch_link" file="../meshes/right_lower_arm_pitch_link.STL" />
<mesh name="right_hand_yaw_link" file="../meshes/right_hand_yaw_link.STL" />
<mesh name="right_hand_roll_link" file="../meshes/right_hand_roll_link.STL" />
<mesh name="right_hand_pitch_link" file="../meshes/right_hand_pitch_link.STL" />
<mesh name="head_yaw_link" file="../meshes/head_yaw_link.STL" />
<mesh name="head_roll_link" file="../meshes/head_roll_link.STL" />
<mesh name="head_pitch_link" file="../meshes/head_pitch_link.STL" />
<mesh name="IMU_link" file="../meshes/IMU_link.STL" />
</asset>
<worldbody>
<body name="base_link">
<inertial pos="-0.06584 -9.765e-05 -0.01434" mass="3.84" fullinertia="0.0319 0.01048 0.03496 -3.35e-06 -0.001722 -1.394e-05" />
<geom name="base_link_vis_0" type="mesh" mesh="base_link" contype="0" conaffinity="0" group="2" />
<geom name="base_link_col_0" type="cylinder" size="0.12239433188500067 0.0685503510589989" pos="-0.0425828586396115 0.0003700415157537537 0.009210089875386126" quat="0.706838117053456 -0.7073592154358853 0.004776674392661293 6.808789643208968e-17" group="3" />
<body name="left_thigh_roll_link" pos="-0.0025 0.105 -0.0276">
<joint name="left_hip_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.09 0.79" />
<inertial pos="-0.0327 9.169e-05 0.002323" mass="1.45" fullinertia="0.001545 0.002427 0.002505 8.2e-07 -2.999e-05 -7.46e-06" />
<geom name="left_thigh_roll_link_vis_0" type="mesh" mesh="left_thigh_roll_link" contype="0" conaffinity="0" group="2" />
<body name="left_thigh_yaw_link">
<joint name="left_hip_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-0.7 0.7" />
<inertial pos="-0.00019288 0.03547 -0.1073" mass="3.17" fullinertia="0.01555 0.01777 0.006507 -0.0001138 0.0001964 0.003461" />
<geom name="left_thigh_yaw_link_vis_0" type="mesh" mesh="left_thigh_yaw_link" contype="0" conaffinity="0" group="2" />
<body name="left_thigh_pitch_link" pos="0.0 0.0223 -0.1405">
<joint name="left_hip_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.75 0.7" />
<inertial pos="0.001419 -0.02869 -0.05999" mass="7.99" fullinertia="0.07222 0.07244 0.02139 -7.201e-05 0.001533 -0.003014" />
<geom name="left_thigh_pitch_link_vis_0" type="mesh" mesh="left_thigh_pitch_link" contype="0" conaffinity="0" group="2" />
<geom name="left_thigh_pitch_link_col_0" type="cylinder" size="0.08587689590118133 0.12491447253815258" pos="0.0007000513673618543 -0.03015965784976181 -0.1670560397414535" group="3" />
<body name="left_shank_pitch_link" pos="0.0 -0.0213 -0.36">
<joint name="left_knee_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.09 1.92" />
<inertial pos="0.001724 -3.024e-05 -0.1128" mass="1.93" fullinertia="0.009915 0.009913 0.0009499 -2.24e-06 -1.716e-05 -0.0001199" />
<geom name="left_shank_pitch_link_vis_0" type="mesh" mesh="left_shank_pitch_link" contype="0" conaffinity="0" group="2" />
<geom name="left_shank_pitch_link_col_0" type="cylinder" size="0.05332138187428352 0.09038497564599288" pos="-1.659010853856773e-05 -0.000842546786771745 -0.17469107292397335" quat="0.0012553788485338778 -0.2027119785649071 0.9792376002637191 1.1429117201255945e-15" group="3" />
<body name="left_foot_pitch_link" pos="0.0 0.0 -0.34">
<joint name="left_ankle_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.05 0.52" />
<inertial pos="0.0284 0.00121 -0.0293" mass="0.538" fullinertia="0.000394 0.00232 0.002474 -9.64e-06 0.000173 4.36e-06" />
<geom name="left_foot_pitch_link_vis_0" type="mesh" mesh="left_foot_pitch_link" contype="0" conaffinity="0" group="2" />
<body name="left_foot_roll_link">
<joint name="left_ankle_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.44 0.44" />
<inertial pos="0.0284 0.00121 -0.0293" mass="0.538" fullinertia="0.000394 0.00232 0.002474 -9.64e-06 0.000173 4.36e-06" />
<geom name="left_foot_roll_link_vis_0" type="mesh" mesh="left_foot_roll_link" contype="0" conaffinity="0" group="2" />
<geom name="left_foot_roll_link_col_0" type="cylinder" size="0.02 0.12" pos="0.05 0.02 -0.035" quat="0.7071054825112363 0.0 0.7071080798594735 0.0" group="3" />
<geom name="left_foot_roll_link_col_1" type="cylinder" size="0.02 0.12" pos="0.05 -0.02 -0.035" quat="0.7071054825112363 0.0 0.7071080798594735 0.0" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="right_thigh_roll_link" pos="-0.0025 -0.105 -0.0276">
<joint name="right_hip_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.79 0.09" />
<inertial pos="-0.0325 -7.432e-05 0.002322" mass="1.45" fullinertia="0.001545 0.002445 0.002523 8.68e-06 -3.071e-05 7.47e-06" />
<geom name="right_thigh_roll_link_vis_0" type="mesh" mesh="right_thigh_roll_link" contype="0" conaffinity="0" group="2" />
<body name="right_thigh_yaw_link">
<joint name="right_hip_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-0.7 0.7" />
<inertial pos="-0.0001289 -0.03547 -0.1132" mass="3.17" fullinertia="0.01555 0.01777 0.006503 8.397e-05 5.579e-05 -0.003462" />
<geom name="right_thigh_yaw_link_vis_0" type="mesh" mesh="right_thigh_yaw_link" contype="0" conaffinity="0" group="2" />
<body name="right_thigh_pitch_link" pos="0.0 -0.0223 -0.1405">
<joint name="right_hip_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.75 0.7" />
<inertial pos="0.00151 0.02868 -0.0598" mass="7.99" fullinertia="0.07228 0.0725 0.0214 5.837e-05 0.001505 0.00295" />
<geom name="right_thigh_pitch_link_vis_0" type="mesh" mesh="right_thigh_pitch_link" contype="0" conaffinity="0" group="2" />
<geom name="right_thigh_pitch_link_col_0" type="cylinder" size="0.0858779947877418 0.12491061760176358" pos="-0.0021232671369708286 0.0301596122658223 -0.16705638592" quat="0.9999714181252487 0.0026983259504172598 0.007062716874160566 3.3881317890172014e-21" group="3" />
<body name="right_shank_pitch_link" pos="0.0 0.0213 -0.36">
<joint name="right_knee_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.09 1.92" />
<inertial pos="0.00172 3.024e-05 -0.1128" mass="1.93" fullinertia="0.009905 0.009913 0.0009603 2.58e-06 -5.473e-05 0.0001198" />
<geom name="right_shank_pitch_link_vis_0" type="mesh" mesh="right_shank_pitch_link" contype="0" conaffinity="0" group="2" />
<geom name="right_shank_pitch_link_col_0" type="cylinder" size="0.053321055277056 0.090384119943" pos="-1.6590107921902e-05 -0.000842557381796573 -0.17469872467626" group="3" />
<body name="right_foot_pitch_link" pos="0.0 0.0 -0.34">
<joint name="right_ankle_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.05 0.52" />
<inertial pos="0.0284 -0.00121 -0.0293" mass="0.538" fullinertia="0.000394 0.00232 0.00247 9.6e-06 0.000173 -4.36e-06" />
<geom name="right_foot_pitch_link_vis_0" type="mesh" mesh="right_foot_pitch_link" contype="0" conaffinity="0" group="2" />
<body name="right_foot_roll_link">
<joint name="right_ankle_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.44 0.44" />
<inertial pos="0.0284 -0.00121 -0.0293" mass="0.538" fullinertia="0.000394 0.00232 0.00247 9.6e-06 0.000173 -4.36e-06" />
<geom name="right_foot_roll_link_vis_0" type="mesh" mesh="right_foot_roll_link" contype="0" conaffinity="0" group="2" />
<geom name="right_foot_roll_link_col_0" type="cylinder" size="0.02 0.12" pos="0.05 0.02 -0.035" quat="0.7071054825112363 0.0 0.7071080798594735 0.0" group="3" />
<geom name="right_foot_roll_link_col_1" type="cylinder" size="0.02 0.12" pos="0.05 -0.02 -0.035" quat="0.7071054825112363 0.0 0.7071080798594735 0.0" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="waist_yaw_link">
<joint name="waist_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.05 1.05" />
<inertial pos="-0.002641 -0.009332 0.05066" mass="1.49" fullinertia="0.00302 0.002711 0.001679 3.832e-05 1.016e-05 0.0005105" />
<geom name="waist_yaw_link_vis_0" type="mesh" mesh="waist_yaw_link" contype="0" conaffinity="0" group="2" />
<body name="waist_pitch_link" pos="0.0 0.0 0.0873">
<joint name="waist_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.52 1.22" />
<inertial pos="0.00451 -0.00439 0.0406" mass="1.62" fullinertia="0.00456 0.004563 0.001855 -2.99e-05 -0.0002541 -0.0002748" />
<geom name="waist_pitch_link_vis_0" type="mesh" mesh="waist_pitch_link" contype="0" conaffinity="0" group="2" />
<body name="waist_roll_link" pos="0.0 0.0 0.081">
<joint name="waist_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.7 0.7" />
<inertial pos="0.01038 -1.48e-06 0.01312" mass="0.91" fullinertia="0.001 0.001226 0.001087 -1e-08 0.0001508 8e-08" />
<geom name="waist_roll_link_vis_0" type="mesh" mesh="waist_roll_link" contype="0" conaffinity="0" group="2" />
<body name="torso_link" pos="-0.00414 0.0 0.16071">
<inertial pos="-0.00667 0.0001533 0.01837" mass="6.4" fullinertia="0.04162 0.03127 0.02553 2.011e-05 -0.001691 1.097e-05" />
<geom name="torso_link_vis_0" type="mesh" mesh="torso_link" contype="0" conaffinity="0" group="2" />
<geom name="torso_link_col_0" type="cylinder" size="0.12742740516179016 0.0801929992440667" pos="-0.0158159258618006 0.005195369607133852 -0.01252051000214107" group="3" />
<body name="left_upper_arm_pitch_link" pos="0.0 0.10111 0.047149" quat="0.9762962574315406 0.2164384848523179 0.0 0.0">
<joint name="left_shoulder_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.79 1.92" />
<inertial pos="0.00323 0.05324 0.000192" mass="0.81" fullinertia="0.002024 0.0005 0.001957 -9.67e-05 -4.2e-07 1.71e-06" />
<geom name="left_upper_arm_pitch_link_vis_0" type="mesh" mesh="left_upper_arm_pitch_link" contype="0" conaffinity="0" group="2" />
<body name="left_upper_arm_roll_link" pos="0.0 0.09515 0.0" quat="0.9762962574315406 -0.2164384848523179 0.0 0.0">
<joint name="left_shoulder_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.57 3.27" />
<inertial pos="0.003427 0.01466 -0.02316" mass="0.5" fullinertia="0.0008749 0.0006958 0.0004119 -1.593e-05 2.96e-06 0.0002863" />
<geom name="left_upper_arm_roll_link_vis_0" type="mesh" mesh="left_upper_arm_roll_link" contype="0" conaffinity="0" group="2" />
<body name="left_upper_arm_yaw_link" pos="0.0 0.04 -0.07095">
<joint name="left_shoulder_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.97 2.97" />
<inertial pos="5.47e-05 0.002013 -0.0852" mass="0.55" fullinertia="0.003544 0.003537 0.0002512 -1.8e-07 -1.75e-06 9.928e-05" />
<geom name="left_upper_arm_yaw_link_vis_0" type="mesh" mesh="left_upper_arm_yaw_link" contype="0" conaffinity="0" group="2" />
<geom name="left_upper_arm_yaw_link_col_0" type="cylinder" size="0.03623321337242011 0.0849419954812622" pos="3.948544275722503e-05 -0.0008942898235348745 -0.079340036492981" quat="0.008034184427666503 -0.9955277127419925 0.09412770603429838 5.984795992119984e-17" group="3" />
<body name="left_lower_arm_pitch_link" pos="0.0 0.0 -0.1751">
<joint name="left_elbow_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.27 2.27" />
<inertial pos="3.31e-06 0.007846 -0.02549" mass="0.32" fullinertia="0.0002916 0.0002848 0.000109 1e-08 -6e-08 -4.858e-05" />
<geom name="left_lower_arm_pitch_link_vis_0" type="mesh" mesh="left_lower_arm_pitch_link" contype="0" conaffinity="0" group="2" />
<body name="left_hand_yaw_link" pos="0.0 5.033e-05 -0.05395">
<joint name="left_wrist_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.97 2.97" />
<inertial pos="-2.923e-05 0.002124 -0.06117" mass="0.89" fullinertia="0.001867 0.001863 0.0003211 3.1e-07 1.064e-05 1.649e-05" />
<geom name="left_hand_yaw_link_vis_0" type="mesh" mesh="left_hand_yaw_link" contype="0" conaffinity="0" group="2" />
<geom name="left_hand_yaw_link_col_0" type="cylinder" size="0.04157192402358859 0.06959367975889465" pos="0.0010892501812804515 -0.0015411136604867 -0.07604285011805535" group="3" />
<body name="left_hand_roll_link" pos="0.0 0.0 -0.18765">
<joint name="left_wrist_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.87 0.96" />
<inertial pos="0.0 0.001292 -0.01174" mass="0.02955" fullinertia="5.38e-06 1e-05 8.92e-06 0.0 0.0 -4.6e-07" />
<geom name="left_hand_roll_link_vis_0" type="mesh" mesh="left_hand_roll_link" contype="0" conaffinity="0" group="2" />
<body name="left_hand_pitch_link">
<joint name="left_wrist_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.61 0.61" />
<inertial pos="0.0 0.001292 -0.01174" mass="0.02955" fullinertia="5.38e-06 1e-05 8.92e-06 0.0 0.0 -4.6e-07" />
<geom name="left_hand_pitch_link_vis_0" type="mesh" mesh="left_hand_pitch_link" contype="0" conaffinity="0" group="2" />
<body name="left_end_effector_link" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="right_upper_arm_pitch_link" pos="0.0 -0.10111 0.047149" quat="0.9762962574315406 -0.2164384848523179 0.0 0.0">
<joint name="right_shoulder_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.79 1.92" />
<inertial pos="0.00324 -0.0533 0.000185" mass="0.81" fullinertia="0.00203 0.000499 0.00196 0.000104 2.96e-07 -1.1e-06" />
<geom name="right_upper_arm_pitch_link_vis_0" type="mesh" mesh="right_upper_arm_pitch_link" contype="0" conaffinity="0" group="2" />
<body name="right_upper_arm_roll_link" pos="0.0 -0.09515 0.0" quat="0.9762962574315406 0.2164384848523179 0.0 0.0">
<joint name="right_shoulder_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-3.27 0.57" />
<inertial pos="0.00342 -0.0147 -0.0232" mass="0.5" fullinertia="0.000875 0.000696 0.0004121 1.598e-05 2.96e-06 -0.0002866" />
<geom name="right_upper_arm_roll_link_vis_0" type="mesh" mesh="right_upper_arm_roll_link" contype="0" conaffinity="0" group="2" />
<body name="right_upper_arm_yaw_link" pos="0.0 -0.04 -0.07095">
<joint name="right_shoulder_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.97 2.97" />
<inertial pos="7.6e-05 -0.002032 -0.08519" mass="0.55" fullinertia="0.003543 0.003536 0.0002512 -1.9e-07 -1.49e-06 -9.89e-05" />
<geom name="right_upper_arm_yaw_link_vis_0" type="mesh" mesh="right_upper_arm_yaw_link" contype="0" conaffinity="0" group="2" />
<geom name="right_upper_arm_yaw_link_col_0" type="cylinder" size="0.03623321337242011 0.0849419954812622" pos="3.948544275722503e-05 0.0008942898235348745 -0.079340036492981" group="3" />
<body name="right_lower_arm_pitch_link" pos="0.0 0.0 -0.1751">
<joint name="right_elbow_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.27 2.27" />
<inertial pos="-1.69e-06 -0.007855 -0.02549" mass="0.32" fullinertia="0.0002914 0.0002847 0.000109 2e-08 1e-08 4.85e-05" />
<geom name="right_lower_arm_pitch_link_vis_0" type="mesh" mesh="right_lower_arm_pitch_link" contype="0" conaffinity="0" group="2" />
<body name="right_hand_yaw_link" pos="0.0 -5.033e-05 -0.05395">
<joint name="right_wrist_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.97 2.97" />
<inertial pos="3.9e-05 -0.00212 -0.06117" mass="0.89" fullinertia="0.001866 0.001862 0.0003211 3e-07 -1.091e-05 -1.679e-05" />
<geom name="right_hand_yaw_link_vis_0" type="mesh" mesh="right_hand_yaw_link" contype="0" conaffinity="0" group="2" />
<geom name="right_hand_yaw_link_col_0" type="cylinder" size="0.04157192402358859 0.06959367975889465" pos="0.0010892501812804515 0.0006411136604867 -0.07604285011805535" group="3" />
<body name="right_hand_roll_link" pos="0.0 0.0 -0.18765">
<joint name="right_wrist_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.96 0.87" />
<inertial pos="0.0 -0.00129 -0.0117" mass="0.0295" fullinertia="5.38e-06 1e-05 8.92e-06 0.0 0.0 4.6e-07" />
<geom name="right_hand_roll_link_vis_0" type="mesh" mesh="right_hand_roll_link" contype="0" conaffinity="0" group="2" />
<body name="right_hand_pitch_link">
<joint name="right_wrist_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.61 0.61" />
<inertial pos="0.0 -0.00129 -0.0117" mass="0.0295" fullinertia="5.38e-06 1e-05 8.92e-06 0.0 0.0 4.6e-07" />
<geom name="right_hand_pitch_link_vis_0" type="mesh" mesh="right_hand_pitch_link" contype="0" conaffinity="0" group="2" />
<body name="right_end_effector_link" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="head_yaw_link" pos="0.0 0.0 0.17339">
<joint name="head_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.71 2.71" />
<inertial pos="-0.0001367 -0.000134 0.05313" mass="0.45" fullinertia="0.0007357 0.0007692 0.0001691 -8.7e-07 1.075e-05 1.54e-06" />
<geom name="head_yaw_link_vis_0" type="mesh" mesh="head_yaw_link" contype="0" conaffinity="0" group="2" />
<body name="head_roll_link" pos="0.0 -0.00105 0.14195">
<joint name="head_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.35 0.35" />
<inertial pos="-3e-05 0.01418 -0.00267" mass="0.1267" fullinertia="1.95e-05 1.746e-05 1.961e-05 -1.57e-06 -1.33e-06 -1.44e-06" />
<geom name="head_roll_link_vis_0" type="mesh" mesh="head_roll_link" contype="0" conaffinity="0" group="2" />
<body name="head_pitch_link">
<joint name="head_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.87 0.87" />
<inertial pos="0.02654 0.002225 -0.01063" mass="0.45" fullinertia="0.001107 0.001414 0.001518 1.689e-05 0.0002775 -8.33e-06" />
<geom name="head_pitch_link_vis_0" type="mesh" mesh="head_pitch_link" contype="0" conaffinity="0" group="2" />
<geom name="head_pitch_link_col_0" type="sphere" size="0.1086868692306477" pos="0.018281080808229797 0.0 -0.01336201800288447" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="IMU_link" pos="-0.064772 0.0 -0.0596">
<inertial pos="-0.0003275 0.0 -0.005737" mass="0.05" fullinertia="1.122e-05 1.199e-05 1.442e-05 0.0 -1.8e-07 0.0" />
<geom name="IMU_link_vis_0" type="mesh" mesh="IMU_link" contype="0" conaffinity="0" group="2" />
</body>
</body>
</worldbody>
<contact>
<exclude body1="base_link" body2="left_thigh_roll_link" />
<exclude body1="left_thigh_roll_link" body2="left_thigh_yaw_link" />
<exclude body1="left_thigh_yaw_link" body2="left_thigh_pitch_link" />
<exclude body1="left_thigh_pitch_link" body2="left_shank_pitch_link" />
<exclude body1="left_shank_pitch_link" body2="left_foot_pitch_link" />
<exclude body1="left_foot_pitch_link" body2="left_foot_roll_link" />
<exclude body1="base_link" body2="right_thigh_roll_link" />
<exclude body1="right_thigh_roll_link" body2="right_thigh_yaw_link" />
<exclude body1="right_thigh_yaw_link" body2="right_thigh_pitch_link" />
<exclude body1="right_thigh_pitch_link" body2="right_shank_pitch_link" />
<exclude body1="right_shank_pitch_link" body2="right_foot_pitch_link" />
<exclude body1="right_foot_pitch_link" body2="right_foot_roll_link" />
<exclude body1="base_link" body2="waist_yaw_link" />
<exclude body1="waist_yaw_link" body2="waist_pitch_link" />
<exclude body1="waist_pitch_link" body2="waist_roll_link" />
<exclude body1="waist_roll_link" body2="torso_link" />
<exclude body1="torso_link" body2="left_upper_arm_pitch_link" />
<exclude body1="left_upper_arm_pitch_link" body2="left_upper_arm_roll_link" />
<exclude body1="left_upper_arm_roll_link" body2="left_upper_arm_yaw_link" />
<exclude body1="left_upper_arm_yaw_link" body2="left_lower_arm_pitch_link" />
<exclude body1="left_lower_arm_pitch_link" body2="left_hand_yaw_link" />
<exclude body1="left_hand_yaw_link" body2="left_hand_roll_link" />
<exclude body1="left_hand_roll_link" body2="left_hand_pitch_link" />
<exclude body1="left_hand_pitch_link" body2="left_end_effector_link" />
<exclude body1="torso_link" body2="right_upper_arm_pitch_link" />
<exclude body1="right_upper_arm_pitch_link" body2="right_upper_arm_roll_link" />
<exclude body1="right_upper_arm_roll_link" body2="right_upper_arm_yaw_link" />
<exclude body1="right_upper_arm_yaw_link" body2="right_lower_arm_pitch_link" />
<exclude body1="right_lower_arm_pitch_link" body2="right_hand_yaw_link" />
<exclude body1="right_hand_yaw_link" body2="right_hand_roll_link" />
<exclude body1="right_hand_roll_link" body2="right_hand_pitch_link" />
<exclude body1="right_hand_pitch_link" body2="right_end_effector_link" />
<exclude body1="torso_link" body2="head_yaw_link" />
<exclude body1="head_yaw_link" body2="head_roll_link" />
<exclude body1="head_roll_link" body2="head_pitch_link" />
<exclude body1="base_link" body2="IMU_link" />
</contact>
</mujoco>
Import report
Counts
| Links | 37 |
|---|---|
| Joints | 36 |
| Moving joints | 32 |
| Visuals | 35 |
| Collisions | 15 |
| Materials | 0 |
Meshes
Formats: stl.
Asset size: 18.4 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
@name | 15 | collision names are not carried; the geometry is kept |
axis | 2 | fixed joints carry no <axis>; URDF ignores it too |
material | 35 | anonymous material (empty name) cannot be referenced; its colour is not kept |
Forward-kinematics check
Forward kinematics of 37 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 · 5.8e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 32).
Source & licence
| Repository | https://github.com/FFTAI/Wiki-GRx-Models |
|---|---|
| Commit | 351245ac8fa4bf6f4b0c41556e1e6976a438bcef |
| Original file | GRX/GR1/GR1T1/urdf/GR1T1_nohand.urdf |
| Licence | GPL-3.0 · the upstream LICENSE file |
| Files | robot.urdf · robot.xml |
Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.