HSR-B
Toyota Motor Corporation · licence BSD-3-Clause-Clear · source: github.com/hsr-project/hsrb_common @ 5ad694606
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 c15851a4cae120cc -->
<robot name="hsrb">
<material name="body_main">
<color rgba="1.0 0.0 0.0 1.0" />
</material>
<material name="body_sub">
<color rgba="0.33 0.33 0.33 1.0" />
</material>
<material name="wheel">
<color rgba="0.2 0.2 0.2 1.0" />
</material>
<material name="black">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<material name="tablet">
<color rgba="0.1 0.1 0.2 1.0" />
</material>
<link name="base_footprint" />
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_footprint" />
<child link="base_link" />
</joint>
<link name="base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/base_v2/base_light.dae" />
</geometry>
</visual>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/base_v2/body_light.dae" />
</geometry>
</visual>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/base_v2/torso_base.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/base_v2/base.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.025978 -0.005498 0.17633" />
<mass value="50.0" />
<inertia ixx="0.3742" ixy="0.000434172172" ixz="0.03088" iyy="0.3436" iyz="0.01775" izz="0.1509" />
</inertial>
</link>
<joint name="base_roll_joint" type="continuous">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="base_roll_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="34.46" velocity="2.5" />
<dynamics damping="0.7" friction="0.0" />
</joint>
<link name="base_roll_link">
<inertial>
<origin xyz="-0.019482 0.002191 0.071013" />
<mass value="10.239419" />
<inertia ixx="0.07671" ixy="-0.01005" ixz="0.001749" iyy="0.09057" iyz="0.001549" izz="0.145" />
</inertial>
</link>
<joint name="base_r_drive_wheel_joint" type="continuous">
<origin xyz="-0.11 -0.133 0.04" rpy="0.0 0.0 0.0" />
<parent link="base_roll_link" />
<child link="base_r_drive_wheel_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="28.0" velocity="20.8" />
<dynamics damping="1.0" friction="0.0" />
</joint>
<link name="base_r_drive_wheel_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.03" radius="0.04" />
</geometry>
<material name="wheel" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.03" radius="0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.2" />
<inertia ixx="0.015" ixy="0.0" ixz="0.0" iyy="0.015" iyz="0.0" izz="0.015" />
</inertial>
</link>
<joint name="base_l_drive_wheel_joint" type="continuous">
<origin xyz="-0.11 0.133 0.04" rpy="0.0 0.0 0.0" />
<parent link="base_roll_link" />
<child link="base_l_drive_wheel_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="28.0" velocity="20.8" />
<dynamics damping="1.0" friction="0.0" />
</joint>
<link name="base_l_drive_wheel_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.03" radius="0.04" />
</geometry>
<material name="wheel" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.03" radius="0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.2" />
<inertia ixx="0.015" ixy="0.0" ixz="0.0" iyy="0.015" iyz="0.0" izz="0.015" />
</inertial>
</link>
<joint name="base_r_passive_wheel_x_frame_joint" type="continuous">
<origin xyz="0.1495 -0.055 0.03" rpy="0.0 0.0 0.0" />
<parent link="base_roll_link" />
<child link="base_r_passive_wheel_x_frame" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="1.0" velocity="3.0" />
<dynamics damping="1.0" friction="0.0" />
</joint>
<link name="base_r_passive_wheel_x_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.2" />
<inertia ixx="0.015" ixy="0.0" ixz="0.0" iyy="0.015" iyz="0.0" izz="0.015" />
</inertial>
</link>
<joint name="base_r_passive_wheel_y_frame_joint" type="continuous">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_r_passive_wheel_x_frame" />
<child link="base_r_passive_wheel_y_frame" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="8.85" velocity="10.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="base_r_passive_wheel_y_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.2" />
<inertia ixx="0.015" ixy="0.0" ixz="0.0" iyy="0.015" iyz="0.0" izz="0.015" />
</inertial>
</link>
<joint name="base_r_passive_wheel_z_joint" type="continuous">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_r_passive_wheel_y_frame" />
<child link="base_r_passive_wheel_z_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="8.85" velocity="10.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="base_r_passive_wheel_z_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.03" />
</geometry>
<material name="wheel" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.03" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.2" />
<inertia ixx="0.015" ixy="0.0" ixz="0.0" iyy="0.015" iyz="0.0" izz="0.015" />
</inertial>
</link>
<joint name="base_l_passive_wheel_x_frame_joint" type="continuous">
<origin xyz="0.1495 0.055 0.03" rpy="0.0 0.0 0.0" />
<parent link="base_roll_link" />
<child link="base_l_passive_wheel_x_frame" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="1.0" velocity="3.0" />
<dynamics damping="1.0" friction="0.0" />
</joint>
<link name="base_l_passive_wheel_x_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.2" />
<inertia ixx="0.015" ixy="0.0" ixz="0.0" iyy="0.015" iyz="0.0" izz="0.015" />
</inertial>
</link>
<joint name="base_l_passive_wheel_y_frame_joint" type="continuous">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_l_passive_wheel_x_frame" />
<child link="base_l_passive_wheel_y_frame" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="8.85" velocity="10.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="base_l_passive_wheel_y_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.2" />
<inertia ixx="0.015" ixy="0.0" ixz="0.0" iyy="0.015" iyz="0.0" izz="0.015" />
</inertial>
</link>
<joint name="base_l_passive_wheel_z_joint" type="continuous">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_l_passive_wheel_y_frame" />
<child link="base_l_passive_wheel_z_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="8.85" velocity="10.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="base_l_passive_wheel_z_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.03" />
</geometry>
<material name="wheel" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.03" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.2" />
<inertia ixx="0.015" ixy="0.0" ixz="0.0" iyy="0.015" iyz="0.0" izz="0.015" />
</inertial>
</link>
<joint name="base_range_sensor_joint" type="fixed">
<origin xyz="0.1675 0.0 0.1844" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="base_range_sensor_link" />
</joint>
<link name="base_range_sensor_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_parts_description/meshes/sensors/laser.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_parts_description/meshes/sensors/laser.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="base_imu_frame_joint" type="fixed">
<origin xyz="0.0005 0.1296 0.181" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="base_imu_frame" />
</joint>
<link name="base_imu_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="base_f_bumper_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="base_f_bumper_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="base_f_bumper_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/base_v2/bumper.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/base_v2/bumper.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.06" />
<inertia ixx="0.001537" ixy="0.0" ixz="0.0" iyy="0.001537" iyz="0.0" izz="0.002875" />
</inertial>
</link>
<joint name="base_b_bumper_joint" type="revolute">
<origin xyz="0.0 0.0013 0.0" rpy="0.0 0.0 3.141592653589793" />
<parent link="base_link" />
<child link="base_b_bumper_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="base_b_bumper_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/base_v2/bumper.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/base_v2/bumper.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.06" />
<inertia ixx="0.001537" ixy="0.0" ixz="0.0" iyy="0.001537" iyz="0.0" izz="0.002875" />
</inertial>
</link>
<joint name="torso_lift_joint" type="prismatic">
<origin xyz="0.0 0.0 0.752" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="torso_lift_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="300.0" velocity="0.1" lower="0.0" upper="0.345" />
<dynamics damping="500.0" friction="0.0" />
</joint>
<link name="torso_lift_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/torso_v0/torso_light.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/torso_v0/torso.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.051142 0.003454 -0.2905" />
<mass value="3.420779" />
<inertia ixx="0.1045" ixy="-0.000460884801" ixz="0.000101130383" iyy="0.105" iyz="0.002941" izz="0.01284" />
</inertial>
</link>
<joint name="head_pan_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="torso_lift_link" />
<child link="head_pan_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="1.0" lower="-3.84" upper="1.75" />
<dynamics damping="1.0" friction="0.0" />
</joint>
<link name="head_pan_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/head_v1/head_pan.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/head_v1/head_pan.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.001724 -0.001969 -0.028886" />
<mass value="0.571903" />
<inertia ixx="0.0009711421" ixy="6.179487e-05" ixz="-0.000113923121" iyy="0.00065335493" iyz="6.9036305e-05" izz="0.000765202576" />
</inertial>
</link>
<joint name="head_tilt_joint" type="revolute">
<origin xyz="0.02 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="head_pan_link" />
<child link="head_tilt_link" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="100.0" velocity="1.0" lower="-1.57" upper="0.52" />
<dynamics damping="10.0" friction="0.0" />
</joint>
<link name="head_tilt_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/head_v1/head_upper.dae" />
</geometry>
</visual>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/head_v1/head_tilt.dae" />
</geometry>
</visual>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/head_v1/tablet_base.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/head_v1/head.stl" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/head_v1/tablet.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.055376 -0.002436 0.117733" />
<mass value="2.123802" />
<inertia ixx="0.01941" ixy="-0.000138091054" ixz="0.005035" iyy="0.01498" iyz="8.7492537e-05" izz="0.01167" />
</inertial>
</link>
<joint name="head_l_stereo_camera_joint" type="fixed">
<origin xyz="0.02 0.07 0.061" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
<parent link="head_tilt_link" />
<child link="head_l_stereo_camera_link" />
</joint>
<link name="head_l_stereo_camera_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_parts_description/meshes/sensors/head_camera.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="head_l_stereo_camera_gazebo_frame_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 -1.5707963267948966 0.0" />
<parent link="head_l_stereo_camera_link" />
<child link="head_l_stereo_camera_gazebo_frame" />
</joint>
<link name="head_l_stereo_camera_gazebo_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="head_r_stereo_camera_joint" type="fixed">
<origin xyz="0.02 -0.07 0.061" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
<parent link="head_tilt_link" />
<child link="head_r_stereo_camera_link" />
</joint>
<link name="head_r_stereo_camera_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_parts_description/meshes/sensors/head_camera.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="head_r_stereo_camera_gazebo_frame_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 -1.5707963267948966 0.0" />
<parent link="head_r_stereo_camera_link" />
<child link="head_r_stereo_camera_gazebo_frame" />
</joint>
<link name="head_r_stereo_camera_gazebo_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="head_center_camera_frame_joint" type="fixed">
<origin xyz="0.0195 0.0 0.061" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
<parent link="head_tilt_link" />
<child link="head_center_camera_frame" />
</joint>
<link name="head_center_camera_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="head_center_camera_gazebo_frame_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 -1.5707963267948966 0.0" />
<parent link="head_center_camera_frame" />
<child link="head_center_camera_gazebo_frame" />
</joint>
<link name="head_center_camera_gazebo_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="head_rgbd_sensor_joint" type="fixed">
<origin xyz="-0.079796 0.022 0.215172" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
<parent link="head_tilt_link" />
<child link="head_rgbd_sensor_link" />
</joint>
<link name="head_rgbd_sensor_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_parts_description/meshes/sensors/xtion.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_parts_description/meshes/sensors/xtion.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="head_rgbd_sensor_gazebo_frame_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 -1.5707963267948966 0.0" />
<parent link="head_rgbd_sensor_link" />
<child link="head_rgbd_sensor_gazebo_frame" />
</joint>
<link name="head_rgbd_sensor_gazebo_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="arm_lift_joint" type="prismatic">
<origin xyz="0.0 0.0 0.34" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="arm_lift_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="300.0" velocity="0.2" lower="0.0" upper="0.69" />
<dynamics damping="1.0" friction="0.0" />
</joint>
<link name="arm_lift_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/arm_v0/shoulder.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/arm_v0/shoulder.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.051549 0.042438 -0.064145" />
<mass value="1.275819" />
<inertia ixx="0.004633" ixy="0.000475272668" ixz="-0.002403" iyy="0.008065" iyz="-0.000100268629" izz="0.007672" />
</inertial>
</link>
<joint name="arm_flex_joint" type="revolute">
<origin xyz="0.141 0.078 0.0" rpy="0.0 0.0 0.0" />
<parent link="arm_lift_link" />
<child link="arm_flex_link" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="100.0" velocity="1.2" lower="-2.62" upper="0.0" />
<dynamics damping="1.0" friction="0.0" />
</joint>
<link name="arm_flex_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/arm_v0/arm_flex_light.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/arm_v0/arm_flex.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000632 0.006404 0.118529" />
<mass value="1.339295" />
<inertia ixx="0.007528" ixy="-2.0284207e-05" ixz="-2.2947194e-05" iyy="0.007102" iyz="-9.1796075e-05" izz="0.001552" />
</inertial>
</link>
<joint name="arm_roll_joint" type="revolute">
<origin xyz="0.005 0.0 0.345" rpy="0.0 0.0 0.0" />
<parent link="arm_flex_link" />
<child link="arm_roll_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="2.0" lower="-2.09" upper="3.84" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<link name="arm_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/arm_v0/arm_roll_light.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/arm_v0/arm_roll.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.006927 0.002039 -0.064837" />
<mass value="0.247936" />
<inertia ixx="0.004267" ixy="-1.8322199e-05" ixz="1.7984455e-05" iyy="0.000780923828" iyz="-1.392334e-05" izz="0.00412" />
</inertial>
</link>
<joint name="wrist_flex_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="arm_roll_link" />
<child link="wrist_flex_link" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="100.0" velocity="1.5" lower="-1.92" upper="1.22" />
<dynamics damping="1.0" friction="0.0" />
</joint>
<link name="wrist_flex_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/wrist_v0/wrist_flex.dae" />
</geometry>
<material name="body_sub" />
</visual>
<visual>
<origin xyz="0.0 0.0 0.04" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.02" radius="0.017" />
</geometry>
<material name="body_sub" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.025" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.04" radius="0.017" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000131 -0.003929 0.00217" />
<mass value="0.681225" />
<inertia ixx="7.4353558e-05" ixy="4.94515e-07" ixz="2.2937e-08" iyy="3.8432887e-05" iyz="-2.55576e-06" izz="6.4680918e-05" />
</inertial>
</link>
<joint name="wrist_roll_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="wrist_flex_link" />
<child link="wrist_ft_sensor_mount_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="1.5" lower="-1.92" upper="3.67" />
<dynamics damping="1.0" friction="0.0" />
</joint>
<link name="wrist_ft_sensor_mount_link">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="wrist_ft_sensor_frame_inverse_joint" type="fixed">
<origin xyz="0.0 0.0 0.0735" rpy="-3.141592653589793 0.0 0.0" />
<parent link="wrist_ft_sensor_frame" />
<child link="wrist_roll_link" />
</joint>
<link name="wrist_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/wrist_v0/wrist_roll.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/wrist_v0/wrist_roll.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.001416 -0.001547 0.081689" />
<mass value="0.761692" />
<inertia ixx="0.000805633819" ixy="-1.4431758e-05" ixz="2.8204659e-05" iyy="0.000768077165" iyz="2.2460226e-05" izz="0.000453406611" />
</inertial>
</link>
<joint name="wrist_ft_sensor_frame_joint" type="revolute">
<origin xyz="0.0 0.0 0.0735" rpy="3.141592653589793 0.0 0.0" />
<parent link="wrist_ft_sensor_mount_link" />
<child link="wrist_ft_sensor_frame" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="1.5" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="wrist_ft_sensor_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="hand_palm_joint" type="fixed">
<origin xyz="0.012 0.0 0.1405" rpy="0.0 0.0 3.141592653589793" />
<parent link="wrist_roll_link" />
<child link="hand_palm_link" />
</joint>
<link name="hand_palm_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/hand_v0/palm_light.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/hand_v0/palm.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.15" />
<inertia ixx="0.015" ixy="0.0" ixz="0.0" iyy="0.015" iyz="0.0" izz="0.015" />
</inertial>
</link>
<joint name="hand_motor_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="hand_palm_link" />
<child link="hand_motor_dummy_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="1.0" lower="-0.798" upper="1.24" />
<dynamics damping="0.0001" friction="0.0" />
</joint>
<link name="hand_motor_dummy_link">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="hand_l_proximal_joint" type="revolute">
<origin xyz="-0.01675 -0.0245 -0.0175" rpy="0.0 0.0 0.0" />
<parent link="hand_palm_link" />
<child link="hand_l_proximal_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="1.0" lower="-0.798" upper="1.24" />
<dynamics damping="0.0001" friction="0.0" />
</joint>
<link name="hand_l_proximal_link">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="hand_l_spring_proximal_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="hand_l_proximal_link" />
<child link="hand_l_spring_proximal_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="10.0" velocity="1.0" lower="0.0" upper="0.698" />
<dynamics damping="0.0001" friction="0.0" />
</joint>
<link name="hand_l_spring_proximal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/hand_v0/l_proximal.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0169 -0.004125 0.035" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0362 0.01575 0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.021418 0.00248 0.022688" />
<mass value="0.001" />
<inertia ixx="0.001" ixy="-0.0" ixz="-0.0" iyy="0.001" iyz="-0.0" izz="0.001" />
</inertial>
</link>
<joint name="hand_l_mimic_distal_joint" type="revolute">
<origin xyz="0.0 0.0 0.07" rpy="0.0 0.0 0.0" />
<parent link="hand_l_spring_proximal_link" />
<child link="hand_l_mimic_distal_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="1.0" lower="-0.698" upper="-0.0" />
<dynamics damping="0.0001" friction="0.0" />
</joint>
<link name="hand_l_mimic_distal_link">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="hand_l_distal_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="hand_l_mimic_distal_link" />
<child link="hand_l_distal_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="1.0" lower="-1.24" upper="0.798" />
<dynamics damping="0.0001" friction="0.0" />
</joint>
<link name="hand_l_distal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/hand_v0/l_distal.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.02 0.014 0.025" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.04 0.01 0.032" />
</geometry>
</collision>
<collision>
<origin xyz="0.02 0.0015 0.02" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.04 0.023 0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.011116 0.005679 0.017532" />
<mass value="0.001" />
<inertia ixx="0.001" ixy="-0.0" ixz="0.0" iyy="0.001" iyz="-0.0" izz="0.001" />
</inertial>
</link>
<joint name="hand_l_finger_tip_frame_joint" type="fixed">
<origin xyz="0.01675 0.01865 0.04289" rpy="-1.5707963267948966 0.0 0.0" />
<parent link="hand_l_distal_link" />
<child link="hand_l_finger_tip_frame" />
</joint>
<link name="hand_l_finger_tip_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="hand_l_finger_vacuum_frame_joint" type="fixed">
<origin xyz="0.00475 -0.011539 0.03322" rpy="0.7853981633974483 0.0 0.0" />
<parent link="hand_l_distal_link" />
<child link="hand_l_finger_vacuum_frame" />
</joint>
<link name="hand_l_finger_vacuum_frame">
<visual>
<origin xyz="0.0 0.0 -0.01" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.008 0.008 0.02" />
</geometry>
<material name="body_sub" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="hand_r_proximal_joint" type="revolute">
<origin xyz="-0.01675 0.0245 -0.0175" rpy="0.0 0.0 0.0" />
<parent link="hand_palm_link" />
<child link="hand_r_proximal_link" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="100.0" velocity="1.0" lower="-0.798" upper="1.24" />
<dynamics damping="0.0001" friction="0.0" />
</joint>
<link name="hand_r_proximal_link">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="hand_r_spring_proximal_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="hand_r_proximal_link" />
<child link="hand_r_spring_proximal_link" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="10.0" velocity="1.0" lower="0.0" upper="0.698" />
<dynamics damping="0.0001" friction="0.0" />
</joint>
<link name="hand_r_spring_proximal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/hand_v0/r_proximal.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0169 0.004125 0.035" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0362 0.01575 0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.013203 0.002096 0.023311" />
<mass value="0.001" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="hand_r_mimic_distal_joint" type="revolute">
<origin xyz="0.0 0.0 0.07" rpy="0.0 0.0 0.0" />
<parent link="hand_r_spring_proximal_link" />
<child link="hand_r_mimic_distal_link" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="100.0" velocity="1.0" lower="-0.698" upper="-0.0" />
<dynamics damping="0.0001" friction="0.0" />
</joint>
<link name="hand_r_mimic_distal_link">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="hand_r_distal_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="hand_r_mimic_distal_link" />
<child link="hand_r_distal_link" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="100.0" velocity="1.0" lower="-1.24" upper="0.798" />
<dynamics damping="0.0001" friction="0.0" />
</joint>
<link name="hand_r_distal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://hsrb_description/meshes/hand_v0/r_distal.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.02 -0.014 0.025" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.04 0.01 0.032" />
</geometry>
</collision>
<collision>
<origin xyz="0.02 -0.0015 0.02" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.04 0.023 0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.014256 -0.008321 0.015591" />
<mass value="0.001" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="hand_r_finger_tip_frame_joint" type="fixed">
<origin xyz="0.01675 -0.01865 0.04289" rpy="1.5707963267948966 0.0 0.0" />
<parent link="hand_r_distal_link" />
<child link="hand_r_finger_tip_frame" />
</joint>
<link name="hand_r_finger_tip_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="hand_camera_frame_joint" type="fixed">
<origin xyz="0.039 0.0 -0.0045" rpy="0.0 0.0 0.0" />
<parent link="hand_palm_link" />
<child link="hand_camera_frame" />
</joint>
<link name="hand_camera_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="hand_camera_gazebo_frame_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 -1.5707963267948966 0.0" />
<parent link="hand_camera_frame" />
<child link="hand_camera_gazebo_frame" />
</joint>
<link name="hand_camera_gazebo_frame">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content c15851a4cae120cc -->
<mujoco model="hsrb">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="body_main" rgba="1.0 0.0 0.0 1.0" />
<material name="body_sub" rgba="0.33 0.33 0.33 1.0" />
<material name="wheel" rgba="0.2 0.2 0.2 1.0" />
<material name="black" rgba="0.1 0.1 0.1 1.0" />
<material name="tablet" rgba="0.1 0.1 0.2 1.0" />
<mesh name="base_light" file="hsrb_description/meshes/base_v2/base_light.dae" />
<mesh name="body_light" file="hsrb_description/meshes/base_v2/body_light.dae" />
<mesh name="torso_base" file="hsrb_description/meshes/base_v2/torso_base.dae" />
<mesh name="base" file="hsrb_description/meshes/base_v2/base.stl" />
<mesh name="hsrb_parts_description_meshes_sensors_laser_dae" file="hsrb_parts_description/meshes/sensors/laser.dae" />
<mesh name="hsrb_parts_description_meshes_sensors_laser_stl" file="hsrb_parts_description/meshes/sensors/laser.stl" />
<mesh name="hsrb_description_meshes_base_v2_bumper_dae" file="hsrb_description/meshes/base_v2/bumper.dae" />
<mesh name="hsrb_description_meshes_base_v2_bumper_stl" file="hsrb_description/meshes/base_v2/bumper.stl" />
<mesh name="torso_light" file="hsrb_description/meshes/torso_v0/torso_light.dae" />
<mesh name="torso" file="hsrb_description/meshes/torso_v0/torso.stl" />
<mesh name="hsrb_description_meshes_head_v1_head_pan_dae" file="hsrb_description/meshes/head_v1/head_pan.dae" />
<mesh name="hsrb_description_meshes_head_v1_head_pan_stl" file="hsrb_description/meshes/head_v1/head_pan.stl" />
<mesh name="head_upper" file="hsrb_description/meshes/head_v1/head_upper.dae" />
<mesh name="head_tilt" file="hsrb_description/meshes/head_v1/head_tilt.dae" />
<mesh name="tablet_base" file="hsrb_description/meshes/head_v1/tablet_base.dae" />
<mesh name="head" file="hsrb_description/meshes/head_v1/head.stl" />
<mesh name="tablet" file="hsrb_description/meshes/head_v1/tablet.stl" />
<mesh name="head_camera" file="hsrb_parts_description/meshes/sensors/head_camera.dae" />
<mesh name="hsrb_parts_description_meshes_sensors_xtion_dae" file="hsrb_parts_description/meshes/sensors/xtion.dae" />
<mesh name="hsrb_parts_description_meshes_sensors_xtion_stl" file="hsrb_parts_description/meshes/sensors/xtion.stl" />
<mesh name="hsrb_description_meshes_arm_v0_shoulder_dae" file="hsrb_description/meshes/arm_v0/shoulder.dae" />
<mesh name="hsrb_description_meshes_arm_v0_shoulder_stl" file="hsrb_description/meshes/arm_v0/shoulder.stl" />
<mesh name="arm_flex_light" file="hsrb_description/meshes/arm_v0/arm_flex_light.dae" />
<mesh name="arm_flex" file="hsrb_description/meshes/arm_v0/arm_flex.stl" />
<mesh name="arm_roll_light" file="hsrb_description/meshes/arm_v0/arm_roll_light.dae" />
<mesh name="arm_roll" file="hsrb_description/meshes/arm_v0/arm_roll.stl" />
<mesh name="wrist_flex" file="hsrb_description/meshes/wrist_v0/wrist_flex.dae" />
<mesh name="hsrb_description_meshes_wrist_v0_wrist_roll_dae" file="hsrb_description/meshes/wrist_v0/wrist_roll.dae" />
<mesh name="hsrb_description_meshes_wrist_v0_wrist_roll_stl" file="hsrb_description/meshes/wrist_v0/wrist_roll.stl" />
<mesh name="palm_light" file="hsrb_description/meshes/hand_v0/palm_light.dae" />
<mesh name="palm" file="hsrb_description/meshes/hand_v0/palm.stl" />
<mesh name="l_proximal" file="hsrb_description/meshes/hand_v0/l_proximal.dae" />
<mesh name="l_distal" file="hsrb_description/meshes/hand_v0/l_distal.dae" />
<mesh name="r_proximal" file="hsrb_description/meshes/hand_v0/r_proximal.dae" />
<mesh name="r_distal" file="hsrb_description/meshes/hand_v0/r_distal.dae" />
</asset>
<worldbody>
<body name="base_footprint">
<body name="base_link">
<inertial pos="-0.025978 -0.005498 0.17633" mass="50.0" fullinertia="0.3742 0.3436 0.1509 0.000434172172 0.03088 0.01775" />
<geom name="base_link_vis_0" type="mesh" mesh="base_light" contype="0" conaffinity="0" group="2" />
<geom name="base_link_vis_1" type="mesh" mesh="body_light" contype="0" conaffinity="0" group="2" />
<geom name="base_link_vis_2" type="mesh" mesh="torso_base" contype="0" conaffinity="0" group="2" />
<geom name="base_link_col_0" type="mesh" mesh="base" group="3" />
<body name="base_roll_link">
<joint name="base_roll_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" damping="0.7" />
<inertial pos="-0.019482 0.002191 0.071013" mass="10.239419" fullinertia="0.07671 0.09057 0.145 -0.01005 0.001749 0.001549" />
<body name="base_r_drive_wheel_link" pos="-0.11 -0.133 0.04">
<joint name="base_r_drive_wheel_joint" type="hinge" axis="0.0 1.0 0.0" limited="false" damping="1.0" />
<inertial pos="0.0 0.0 0.0" mass="0.2" fullinertia="0.015 0.015 0.015 0.0 0.0 0.0" />
<geom name="base_r_drive_wheel_link_vis_0" type="cylinder" size="0.04 0.015" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" material="wheel" />
<geom name="base_r_drive_wheel_link_col_0" type="cylinder" size="0.04 0.015" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
</body>
<body name="base_l_drive_wheel_link" pos="-0.11 0.133 0.04">
<joint name="base_l_drive_wheel_joint" type="hinge" axis="0.0 1.0 0.0" limited="false" damping="1.0" />
<inertial pos="0.0 0.0 0.0" mass="0.2" fullinertia="0.015 0.015 0.015 0.0 0.0 0.0" />
<geom name="base_l_drive_wheel_link_vis_0" type="cylinder" size="0.04 0.015" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" material="wheel" />
<geom name="base_l_drive_wheel_link_col_0" type="cylinder" size="0.04 0.015" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
</body>
<body name="base_r_passive_wheel_x_frame" pos="0.1495 -0.055 0.03">
<joint name="base_r_passive_wheel_x_frame_joint" type="hinge" axis="1.0 0.0 0.0" limited="false" damping="1.0" />
<inertial pos="0.0 0.0 0.0" mass="0.2" fullinertia="0.015 0.015 0.015 0.0 0.0 0.0" />
<body name="base_r_passive_wheel_y_frame">
<joint name="base_r_passive_wheel_y_frame_joint" type="hinge" axis="0.0 1.0 0.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="0.2" fullinertia="0.015 0.015 0.015 0.0 0.0 0.0" />
<body name="base_r_passive_wheel_z_link">
<joint name="base_r_passive_wheel_z_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="0.2" fullinertia="0.015 0.015 0.015 0.0 0.0 0.0" />
<geom name="base_r_passive_wheel_z_link_vis_0" type="sphere" size="0.03" contype="0" conaffinity="0" group="2" material="wheel" />
<geom name="base_r_passive_wheel_z_link_col_0" type="sphere" size="0.03" group="3" />
</body>
</body>
</body>
<body name="base_l_passive_wheel_x_frame" pos="0.1495 0.055 0.03">
<joint name="base_l_passive_wheel_x_frame_joint" type="hinge" axis="1.0 0.0 0.0" limited="false" damping="1.0" />
<inertial pos="0.0 0.0 0.0" mass="0.2" fullinertia="0.015 0.015 0.015 0.0 0.0 0.0" />
<body name="base_l_passive_wheel_y_frame">
<joint name="base_l_passive_wheel_y_frame_joint" type="hinge" axis="0.0 1.0 0.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="0.2" fullinertia="0.015 0.015 0.015 0.0 0.0 0.0" />
<body name="base_l_passive_wheel_z_link">
<joint name="base_l_passive_wheel_z_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="0.2" fullinertia="0.015 0.015 0.015 0.0 0.0 0.0" />
<geom name="base_l_passive_wheel_z_link_vis_0" type="sphere" size="0.03" contype="0" conaffinity="0" group="2" material="wheel" />
<geom name="base_l_passive_wheel_z_link_col_0" type="sphere" size="0.03" group="3" />
</body>
</body>
</body>
</body>
<body name="base_range_sensor_link" pos="0.1675 0.0 0.1844">
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<geom name="base_range_sensor_link_vis_0" type="mesh" mesh="hsrb_parts_description_meshes_sensors_laser_dae" contype="0" conaffinity="0" group="2" />
<geom name="base_range_sensor_link_col_0" type="mesh" mesh="hsrb_parts_description_meshes_sensors_laser_stl" group="3" />
</body>
<body name="base_imu_frame" pos="0.0005 0.1296 0.181">
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
</body>
<body name="base_f_bumper_link">
<joint name="base_f_bumper_joint" type="hinge" axis="1.0 0.0 0.0" range="0.0 0.0" />
<inertial pos="0.0 0.0 0.0" mass="0.06" fullinertia="0.001537 0.001537 0.002875 0.0 0.0 0.0" />
<geom name="base_f_bumper_link_vis_0" type="mesh" mesh="hsrb_description_meshes_base_v2_bumper_dae" contype="0" conaffinity="0" group="2" />
<geom name="base_f_bumper_link_col_0" type="mesh" mesh="hsrb_description_meshes_base_v2_bumper_stl" group="3" />
</body>
<body name="base_b_bumper_link" pos="0.0 0.0013 0.0" quat="6.123233995736766e-17 0.0 0.0 1.0">
<joint name="base_b_bumper_joint" type="hinge" axis="1.0 0.0 0.0" range="0.0 0.0" />
<inertial pos="0.0 0.0 0.0" mass="0.06" fullinertia="0.001537 0.001537 0.002875 0.0 0.0 0.0" />
<geom name="base_b_bumper_link_vis_0" type="mesh" mesh="hsrb_description_meshes_base_v2_bumper_dae" contype="0" conaffinity="0" group="2" />
<geom name="base_b_bumper_link_col_0" type="mesh" mesh="hsrb_description_meshes_base_v2_bumper_stl" group="3" />
</body>
<body name="torso_lift_link" pos="0.0 0.0 0.752">
<joint name="torso_lift_joint" type="slide" axis="0.0 0.0 1.0" range="0.0 0.345" damping="500.0" />
<inertial pos="-0.051142 0.003454 -0.2905" mass="3.420779" fullinertia="0.1045 0.105 0.01284 -0.000460884801 0.000101130383 0.002941" />
<geom name="torso_lift_link_vis_0" type="mesh" mesh="torso_light" contype="0" conaffinity="0" group="2" />
<geom name="torso_lift_link_col_0" type="mesh" mesh="torso" group="3" />
<body name="head_pan_link">
<joint name="head_pan_joint" type="hinge" axis="0.0 0.0 1.0" range="-3.84 1.75" damping="1.0" />
<inertial pos="0.001724 -0.001969 -0.028886" mass="0.571903" fullinertia="0.0009711421 0.00065335493 0.000765202576 6.179487e-05 -0.000113923121 6.9036305e-05" />
<geom name="head_pan_link_vis_0" type="mesh" mesh="hsrb_description_meshes_head_v1_head_pan_dae" contype="0" conaffinity="0" group="2" />
<geom name="head_pan_link_col_0" type="mesh" mesh="hsrb_description_meshes_head_v1_head_pan_stl" group="3" />
<body name="head_tilt_link" pos="0.02 0.0 0.0">
<joint name="head_tilt_joint" type="hinge" axis="0.0 -1.0 0.0" range="-1.57 0.52" damping="10.0" />
<inertial pos="-0.055376 -0.002436 0.117733" mass="2.123802" fullinertia="0.01941 0.01498 0.01167 -0.000138091054 0.005035 8.7492537e-05" />
<geom name="head_tilt_link_vis_0" type="mesh" mesh="head_upper" contype="0" conaffinity="0" group="2" />
<geom name="head_tilt_link_vis_1" type="mesh" mesh="head_tilt" contype="0" conaffinity="0" group="2" />
<geom name="head_tilt_link_vis_2" type="mesh" mesh="tablet_base" contype="0" conaffinity="0" group="2" />
<geom name="head_tilt_link_col_0" type="mesh" mesh="head" group="3" />
<geom name="head_tilt_link_col_1" type="mesh" mesh="tablet" group="3" />
<body name="head_l_stereo_camera_link" pos="0.02 0.07 0.061" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5">
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<geom name="head_l_stereo_camera_link_vis_0" type="mesh" mesh="head_camera" contype="0" conaffinity="0" group="2" />
<body name="head_l_stereo_camera_gazebo_frame" quat="0.5000000000000001 0.5 -0.5 0.4999999999999999">
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
</body>
</body>
<body name="head_r_stereo_camera_link" pos="0.02 -0.07 0.061" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5">
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<geom name="head_r_stereo_camera_link_vis_0" type="mesh" mesh="head_camera" contype="0" conaffinity="0" group="2" />
<body name="head_r_stereo_camera_gazebo_frame" quat="0.5000000000000001 0.5 -0.5 0.4999999999999999">
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
</body>
</body>
<body name="head_center_camera_frame" pos="0.0195 0.0 0.061" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5">
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<body name="head_center_camera_gazebo_frame" quat="0.5000000000000001 0.5 -0.5 0.4999999999999999">
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
</body>
</body>
<body name="head_rgbd_sensor_link" pos="-0.079796 0.022 0.215172" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5">
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<geom name="head_rgbd_sensor_link_vis_0" type="mesh" mesh="hsrb_parts_description_meshes_sensors_xtion_dae" contype="0" conaffinity="0" group="2" />
<geom name="head_rgbd_sensor_link_col_0" type="mesh" mesh="hsrb_parts_description_meshes_sensors_xtion_stl" group="3" />
<body name="head_rgbd_sensor_gazebo_frame" quat="0.5000000000000001 0.5 -0.5 0.4999999999999999">
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
</body>
</body>
</body>
</body>
</body>
<body name="arm_lift_link" pos="0.0 0.0 0.34">
<joint name="arm_lift_joint" type="slide" axis="0.0 0.0 1.0" range="0.0 0.69" damping="1.0" />
<inertial pos="0.051549 0.042438 -0.064145" mass="1.275819" fullinertia="0.004633 0.008065 0.007672 0.000475272668 -0.002403 -0.000100268629" />
<geom name="arm_lift_link_vis_0" type="mesh" mesh="hsrb_description_meshes_arm_v0_shoulder_dae" contype="0" conaffinity="0" group="2" />
<geom name="arm_lift_link_col_0" type="mesh" mesh="hsrb_description_meshes_arm_v0_shoulder_stl" group="3" />
<body name="arm_flex_link" pos="0.141 0.078 0.0">
<joint name="arm_flex_joint" type="hinge" axis="0.0 -1.0 0.0" range="-2.62 0.0" damping="1.0" />
<inertial pos="0.000632 0.006404 0.118529" mass="1.339295" fullinertia="0.007528 0.007102 0.001552 -2.0284207e-05 -2.2947194e-05 -9.1796075e-05" />
<geom name="arm_flex_link_vis_0" type="mesh" mesh="arm_flex_light" contype="0" conaffinity="0" group="2" />
<geom name="arm_flex_link_col_0" type="mesh" mesh="arm_flex" group="3" />
<body name="arm_roll_link" pos="0.005 0.0 0.345">
<joint name="arm_roll_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.09 3.84" damping="0.1" />
<inertial pos="-0.006927 0.002039 -0.064837" mass="0.247936" fullinertia="0.004267 0.000780923828 0.00412 -1.8322199e-05 1.7984455e-05 -1.392334e-05" />
<geom name="arm_roll_link_vis_0" type="mesh" mesh="arm_roll_light" contype="0" conaffinity="0" group="2" />
<geom name="arm_roll_link_col_0" type="mesh" mesh="arm_roll" group="3" />
<body name="wrist_flex_link">
<joint name="wrist_flex_joint" type="hinge" axis="0.0 -1.0 0.0" range="-1.92 1.22" damping="1.0" />
<inertial pos="0.000131 -0.003929 0.00217" mass="0.681225" fullinertia="7.4353558e-05 3.8432887e-05 6.4680918e-05 4.94515e-07 2.2937e-08 -2.55576e-06" />
<geom name="wrist_flex_link_vis_0" type="mesh" mesh="wrist_flex" contype="0" conaffinity="0" group="2" material="body_sub" />
<geom name="wrist_flex_link_vis_1" type="cylinder" size="0.017 0.01" pos="0.0 0.0 0.04" contype="0" conaffinity="0" group="2" material="body_sub" />
<geom name="wrist_flex_link_col_0" type="cylinder" size="0.017 0.02" pos="0.0 0.0 0.025" group="3" />
<body name="wrist_ft_sensor_mount_link">
<joint name="wrist_roll_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.92 3.67" damping="1.0" />
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<body name="wrist_ft_sensor_frame" pos="0.0 0.0 0.0735" quat="6.123233995736766e-17 1.0 0.0 0.0">
<joint name="wrist_ft_sensor_frame_joint" type="hinge" axis="1.0 0.0 0.0" range="0.0 0.0" />
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<body name="wrist_roll_link" pos="0.0 0.0 0.0735" quat="6.123233995736766e-17 -1.0 0.0 0.0">
<inertial pos="-0.001416 -0.001547 0.081689" mass="0.761692" fullinertia="0.000805633819 0.000768077165 0.000453406611 -1.4431758e-05 2.8204659e-05 2.2460226e-05" />
<geom name="wrist_roll_link_vis_0" type="mesh" mesh="hsrb_description_meshes_wrist_v0_wrist_roll_dae" contype="0" conaffinity="0" group="2" />
<geom name="wrist_roll_link_col_0" type="mesh" mesh="hsrb_description_meshes_wrist_v0_wrist_roll_stl" group="3" />
<body name="hand_palm_link" pos="0.012 0.0 0.1405" quat="6.123233995736766e-17 0.0 0.0 1.0">
<inertial pos="0.0 0.0 0.0" mass="0.15" fullinertia="0.015 0.015 0.015 0.0 0.0 0.0" />
<geom name="hand_palm_link_vis_0" type="mesh" mesh="palm_light" contype="0" conaffinity="0" group="2" />
<geom name="hand_palm_link_col_0" type="mesh" mesh="palm" group="3" />
<body name="hand_motor_dummy_link">
<joint name="hand_motor_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.798 1.24" damping="0.0001" />
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
</body>
<body name="hand_l_proximal_link" pos="-0.01675 -0.0245 -0.0175">
<joint name="hand_l_proximal_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.798 1.24" damping="0.0001" />
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<body name="hand_l_spring_proximal_link">
<joint name="hand_l_spring_proximal_joint" type="hinge" axis="1.0 0.0 0.0" range="0.0 0.698" damping="0.0001" />
<inertial pos="0.021418 0.00248 0.022688" mass="0.001" fullinertia="0.001 0.001 0.001 -0.0 -0.0 -0.0" />
<geom name="hand_l_spring_proximal_link_vis_0" type="mesh" mesh="l_proximal" contype="0" conaffinity="0" group="2" />
<geom name="hand_l_spring_proximal_link_col_0" type="box" size="0.0181 0.007875 0.02" pos="0.0169 -0.004125 0.035" group="3" />
<body name="hand_l_mimic_distal_link" pos="0.0 0.0 0.07">
<joint name="hand_l_mimic_distal_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.698 -0.0" damping="0.0001" />
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<body name="hand_l_distal_link">
<joint name="hand_l_distal_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.24 0.798" damping="0.0001" />
<inertial pos="0.011116 0.005679 0.017532" mass="0.001" fullinertia="0.001 0.001 0.001 -0.0 0.0 -0.0" />
<geom name="hand_l_distal_link_vis_0" type="mesh" mesh="l_distal" contype="0" conaffinity="0" group="2" />
<geom name="hand_l_distal_link_col_0" type="box" size="0.02 0.005 0.016" pos="0.02 0.014 0.025" group="3" />
<geom name="hand_l_distal_link_col_1" type="box" size="0.02 0.0115 0.02" pos="0.02 0.0015 0.02" group="3" />
<body name="hand_l_finger_tip_frame" pos="0.01675 0.01865 0.04289" quat="0.7071067811865476 -0.7071067811865475 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
</body>
<body name="hand_l_finger_vacuum_frame" pos="0.00475 -0.011539 0.03322" quat="0.9238795325112867 0.3826834323650898 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<geom name="hand_l_finger_vacuum_frame_vis_0" type="box" size="0.004 0.004 0.01" pos="0.0 0.0 -0.01" contype="0" conaffinity="0" group="2" material="body_sub" />
</body>
</body>
</body>
</body>
</body>
<body name="hand_r_proximal_link" pos="-0.01675 0.0245 -0.0175">
<joint name="hand_r_proximal_joint" type="hinge" axis="-1.0 0.0 0.0" range="-0.798 1.24" damping="0.0001" />
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<body name="hand_r_spring_proximal_link">
<joint name="hand_r_spring_proximal_joint" type="hinge" axis="-1.0 0.0 0.0" range="0.0 0.698" damping="0.0001" />
<inertial pos="0.013203 0.002096 0.023311" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<geom name="hand_r_spring_proximal_link_vis_0" type="mesh" mesh="r_proximal" contype="0" conaffinity="0" group="2" />
<geom name="hand_r_spring_proximal_link_col_0" type="box" size="0.0181 0.007875 0.02" pos="0.0169 0.004125 0.035" group="3" />
<body name="hand_r_mimic_distal_link" pos="0.0 0.0 0.07">
<joint name="hand_r_mimic_distal_joint" type="hinge" axis="-1.0 0.0 0.0" range="-0.698 -0.0" damping="0.0001" />
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<body name="hand_r_distal_link">
<joint name="hand_r_distal_joint" type="hinge" axis="-1.0 0.0 0.0" range="-1.24 0.798" damping="0.0001" />
<inertial pos="0.014256 -0.008321 0.015591" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<geom name="hand_r_distal_link_vis_0" type="mesh" mesh="r_distal" contype="0" conaffinity="0" group="2" />
<geom name="hand_r_distal_link_col_0" type="box" size="0.02 0.005 0.016" pos="0.02 -0.014 0.025" group="3" />
<geom name="hand_r_distal_link_col_1" type="box" size="0.02 0.0115 0.02" pos="0.02 -0.0015 0.02" group="3" />
<body name="hand_r_finger_tip_frame" pos="0.01675 -0.01865 0.04289" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
</body>
</body>
</body>
</body>
</body>
<body name="hand_camera_frame" pos="0.039 0.0 -0.0045">
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<body name="hand_camera_gazebo_frame" quat="0.5000000000000001 0.5 -0.5 0.4999999999999999">
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base_footprint" body2="base_link" />
<exclude body1="base_link" body2="base_roll_link" />
<exclude body1="base_roll_link" body2="base_r_drive_wheel_link" />
<exclude body1="base_roll_link" body2="base_l_drive_wheel_link" />
<exclude body1="base_roll_link" body2="base_r_passive_wheel_x_frame" />
<exclude body1="base_r_passive_wheel_x_frame" body2="base_r_passive_wheel_y_frame" />
<exclude body1="base_r_passive_wheel_y_frame" body2="base_r_passive_wheel_z_link" />
<exclude body1="base_roll_link" body2="base_l_passive_wheel_x_frame" />
<exclude body1="base_l_passive_wheel_x_frame" body2="base_l_passive_wheel_y_frame" />
<exclude body1="base_l_passive_wheel_y_frame" body2="base_l_passive_wheel_z_link" />
<exclude body1="base_link" body2="base_range_sensor_link" />
<exclude body1="base_link" body2="base_imu_frame" />
<exclude body1="base_link" body2="base_f_bumper_link" />
<exclude body1="base_link" body2="base_b_bumper_link" />
<exclude body1="base_link" body2="torso_lift_link" />
<exclude body1="torso_lift_link" body2="head_pan_link" />
<exclude body1="head_pan_link" body2="head_tilt_link" />
<exclude body1="head_tilt_link" body2="head_l_stereo_camera_link" />
<exclude body1="head_l_stereo_camera_link" body2="head_l_stereo_camera_gazebo_frame" />
<exclude body1="head_tilt_link" body2="head_r_stereo_camera_link" />
<exclude body1="head_r_stereo_camera_link" body2="head_r_stereo_camera_gazebo_frame" />
<exclude body1="head_tilt_link" body2="head_center_camera_frame" />
<exclude body1="head_center_camera_frame" body2="head_center_camera_gazebo_frame" />
<exclude body1="head_tilt_link" body2="head_rgbd_sensor_link" />
<exclude body1="head_rgbd_sensor_link" body2="head_rgbd_sensor_gazebo_frame" />
<exclude body1="base_link" body2="arm_lift_link" />
<exclude body1="arm_lift_link" body2="arm_flex_link" />
<exclude body1="arm_flex_link" body2="arm_roll_link" />
<exclude body1="arm_roll_link" body2="wrist_flex_link" />
<exclude body1="wrist_flex_link" body2="wrist_ft_sensor_mount_link" />
<exclude body1="wrist_ft_sensor_frame" body2="wrist_roll_link" />
<exclude body1="wrist_ft_sensor_mount_link" body2="wrist_ft_sensor_frame" />
<exclude body1="wrist_roll_link" body2="hand_palm_link" />
<exclude body1="hand_palm_link" body2="hand_motor_dummy_link" />
<exclude body1="hand_palm_link" body2="hand_l_proximal_link" />
<exclude body1="hand_l_proximal_link" body2="hand_l_spring_proximal_link" />
<exclude body1="hand_l_spring_proximal_link" body2="hand_l_mimic_distal_link" />
<exclude body1="hand_l_mimic_distal_link" body2="hand_l_distal_link" />
<exclude body1="hand_l_distal_link" body2="hand_l_finger_tip_frame" />
<exclude body1="hand_l_distal_link" body2="hand_l_finger_vacuum_frame" />
<exclude body1="hand_palm_link" body2="hand_r_proximal_link" />
<exclude body1="hand_r_proximal_link" body2="hand_r_spring_proximal_link" />
<exclude body1="hand_r_spring_proximal_link" body2="hand_r_mimic_distal_link" />
<exclude body1="hand_r_mimic_distal_link" body2="hand_r_distal_link" />
<exclude body1="hand_r_distal_link" body2="hand_r_finger_tip_frame" />
<exclude body1="hand_palm_link" body2="hand_camera_frame" />
<exclude body1="hand_camera_frame" body2="hand_camera_gazebo_frame" />
</contact>
</mujoco>
Import report
Counts
| Links | 48 |
|---|---|
| Joints | 47 |
| Moving joints | 29 |
| Visuals | 30 |
| Collisions | 25 |
| Materials | 5 |
Meshes
Formats: dae, stl.
Asset size: 6.1 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
dynamics | 1 | fixed joints carry no <dynamics>; URDF ignores it too |
gazebo | 63 | Gazebo simulator extensions are not part of the description |
mimic | 7 | joint coupling (mimic) is not representable yet; the joint imports as independent |
ros2_control | 1 | ros2_control hardware blocks are bound outside the description |
Forward-kinematics check
Forward kinematics of 48 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 · 4.2e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 29).
Source & licence
| Repository | https://github.com/hsr-project/hsrb_common |
|---|---|
| Commit | 5ad6946064b6031a2dd90be926e4d9b77f84d785 |
| Original file | hsrb_description/robots/hsrb4s.urdf.xacro |
| Licence | BSD-3-Clause-Clear · 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.