H1
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 48a4343c9c40c62e -->
<robot name="h1_description">
<material name="Material_049-effect">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<link name="pelvis">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://h1_description/meshes/pelvis.dae" />
</geometry>
<material name="Material_049-effect" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0002 4e-05 -0.04522" rpy="0.0 0.0 0.0" />
<mass value="5.39" />
<inertia ixx="0.044582" ixy="8.7034e-05" ixz="-1.9893e-05" iyy="0.0082464" iyz="4.021e-06" izz="0.049021" />
</inertial>
</link>
<material name="Material_017-effect">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<link name="left_hip_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://h1_description/meshes/left_hip_yaw_link.dae" />
</geometry>
<material name="Material_017-effect" />
</visual>
<collision>
<origin xyz="0.02 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<cylinder length="0.02" radius="0.01" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.04923 0.0001 0.0072" rpy="0.0 0.0 0.0" />
<mass value="2.244" />
<inertia ixx="0.0025731" ixy="9.159e-06" ixz="-0.00051948" iyy="0.0030444" iyz="1.949e-06" izz="0.0022883" />
</inertial>
</link>
<joint name="left_hip_yaw_joint" type="revolute">
<origin xyz="0.0 0.0875 -0.1742" rpy="0.0 0.0 0.0" />
<parent link="pelvis" />
<child link="left_hip_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="200.0" velocity="23.0" lower="-0.43" upper="0.43" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="Material_018-effect">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<link name="left_hip_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://h1_description/meshes/left_hip_roll_link.dae" />
</geometry>
<material name="Material_018-effect" />
</visual>
<collision>
<origin xyz="0.0 0.06 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.01" radius="0.02" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0058 -0.00319 -9e-05" rpy="0.0 0.0 0.0" />
<mass value="2.232" />
<inertia ixx="0.0020603" ixy="3.2115e-05" ixz="2.878e-06" iyy="0.0022482" iyz="-7.813e-06" izz="0.0024323" />
</inertial>
</link>
<joint name="left_hip_roll_joint" type="revolute">
<origin xyz="0.039468 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_hip_yaw_link" />
<child link="left_hip_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="200.0" velocity="23.0" lower="-0.43" upper="0.43" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="Material_019-effect">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<link name="left_hip_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://h1_description/meshes/left_hip_pitch_link.dae" />
</geometry>
<material name="Material_019-effect" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.2" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.2" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00746 -0.02346 -0.08193" rpy="0.0 0.0 0.0" />
<mass value="4.152" />
<inertia ixx="0.082618" ixy="-0.00066654" ixz="0.0040725" iyy="0.081579" iyz="0.0072024" izz="0.0060081" />
</inertial>
</link>
<joint name="left_hip_pitch_joint" type="revolute">
<origin xyz="0.0 0.11536 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_hip_roll_link" />
<child link="left_hip_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="200.0" velocity="23.0" lower="-3.14" upper="2.53" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="Material_016-effect">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<link name="left_knee_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://h1_description/meshes/left_knee_link.dae" />
</geometry>
<material name="Material_016-effect" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.2" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.2" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00136 -0.00512 -0.1384" rpy="0.0 0.0 0.0" />
<mass value="1.721" />
<inertia ixx="0.012205" ixy="-6.8431e-05" ixz="0.0010862" iyy="0.012509" iyz="0.00022549" izz="0.0020629" />
</inertial>
</link>
<joint name="left_knee_joint" type="revolute">
<origin xyz="0.0 0.0 -0.4" rpy="0.0 0.0 0.0" />
<parent link="left_hip_pitch_link" />
<child link="left_knee_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="300.0" velocity="14.0" lower="-0.26" upper="2.05" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="Material_022-effect">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<link name="left_ankle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://h1_description/meshes/left_ankle_link.dae" />
</geometry>
<material name="Material_022-effect" />
</visual>
<collision>
<origin xyz="0.05 0.0 -0.05" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.28 0.03 0.024" />
</geometry>
</collision>
<inertial>
<origin xyz="0.042575 -1e-06 -0.044672" rpy="0.0 0.0 0.0" />
<mass value="0.474" />
<inertia ixx="0.000159668" ixy="-5e-09" ixz="0.000141063" iyy="0.002900286" iyz="1.4e-08" izz="0.002805438" />
</inertial>
</link>
<joint name="left_ankle_joint" type="revolute">
<origin xyz="0.0 0.0 -0.4" rpy="0.0 0.0 0.0" />
<parent link="left_knee_link" />
<child link="left_ankle_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="40.0" velocity="9.0" lower="-0.87" upper="0.52" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="Material_004-effect">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<link name="right_hip_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://h1_description/meshes/right_hip_yaw_link.dae" />
</geometry>
<material name="Material_004-effect" />
</visual>
<collision>
<origin xyz="0.02 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
<geometry>
<cylinder length="0.02" radius="0.01" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.04923 -0.0001 0.0072" rpy="0.0 0.0 0.0" />
<mass value="2.244" />
<inertia ixx="0.0025731" ixy="-9.159e-06" ixz="-0.00051948" iyy="0.0030444" iyz="-1.949e-06" izz="0.0022883" />
</inertial>
</link>
<joint name="right_hip_yaw_joint" type="revolute">
<origin xyz="0.0 -0.0875 -0.1742" rpy="0.0 0.0 0.0" />
<parent link="pelvis" />
<child link="right_hip_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="200.0" velocity="23.0" lower="-0.43" upper="0.43" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="Material_006-effect">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<link name="right_hip_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://h1_description/meshes/right_hip_roll_link.dae" />
</geometry>
<material name="Material_006-effect" />
</visual>
<collision>
<origin xyz="0.0 -0.06 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.01" radius="0.02" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0058 0.00319 -9e-05" rpy="0.0 0.0 0.0" />
<mass value="2.232" />
<inertia ixx="0.0020603" ixy="-3.2115e-05" ixz="2.878e-06" iyy="0.0022482" iyz="7.813e-06" izz="0.0024323" />
</inertial>
</link>
<joint name="right_hip_roll_joint" type="revolute">
<origin xyz="0.039468 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_hip_yaw_link" />
<child link="right_hip_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="200.0" velocity="23.0" lower="-0.43" upper="0.43" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="Material_007-effect">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<link name="right_hip_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://h1_description/meshes/right_hip_pitch_link.dae" />
</geometry>
<material name="Material_007-effect" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.2" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.2" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00746 0.02346 -0.08193" rpy="0.0 0.0 0.0" />
<mass value="4.152" />
<inertia ixx="0.082618" ixy="0.00066654" ixz="0.0040725" iyy="0.081579" iyz="-0.0072024" izz="0.0060081" />
</inertial>
</link>
<joint name="right_hip_pitch_joint" type="revolute">
<origin xyz="0.0 -0.11536 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_hip_roll_link" />
<child link="right_hip_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="200.0" velocity="23.0" lower="-3.14" upper="2.53" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="Material_005-effect">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<link name="right_knee_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://h1_description/meshes/right_knee_link.dae" />
</geometry>
<material name="Material_005-effect" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.2" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.2" radius="0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00136 0.00512 -0.1384" rpy="0.0 0.0 0.0" />
<mass value="1.721" />
<inertia ixx="0.012205" ixy="6.8431e-05" ixz="0.0010862" iyy="0.012509" iyz="-0.00022549" izz="0.0020629" />
</inertial>
</link>
<joint name="right_knee_joint" type="revolute">
<origin xyz="0.0 0.0 -0.4" rpy="0.0 0.0 0.0" />
<parent link="right_hip_pitch_link" />
<child link="right_knee_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="300.0" velocity="14.0" lower="-0.26" upper="2.05" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="Material_050-effect">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<link name="right_ankle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://h1_description/meshes/right_ankle_link.dae" />
</geometry>
<material name="Material_050-effect" />
</visual>
<collision>
<origin xyz="0.05 0.0 -0.05" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.28 0.03 0.024" />
</geometry>
</collision>
<inertial>
<origin xyz="0.042575 1e-06 -0.044672" rpy="0.0 0.0 0.0" />
<mass value="0.474" />
<inertia ixx="0.000159668" ixy="5e-09" ixz="0.000141063" iyy="0.002900286" iyz="-1.4e-08" izz="0.002805438" />
</inertial>
</link>
<joint name="right_ankle_joint" type="revolute">
<origin xyz="0.0 0.0 -0.4" rpy="0.0 0.0 0.0" />
<parent link="right_knee_link" />
<child link="right_ankle_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="40.0" velocity="9.0" lower="-0.87" upper="0.52" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="Material_001-effect">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<link name="torso_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://h1_description/meshes/torso_link.dae" />
</geometry>
<material name="Material_001-effect" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.15" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.08 0.16 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000489 0.002797 0.20484" rpy="0.0 0.0 0.0" />
<mass value="17.789" />
<inertia ixx="0.4873" ixy="-0.00053763" ixz="0.0020276" iyy="0.40963" iyz="-0.00074582" izz="0.12785" />
</inertial>
</link>
<joint name="torso_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="pelvis" />
<child link="torso_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="200.0" velocity="23.0" lower="-2.35" upper="2.35" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="Material_015-effect">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<link name="left_shoulder_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://h1_description/meshes/left_shoulder_pitch_link.dae" />
</geometry>
<material name="Material_015-effect" />
</visual>
<collision>
<origin xyz="0.0 -0.05 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.04" radius="0.03" />
</geometry>
</collision>
<inertial>
<origin xyz="0.005045 0.053657 -0.015715" rpy="0.0 0.0 0.0" />
<mass value="1.033" />
<inertia ixx="0.0012985" ixy="-1.7333e-05" ixz="8.683e-06" iyy="0.00087279" iyz="3.9656e-05" izz="0.00097338" />
</inertial>
</link>
<joint name="left_shoulder_pitch_joint" type="revolute">
<origin xyz="0.0055 0.15535 0.42999" rpy="0.43633 0.0 0.0" />
<parent link="torso_link" />
<child link="left_shoulder_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="40.0" velocity="9.0" lower="-2.87" upper="2.87" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="Material_014-effect">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<link name="left_shoulder_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://h1_description/meshes/left_shoulder_roll_link.dae" />
</geometry>
<material name="Material_014-effect" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.04" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.01" radius="0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000679 0.00115 -0.094076" rpy="0.0 0.0 0.0" />
<mass value="0.793" />
<inertia ixx="0.0015742" ixy="2.298e-06" ixz="-7.2265e-05" iyy="0.0016973" iyz="-6.3691e-05" izz="0.0010183" />
</inertial>
</link>
<joint name="left_shoulder_roll_joint" type="revolute">
<origin xyz="-0.0055 0.0565 -0.0165" rpy="-0.43633 0.0 0.0" />
<parent link="left_shoulder_pitch_link" />
<child link="left_shoulder_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="40.0" velocity="9.0" lower="-0.34" upper="3.11" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="Material_013-effect">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<link name="left_shoulder_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://h1_description/meshes/left_shoulder_yaw_link.dae" />
</geometry>
<material name="Material_013-effect" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.11" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.01" radius="0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.01365 0.002767 -0.16266" rpy="0.0 0.0 0.0" />
<mass value="0.839" />
<inertia ixx="0.003664" ixy="-1.0671e-05" ixz="0.00034733" iyy="0.0040789" iyz="7.0213e-05" izz="0.00066383" />
</inertial>
</link>
<joint name="left_shoulder_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 -0.1343" rpy="0.0 0.0 0.0" />
<parent link="left_shoulder_roll_link" />
<child link="left_shoulder_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="18.0" velocity="20.0" lower="-1.3" upper="4.45" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="Material_021-effect">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<link name="left_elbow_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://h1_description/meshes/left_elbow_link.dae" />
</geometry>
<material name="Material_021-effect" />
</visual>
<collision>
<origin xyz="0.125 0.0 0.0" rpy="0.0 1.57 0.0" />
<geometry>
<cylinder length="0.09" radius="0.03" />
</geometry>
</collision>
<inertial>
<origin xyz="0.164862 0.000118 -0.015734" rpy="0.0 0.0 0.0" />
<mass value="0.723" />
<inertia ixx="0.00042388" ixy="-3.6086e-05" ixz="0.00029293" iyy="0.0060062" iyz="4.664e-06" izz="0.0060023" />
</inertial>
</link>
<joint name="left_elbow_joint" type="revolute">
<origin xyz="0.0185 0.0 -0.198" rpy="0.0 0.0 0.0" />
<parent link="left_shoulder_yaw_link" />
<child link="left_elbow_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="18.0" velocity="20.0" lower="-1.25" upper="2.61" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="Material_003-effect">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<link name="right_shoulder_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://h1_description/meshes/right_shoulder_pitch_link.dae" />
</geometry>
<material name="Material_003-effect" />
</visual>
<collision>
<origin xyz="0.0 0.05 0.0" rpy="-1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.04" radius="0.03" />
</geometry>
</collision>
<inertial>
<origin xyz="0.005045 -0.053657 -0.015715" rpy="0.0 0.0 0.0" />
<mass value="1.033" />
<inertia ixx="0.0012985" ixy="1.7333e-05" ixz="8.683e-06" iyy="0.00087279" iyz="-3.9656e-05" izz="0.00097338" />
</inertial>
</link>
<joint name="right_shoulder_pitch_joint" type="revolute">
<origin xyz="0.0055 -0.15535 0.42999" rpy="-0.43633 0.0 0.0" />
<parent link="torso_link" />
<child link="right_shoulder_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="40.0" velocity="9.0" lower="-2.87" upper="2.87" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="Material_002-effect">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<link name="right_shoulder_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://h1_description/meshes/right_shoulder_roll_link.dae" />
</geometry>
<material name="Material_002-effect" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.04" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.01" radius="0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000679 -0.00115 -0.094076" rpy="0.0 0.0 0.0" />
<mass value="0.793" />
<inertia ixx="0.0015742" ixy="-2.298e-06" ixz="-7.2265e-05" iyy="0.0016973" iyz="6.3691e-05" izz="0.0010183" />
</inertial>
</link>
<joint name="right_shoulder_roll_joint" type="revolute">
<origin xyz="-0.0055 -0.0565 -0.0165" rpy="0.43633 0.0 0.0" />
<parent link="right_shoulder_pitch_link" />
<child link="right_shoulder_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="40.0" velocity="9.0" lower="-3.11" upper="0.34" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_shoulder_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://h1_description/meshes/right_shoulder_yaw_link.dae" />
</geometry>
<material name="Material_001-effect" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.11" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.01" radius="0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.01365 -0.002767 -0.16266" rpy="0.0 0.0 0.0" />
<mass value="0.839" />
<inertia ixx="0.003664" ixy="1.0671e-05" ixz="0.00034733" iyy="0.0040789" iyz="-7.0213e-05" izz="0.00066383" />
</inertial>
</link>
<joint name="right_shoulder_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 -0.1343" rpy="0.0 0.0 0.0" />
<parent link="right_shoulder_roll_link" />
<child link="right_shoulder_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="18.0" velocity="20.0" lower="-4.45" upper="1.3" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="Material_009-effect">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<link name="right_elbow_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://h1_description/meshes/right_elbow_link.dae" />
</geometry>
<material name="Material_009-effect" />
</visual>
<collision>
<origin xyz="0.125 0.0 0.0" rpy="0.0 1.57 0.0" />
<geometry>
<cylinder length="0.09" radius="0.03" />
</geometry>
</collision>
<inertial>
<origin xyz="0.164862 -0.000118 -0.015734" rpy="0.0 0.0 0.0" />
<mass value="0.723" />
<inertia ixx="0.00042388" ixy="3.6086e-05" ixz="0.00029293" iyy="0.0060062" iyz="-4.664e-06" izz="0.0060023" />
</inertial>
</link>
<joint name="right_elbow_joint" type="revolute">
<origin xyz="0.0185 0.0 -0.198" rpy="0.0 0.0 0.0" />
<parent link="right_shoulder_yaw_link" />
<child link="right_elbow_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="18.0" velocity="20.0" lower="-1.25" upper="2.61" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="imu_link" />
<joint name="imu_joint" type="fixed">
<origin xyz="-0.04452 -0.01891 0.27756" rpy="0.0 0.0 0.0" />
<parent link="torso_link" />
<child link="imu_link" />
</joint>
<material name="Material_053-effect">
<color rgba="0.9 0.9 0.9 1.0" />
</material>
<link name="logo_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://h1_description/meshes/logo_link.dae" />
</geometry>
<material name="Material_053-effect" />
</visual>
</link>
<joint name="logo_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="torso_link" />
<child link="logo_link" />
</joint>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0" />
</material>
<link name="d435_left_imager_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.001" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.001" />
</geometry>
</collision>
</link>
<joint name="d435_left_imager_joint" type="fixed">
<origin xyz="0.10848474394 0.0175 0.69317107367" rpy="-2.45735 0.0 -1.5708" />
<parent link="torso_link" />
<child link="d435_left_imager_link" />
</joint>
<link name="d435_rgb_module_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.001" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.001" />
</geometry>
</collision>
</link>
<joint name="d435_rgb_module_joint" type="fixed">
<origin xyz="0.10848474394 0.0325 0.69317107367" rpy="-2.45735 0.0 -1.5708" />
<parent link="torso_link" />
<child link="d435_rgb_module_link" />
</joint>
<link name="mid360_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.001" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.001" />
</geometry>
</collision>
</link>
<joint name="mid360_joint" type="fixed">
<origin xyz="0.0472999018 0.0 0.67492878653" rpy="0.0 0.243124 0.0" />
<parent link="torso_link" />
<child link="mid360_link" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 48a4343c9c40c62e -->
<mujoco model="h1_description">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="Material_049-effect" rgba="0.1 0.1 0.1 1.0" />
<material name="Material_017-effect" rgba="0.1 0.1 0.1 1.0" />
<material name="Material_018-effect" rgba="0.1 0.1 0.1 1.0" />
<material name="Material_019-effect" rgba="0.1 0.1 0.1 1.0" />
<material name="Material_016-effect" rgba="0.1 0.1 0.1 1.0" />
<material name="Material_022-effect" rgba="0.1 0.1 0.1 1.0" />
<material name="Material_004-effect" rgba="0.1 0.1 0.1 1.0" />
<material name="Material_006-effect" rgba="0.1 0.1 0.1 1.0" />
<material name="Material_007-effect" rgba="0.1 0.1 0.1 1.0" />
<material name="Material_005-effect" rgba="0.1 0.1 0.1 1.0" />
<material name="Material_050-effect" rgba="0.1 0.1 0.1 1.0" />
<material name="Material_001-effect" rgba="0.1 0.1 0.1 1.0" />
<material name="Material_015-effect" rgba="0.1 0.1 0.1 1.0" />
<material name="Material_014-effect" rgba="0.1 0.1 0.1 1.0" />
<material name="Material_013-effect" rgba="0.1 0.1 0.1 1.0" />
<material name="Material_021-effect" rgba="0.1 0.1 0.1 1.0" />
<material name="Material_003-effect" rgba="0.1 0.1 0.1 1.0" />
<material name="Material_002-effect" rgba="0.1 0.1 0.1 1.0" />
<material name="Material_009-effect" rgba="0.1 0.1 0.1 1.0" />
<material name="Material_053-effect" rgba="0.9 0.9 0.9 1.0" />
<material name="white" rgba="1.0 1.0 1.0 1.0" />
<mesh name="pelvis" file="h1_description/meshes/pelvis.dae" />
<mesh name="left_hip_yaw_link" file="h1_description/meshes/left_hip_yaw_link.dae" />
<mesh name="left_hip_roll_link" file="h1_description/meshes/left_hip_roll_link.dae" />
<mesh name="left_hip_pitch_link" file="h1_description/meshes/left_hip_pitch_link.dae" />
<mesh name="left_knee_link" file="h1_description/meshes/left_knee_link.dae" />
<mesh name="left_ankle_link" file="h1_description/meshes/left_ankle_link.dae" />
<mesh name="right_hip_yaw_link" file="h1_description/meshes/right_hip_yaw_link.dae" />
<mesh name="right_hip_roll_link" file="h1_description/meshes/right_hip_roll_link.dae" />
<mesh name="right_hip_pitch_link" file="h1_description/meshes/right_hip_pitch_link.dae" />
<mesh name="right_knee_link" file="h1_description/meshes/right_knee_link.dae" />
<mesh name="right_ankle_link" file="h1_description/meshes/right_ankle_link.dae" />
<mesh name="torso_link" file="h1_description/meshes/torso_link.dae" />
<mesh name="left_shoulder_pitch_link" file="h1_description/meshes/left_shoulder_pitch_link.dae" />
<mesh name="left_shoulder_roll_link" file="h1_description/meshes/left_shoulder_roll_link.dae" />
<mesh name="left_shoulder_yaw_link" file="h1_description/meshes/left_shoulder_yaw_link.dae" />
<mesh name="left_elbow_link" file="h1_description/meshes/left_elbow_link.dae" />
<mesh name="right_shoulder_pitch_link" file="h1_description/meshes/right_shoulder_pitch_link.dae" />
<mesh name="right_shoulder_roll_link" file="h1_description/meshes/right_shoulder_roll_link.dae" />
<mesh name="right_shoulder_yaw_link" file="h1_description/meshes/right_shoulder_yaw_link.dae" />
<mesh name="right_elbow_link" file="h1_description/meshes/right_elbow_link.dae" />
<mesh name="logo_link" file="h1_description/meshes/logo_link.dae" />
</asset>
<worldbody>
<body name="pelvis">
<inertial pos="-0.0002 4e-05 -0.04522" mass="5.39" fullinertia="0.044582 0.0082464 0.049021 8.7034e-05 -1.9893e-05 4.021e-06" />
<geom name="pelvis_vis_0" type="mesh" mesh="pelvis" contype="0" conaffinity="0" group="2" material="Material_049-effect" />
<geom name="pelvis_col_0" type="sphere" size="0.05" group="3" />
<body name="left_hip_yaw_link" pos="0.0 0.0875 -0.1742">
<joint name="left_hip_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-0.43 0.43" />
<inertial pos="-0.04923 0.0001 0.0072" mass="2.244" fullinertia="0.0025731 0.0030444 0.0022883 9.159e-06 -0.00051948 1.949e-06" />
<geom name="left_hip_yaw_link_vis_0" type="mesh" mesh="left_hip_yaw_link" contype="0" conaffinity="0" group="2" material="Material_017-effect" />
<geom name="left_hip_yaw_link_col_0" type="cylinder" size="0.01 0.01" pos="0.02 0.0 0.0" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
<body name="left_hip_roll_link" pos="0.039468 0.0 0.0">
<joint name="left_hip_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.43 0.43" />
<inertial pos="-0.0058 -0.00319 -9e-05" mass="2.232" fullinertia="0.0020603 0.0022482 0.0024323 3.2115e-05 2.878e-06 -7.813e-06" />
<geom name="left_hip_roll_link_vis_0" type="mesh" mesh="left_hip_roll_link" contype="0" conaffinity="0" group="2" material="Material_018-effect" />
<geom name="left_hip_roll_link_col_0" type="cylinder" size="0.02 0.005" pos="0.0 0.06 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
<body name="left_hip_pitch_link" pos="0.0 0.11536 0.0">
<joint name="left_hip_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-3.14 2.53" />
<inertial pos="0.00746 -0.02346 -0.08193" mass="4.152" fullinertia="0.082618 0.081579 0.0060081 -0.00066654 0.0040725 0.0072024" />
<geom name="left_hip_pitch_link_vis_0" type="mesh" mesh="left_hip_pitch_link" contype="0" conaffinity="0" group="2" material="Material_019-effect" />
<geom name="left_hip_pitch_link_col_0" type="cylinder" size="0.05 0.1" pos="0.0 0.0 -0.2" group="3" />
<body name="left_knee_link" pos="0.0 0.0 -0.4">
<joint name="left_knee_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.26 2.05" />
<inertial pos="-0.00136 -0.00512 -0.1384" mass="1.721" fullinertia="0.012205 0.012509 0.0020629 -6.8431e-05 0.0010862 0.00022549" />
<geom name="left_knee_link_vis_0" type="mesh" mesh="left_knee_link" contype="0" conaffinity="0" group="2" material="Material_016-effect" />
<geom name="left_knee_link_col_0" type="cylinder" size="0.05 0.1" pos="0.0 0.0 -0.2" group="3" />
<body name="left_ankle_link" pos="0.0 0.0 -0.4">
<joint name="left_ankle_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.87 0.52" />
<inertial pos="0.042575 -1e-06 -0.044672" mass="0.474" fullinertia="0.000159668 0.002900286 0.002805438 -5e-09 0.000141063 1.4e-08" />
<geom name="left_ankle_link_vis_0" type="mesh" mesh="left_ankle_link" contype="0" conaffinity="0" group="2" material="Material_022-effect" />
<geom name="left_ankle_link_col_0" type="box" size="0.14 0.015 0.012" pos="0.05 0.0 -0.05" group="3" />
</body>
</body>
</body>
</body>
</body>
<body name="right_hip_yaw_link" pos="0.0 -0.0875 -0.1742">
<joint name="right_hip_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-0.43 0.43" />
<inertial pos="-0.04923 -0.0001 0.0072" mass="2.244" fullinertia="0.0025731 0.0030444 0.0022883 -9.159e-06 -0.00051948 -1.949e-06" />
<geom name="right_hip_yaw_link_vis_0" type="mesh" mesh="right_hip_yaw_link" contype="0" conaffinity="0" group="2" material="Material_004-effect" />
<geom name="right_hip_yaw_link_col_0" type="cylinder" size="0.01 0.01" pos="0.02 0.0 0.0" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
<body name="right_hip_roll_link" pos="0.039468 0.0 0.0">
<joint name="right_hip_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.43 0.43" />
<inertial pos="-0.0058 0.00319 -9e-05" mass="2.232" fullinertia="0.0020603 0.0022482 0.0024323 -3.2115e-05 2.878e-06 7.813e-06" />
<geom name="right_hip_roll_link_vis_0" type="mesh" mesh="right_hip_roll_link" contype="0" conaffinity="0" group="2" material="Material_006-effect" />
<geom name="right_hip_roll_link_col_0" type="cylinder" size="0.02 0.005" pos="0.0 -0.06 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
<body name="right_hip_pitch_link" pos="0.0 -0.11536 0.0">
<joint name="right_hip_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-3.14 2.53" />
<inertial pos="0.00746 0.02346 -0.08193" mass="4.152" fullinertia="0.082618 0.081579 0.0060081 0.00066654 0.0040725 -0.0072024" />
<geom name="right_hip_pitch_link_vis_0" type="mesh" mesh="right_hip_pitch_link" contype="0" conaffinity="0" group="2" material="Material_007-effect" />
<geom name="right_hip_pitch_link_col_0" type="cylinder" size="0.05 0.1" pos="0.0 0.0 -0.2" group="3" />
<body name="right_knee_link" pos="0.0 0.0 -0.4">
<joint name="right_knee_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.26 2.05" />
<inertial pos="-0.00136 0.00512 -0.1384" mass="1.721" fullinertia="0.012205 0.012509 0.0020629 6.8431e-05 0.0010862 -0.00022549" />
<geom name="right_knee_link_vis_0" type="mesh" mesh="right_knee_link" contype="0" conaffinity="0" group="2" material="Material_005-effect" />
<geom name="right_knee_link_col_0" type="cylinder" size="0.05 0.1" pos="0.0 0.0 -0.2" group="3" />
<body name="right_ankle_link" pos="0.0 0.0 -0.4">
<joint name="right_ankle_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.87 0.52" />
<inertial pos="0.042575 1e-06 -0.044672" mass="0.474" fullinertia="0.000159668 0.002900286 0.002805438 5e-09 0.000141063 -1.4e-08" />
<geom name="right_ankle_link_vis_0" type="mesh" mesh="right_ankle_link" contype="0" conaffinity="0" group="2" material="Material_050-effect" />
<geom name="right_ankle_link_col_0" type="box" size="0.14 0.015 0.012" pos="0.05 0.0 -0.05" group="3" />
</body>
</body>
</body>
</body>
</body>
<body name="torso_link">
<joint name="torso_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.35 2.35" />
<inertial pos="0.000489 0.002797 0.20484" mass="17.789" fullinertia="0.4873 0.40963 0.12785 -0.00053763 0.0020276 -0.00074582" />
<geom name="torso_link_vis_0" type="mesh" mesh="torso_link" contype="0" conaffinity="0" group="2" material="Material_001-effect" />
<geom name="torso_link_col_0" type="box" size="0.04 0.08 0.05" pos="0.0 0.0 0.15" group="3" />
<body name="left_shoulder_pitch_link" pos="0.0055 0.15535 0.42999" 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="-2.87 2.87" />
<inertial pos="0.005045 0.053657 -0.015715" mass="1.033" fullinertia="0.0012985 0.00087279 0.00097338 -1.7333e-05 8.683e-06 3.9656e-05" />
<geom name="left_shoulder_pitch_link_vis_0" type="mesh" mesh="left_shoulder_pitch_link" contype="0" conaffinity="0" group="2" material="Material_015-effect" />
<geom name="left_shoulder_pitch_link_col_0" type="cylinder" size="0.03 0.02" pos="0.0 -0.05 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
<body name="left_shoulder_roll_link" pos="-0.0055 0.0565 -0.0165" 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="-0.34 3.11" />
<inertial pos="0.000679 0.00115 -0.094076" mass="0.793" fullinertia="0.0015742 0.0016973 0.0010183 2.298e-06 -7.2265e-05 -6.3691e-05" />
<geom name="left_shoulder_roll_link_vis_0" type="mesh" mesh="left_shoulder_roll_link" contype="0" conaffinity="0" group="2" material="Material_014-effect" />
<geom name="left_shoulder_roll_link_col_0" type="cylinder" size="0.04 0.005" pos="0.0 0.0 -0.04" group="3" />
<body name="left_shoulder_yaw_link" pos="0.0 0.0 -0.1343">
<joint name="left_shoulder_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.3 4.45" />
<inertial pos="0.01365 0.002767 -0.16266" mass="0.839" fullinertia="0.003664 0.0040789 0.00066383 -1.0671e-05 0.00034733 7.0213e-05" />
<geom name="left_shoulder_yaw_link_vis_0" type="mesh" mesh="left_shoulder_yaw_link" contype="0" conaffinity="0" group="2" material="Material_013-effect" />
<geom name="left_shoulder_yaw_link_col_0" type="cylinder" size="0.04 0.005" pos="0.0 0.0 -0.11" group="3" />
<body name="left_elbow_link" pos="0.0185 0.0 -0.198">
<joint name="left_elbow_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.25 2.61" />
<inertial pos="0.164862 0.000118 -0.015734" mass="0.723" fullinertia="0.00042388 0.0060062 0.0060023 -3.6086e-05 0.00029293 4.664e-06" />
<geom name="left_elbow_link_vis_0" type="mesh" mesh="left_elbow_link" contype="0" conaffinity="0" group="2" material="Material_021-effect" />
<geom name="left_elbow_link_col_0" type="cylinder" size="0.03 0.045" pos="0.125 0.0 0.0" quat="0.7073882691671998 0.0 0.706825181105366 0.0" group="3" />
</body>
</body>
</body>
</body>
<body name="right_shoulder_pitch_link" pos="0.0055 -0.15535 0.42999" 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="-2.87 2.87" />
<inertial pos="0.005045 -0.053657 -0.015715" mass="1.033" fullinertia="0.0012985 0.00087279 0.00097338 1.7333e-05 8.683e-06 -3.9656e-05" />
<geom name="right_shoulder_pitch_link_vis_0" type="mesh" mesh="right_shoulder_pitch_link" contype="0" conaffinity="0" group="2" material="Material_003-effect" />
<geom name="right_shoulder_pitch_link_col_0" type="cylinder" size="0.03 0.02" pos="0.0 0.05 0.0" quat="0.7071067811865476 -0.7071067811865475 0.0 0.0" group="3" />
<body name="right_shoulder_roll_link" pos="-0.0055 -0.0565 -0.0165" 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="-3.11 0.34" />
<inertial pos="0.000679 -0.00115 -0.094076" mass="0.793" fullinertia="0.0015742 0.0016973 0.0010183 -2.298e-06 -7.2265e-05 6.3691e-05" />
<geom name="right_shoulder_roll_link_vis_0" type="mesh" mesh="right_shoulder_roll_link" contype="0" conaffinity="0" group="2" material="Material_002-effect" />
<geom name="right_shoulder_roll_link_col_0" type="cylinder" size="0.04 0.005" pos="0.0 0.0 -0.04" group="3" />
<body name="right_shoulder_yaw_link" pos="0.0 0.0 -0.1343">
<joint name="right_shoulder_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-4.45 1.3" />
<inertial pos="0.01365 -0.002767 -0.16266" mass="0.839" fullinertia="0.003664 0.0040789 0.00066383 1.0671e-05 0.00034733 -7.0213e-05" />
<geom name="right_shoulder_yaw_link_vis_0" type="mesh" mesh="right_shoulder_yaw_link" contype="0" conaffinity="0" group="2" material="Material_001-effect" />
<geom name="right_shoulder_yaw_link_col_0" type="cylinder" size="0.04 0.005" pos="0.0 0.0 -0.11" group="3" />
<body name="right_elbow_link" pos="0.0185 0.0 -0.198">
<joint name="right_elbow_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.25 2.61" />
<inertial pos="0.164862 -0.000118 -0.015734" mass="0.723" fullinertia="0.00042388 0.0060062 0.0060023 3.6086e-05 0.00029293 -4.664e-06" />
<geom name="right_elbow_link_vis_0" type="mesh" mesh="right_elbow_link" contype="0" conaffinity="0" group="2" material="Material_009-effect" />
<geom name="right_elbow_link_col_0" type="cylinder" size="0.03 0.045" pos="0.125 0.0 0.0" quat="0.7073882691671998 0.0 0.706825181105366 0.0" group="3" />
</body>
</body>
</body>
</body>
<body name="imu_link" pos="-0.04452 -0.01891 0.27756" />
<body name="logo_link">
<geom name="logo_link_vis_0" type="mesh" mesh="logo_link" contype="0" conaffinity="0" group="2" material="Material_053-effect" />
</body>
<body name="d435_left_imager_link" pos="0.10848474394 0.0175 0.69317107367" quat="0.23722415326385188 -0.6661252618732432 0.6661277086924484 -0.23722502463842265">
<geom name="d435_left_imager_link_vis_0" type="sphere" size="0.001" contype="0" conaffinity="0" group="2" material="white" />
<geom name="d435_left_imager_link_col_0" type="sphere" size="0.001" group="3" />
</body>
<body name="d435_rgb_module_link" pos="0.10848474394 0.0325 0.69317107367" quat="0.23722415326385188 -0.6661252618732432 0.6661277086924484 -0.23722502463842265">
<geom name="d435_rgb_module_link_vis_0" type="sphere" size="0.001" contype="0" conaffinity="0" group="2" material="white" />
<geom name="d435_rgb_module_link_col_0" type="sphere" size="0.001" group="3" />
</body>
<body name="mid360_link" pos="0.0472999018 0.0 0.67492878653" quat="0.9926204343132684 0.0 0.12126282770799257 0.0">
<geom name="mid360_link_vis_0" type="sphere" size="0.001" contype="0" conaffinity="0" group="2" material="white" />
<geom name="mid360_link_col_0" type="sphere" size="0.001" group="3" />
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="pelvis" body2="left_hip_yaw_link" />
<exclude body1="left_hip_yaw_link" body2="left_hip_roll_link" />
<exclude body1="left_hip_roll_link" body2="left_hip_pitch_link" />
<exclude body1="left_hip_pitch_link" body2="left_knee_link" />
<exclude body1="left_knee_link" body2="left_ankle_link" />
<exclude body1="pelvis" body2="right_hip_yaw_link" />
<exclude body1="right_hip_yaw_link" body2="right_hip_roll_link" />
<exclude body1="right_hip_roll_link" body2="right_hip_pitch_link" />
<exclude body1="right_hip_pitch_link" body2="right_knee_link" />
<exclude body1="right_knee_link" body2="right_ankle_link" />
<exclude body1="pelvis" body2="torso_link" />
<exclude body1="torso_link" body2="left_shoulder_pitch_link" />
<exclude body1="left_shoulder_pitch_link" body2="left_shoulder_roll_link" />
<exclude body1="left_shoulder_roll_link" body2="left_shoulder_yaw_link" />
<exclude body1="left_shoulder_yaw_link" body2="left_elbow_link" />
<exclude body1="torso_link" body2="right_shoulder_pitch_link" />
<exclude body1="right_shoulder_pitch_link" body2="right_shoulder_roll_link" />
<exclude body1="right_shoulder_roll_link" body2="right_shoulder_yaw_link" />
<exclude body1="right_shoulder_yaw_link" body2="right_elbow_link" />
<exclude body1="torso_link" body2="imu_link" />
<exclude body1="torso_link" body2="logo_link" />
<exclude body1="torso_link" body2="d435_left_imager_link" />
<exclude body1="torso_link" body2="d435_rgb_module_link" />
<exclude body1="torso_link" body2="mid360_link" />
</contact>
</mujoco>
Import report
Counts
| Links | 25 |
|---|---|
| Joints | 24 |
| Moving joints | 19 |
| Visuals | 24 |
| Collisions | 23 |
| Materials | 21 |
Meshes
Formats: dae.
Asset size: 33.1 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
axis | 4 | fixed joints carry no <axis>; URDF ignores it too |
mujoco | 1 | <mujoco> is not part of the URDF subset RobotDescription mirrors |
Forward-kinematics check
Forward kinematics of 25 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 · 5.3e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 19).
Source & licence
| Repository | https://github.com/unitreerobotics/unitree_ros |
|---|---|
| Commit | 267182b8521c8d6a631bab1fe63836873237a525 |
| Original file | robots/h1_description/urdf/h1.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.