HyQ
IIT · licence Apache-2.0 · source: github.com/Gepetto/example-robot-data @ d0d9098d7
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 19d79ab5d3598bbd -->
<robot name="hyq">
<material name="white">
<color rgba="1.0 1.0 1.0 1.0" />
</material>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
<joint name="floating_base" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="trunk" />
</joint>
<link name="base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.01" radius="0.01" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="1e-06" />
<inertia ixx="1e-06" ixy="1e-06" ixz="1e-06" iyy="1e-06" iyz="1e-06" izz="1e-06" />
</inertial>
</link>
<link name="trunk">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/trunk/trunk.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/trunk/trunk.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.056 0.0215 0.00358" />
<mass value="60.96" />
<inertia ixx="1.5725937" ixy="0.028375" ixz="-0.203139" iyy="8.5015928" iyz="-0.004462" izz="9.1954911" />
</inertial>
</link>
<joint name="lf_haa_joint" type="revolute">
<origin xyz="0.3735 0.207 0.0" rpy="0.0 1.57079632679 3.14159265359" />
<parent link="trunk" />
<child link="lf_hipassembly" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="150.0" velocity="12.0" lower="-1.2217304764" upper="0.436332312999" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="lf_hfe_joint" type="revolute">
<origin xyz="0.08 0.0 0.0" rpy="1.57079632679 0.0 0.0" />
<parent link="lf_hipassembly" />
<child link="lf_upperleg" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="150.0" velocity="12.0" lower="-0.872664625997" upper="1.2217304764" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="lf_kfe_joint" type="revolute">
<origin xyz="0.35 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="lf_upperleg" />
<child link="lf_lowerleg" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="150.0" velocity="12.0" lower="-2.44346095279" upper="-0.349065850399" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="lf_foot_joint" type="fixed">
<origin xyz="0.346 0.0 0.0" rpy="1.57079632679 0.0 -1.57079632679" />
<parent link="lf_lowerleg" />
<child link="lf_foot" />
</joint>
<link name="lf_hipassembly">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.04263 0.0 0.16931" />
<mass value="2.93" />
<inertia ixx="0.05071" ixy="-4e-05" ixz="-0.00159" iyy="0.05486" iyz="-5e-05" izz="0.00571" />
</inertial>
</link>
<link name="lf_upperleg">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.15074 -0.02625 0.0" />
<mass value="2.638" />
<inertia ixx="0.00368" ixy="-0.00302" ixz="0.0001" iyy="0.02719" iyz="2e-05" izz="0.02811" />
</inertial>
</link>
<link name="lf_lowerleg">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/lowerleg.dae" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.173 0.0 0.0" rpy="0.0 -1.57079632679 0.0" />
<geometry>
<cylinder length="0.346" radius="0.02" />
</geometry>
</collision>
<inertial>
<origin xyz="0.1254 4e-05 -0.0001" />
<mass value="0.881" />
<inertia ixx="0.00047" ixy="6e-05" ixz="-1e-05" iyy="0.01256" iyz="-0.0" izz="0.01233" />
</inertial>
</link>
<link name="lf_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.02175" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.02175" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="1e-06" />
<inertia ixx="1e-06" ixy="1e-06" ixz="1e-06" iyy="1e-06" iyz="1e-06" izz="1e-06" />
</inertial>
</link>
<joint name="rf_haa_joint" type="revolute">
<origin xyz="0.3735 -0.207 0.0" rpy="0.0 1.57079632679 0.0" />
<parent link="trunk" />
<child link="rf_hipassembly" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="150.0" velocity="12.0" lower="-1.2217304764" upper="0.436332312999" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="rf_hfe_joint" type="revolute">
<origin xyz="0.08 0.0 0.0" rpy="-1.57079632679 0.0 0.0" />
<parent link="rf_hipassembly" />
<child link="rf_upperleg" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="150.0" velocity="12.0" lower="-0.872664625997" upper="1.2217304764" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="rf_kfe_joint" type="revolute">
<origin xyz="0.35 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="rf_upperleg" />
<child link="rf_lowerleg" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="150.0" velocity="12.0" lower="-2.44346095279" upper="-0.349065850399" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="rf_foot_joint" type="fixed">
<origin xyz="0.346 0.0 0.0" rpy="1.57079632679 0.0 -1.57079632679" />
<parent link="rf_lowerleg" />
<child link="rf_foot" />
</joint>
<link name="rf_hipassembly">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.04263 -0.0 -0.16931" />
<mass value="2.93" />
<inertia ixx="0.05071" ixy="4e-05" ixz="0.00159" iyy="0.05486" iyz="-5e-05" izz="0.00571" />
</inertial>
</link>
<link name="rf_upperleg">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.15074 -0.02625 0.0" />
<mass value="2.638" />
<inertia ixx="0.00368" ixy="-0.00302" ixz="0.0001" iyy="0.02719" iyz="2e-05" izz="0.02811" />
</inertial>
</link>
<link name="rf_lowerleg">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/lowerleg.dae" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.173 0.0 0.0" rpy="0.0 -1.57079632679 0.0" />
<geometry>
<cylinder length="0.346" radius="0.02" />
</geometry>
</collision>
<inertial>
<origin xyz="0.1254 4e-05 -0.0001" />
<mass value="0.881" />
<inertia ixx="0.00047" ixy="6e-05" ixz="-1e-05" iyy="0.01256" iyz="-0.0" izz="0.01233" />
</inertial>
</link>
<link name="rf_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.02175" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.02175" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="1e-06" />
<inertia ixx="1e-06" ixy="1e-06" ixz="1e-06" iyy="1e-06" iyz="1e-06" izz="1e-06" />
</inertial>
</link>
<joint name="lh_haa_joint" type="revolute">
<origin xyz="-0.3735 0.207 0.0" rpy="0.0 1.57079632679 3.14159265359" />
<parent link="trunk" />
<child link="lh_hipassembly" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="150.0" velocity="12.0" lower="-1.2217304764" upper="0.436332312999" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="lh_hfe_joint" type="revolute">
<origin xyz="0.08 0.0 0.0" rpy="1.57079632679 0.0 0.0" />
<parent link="lh_hipassembly" />
<child link="lh_upperleg" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="150.0" velocity="12.0" lower="-1.2217304764" upper="0.872664625997" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="lh_kfe_joint" type="revolute">
<origin xyz="0.35 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="lh_upperleg" />
<child link="lh_lowerleg" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="150.0" velocity="12.0" lower="0.349065850399" upper="2.44346095279" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="lh_foot_joint" type="fixed">
<origin xyz="0.346 0.0 0.0" rpy="1.57079632679 0.0 -1.57079632679" />
<parent link="lh_lowerleg" />
<child link="lh_foot" />
</joint>
<link name="lh_hipassembly">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.04263 -0.0 -0.16931" />
<mass value="2.93" />
<inertia ixx="0.05071" ixy="4e-05" ixz="0.00159" iyy="0.05486" iyz="-5e-05" izz="0.00571" />
</inertial>
</link>
<link name="lh_upperleg">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.15074 0.02625 0.0" />
<mass value="2.638" />
<inertia ixx="0.00368" ixy="0.00302" ixz="-0.0001" iyy="0.02719" iyz="2e-05" izz="0.02811" />
</inertial>
</link>
<link name="lh_lowerleg">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/lowerleg.dae" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.173 0.0 0.0" rpy="0.0 -1.57079632679 0.0" />
<geometry>
<cylinder length="0.346" radius="0.02" />
</geometry>
</collision>
<inertial>
<origin xyz="0.1254 -4e-05 0.0001" />
<mass value="0.881" />
<inertia ixx="0.00047" ixy="-6e-05" ixz="1e-05" iyy="0.01256" iyz="-0.0" izz="0.01233" />
</inertial>
</link>
<link name="lh_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.02175" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.02175" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="1e-06" />
<inertia ixx="1e-06" ixy="1e-06" ixz="1e-06" iyy="1e-06" iyz="1e-06" izz="1e-06" />
</inertial>
</link>
<joint name="rh_haa_joint" type="revolute">
<origin xyz="-0.3735 -0.207 0.0" rpy="0.0 1.57079632679 0.0" />
<parent link="trunk" />
<child link="rh_hipassembly" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="150.0" velocity="12.0" lower="-1.2217304764" upper="0.436332312999" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="rh_hfe_joint" type="revolute">
<origin xyz="0.08 0.0 0.0" rpy="-1.57079632679 0.0 0.0" />
<parent link="rh_hipassembly" />
<child link="rh_upperleg" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="150.0" velocity="12.0" lower="-1.2217304764" upper="0.872664625997" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="rh_kfe_joint" type="revolute">
<origin xyz="0.35 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="rh_upperleg" />
<child link="rh_lowerleg" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="150.0" velocity="12.0" lower="0.349065850399" upper="2.44346095279" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="rh_foot_joint" type="fixed">
<origin xyz="0.346 0.0 0.0" rpy="1.57079632679 0.0 -1.57079632679" />
<parent link="rh_lowerleg" />
<child link="rh_foot" />
</joint>
<link name="rh_hipassembly">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.04263 0.0 0.16931" />
<mass value="2.93" />
<inertia ixx="0.05071" ixy="-4e-05" ixz="-0.00159" iyy="0.05486" iyz="-5e-05" izz="0.00571" />
</inertial>
</link>
<link name="rh_upperleg">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.15074 0.02625 0.0" />
<mass value="2.638" />
<inertia ixx="0.00368" ixy="0.00302" ixz="-0.0001" iyy="0.02719" iyz="2e-05" izz="0.02811" />
</inertial>
</link>
<link name="rh_lowerleg">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/lowerleg.dae" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.173 0.0 0.0" rpy="0.0 -1.57079632679 0.0" />
<geometry>
<cylinder length="0.346" radius="0.02" />
</geometry>
</collision>
<inertial>
<origin xyz="0.1254 -4e-05 0.0001" />
<mass value="0.881" />
<inertia ixx="0.00047" ixy="-6e-05" ixz="1e-05" iyy="0.01256" iyz="-0.0" izz="0.01233" />
</inertial>
</link>
<link name="rh_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.02175" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.02175" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="1e-06" />
<inertia ixx="1e-06" ixy="1e-06" ixz="1e-06" iyy="1e-06" iyz="1e-06" izz="1e-06" />
</inertial>
</link>
<joint name="trunk_imu_joint" type="fixed">
<origin xyz="0.29 0.0 0.0999214" rpy="0.0 -3.14159265359 0.0" />
<parent link="trunk" />
<child link="trunk_imu" />
</joint>
<link name="trunk_imu">
<visual>
<origin xyz="0.00485 0.0 -0.00105" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0329 0.0244 0.0111" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="-0.0002 0.0001 0.0011" />
<mass value="0.018" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 19d79ab5d3598bbd -->
<mujoco model="hyq">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="white" rgba="1.0 1.0 1.0 1.0" />
<material name="black" rgba="0.0 0.0 0.0 1.0" />
<mesh name="trunk" file="example-robot-data/robots/hyq_description/meshes/trunk/trunk.dae" />
<mesh name="hipassembly" file="example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" />
<mesh name="upperleg" file="example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" />
<mesh name="lowerleg" file="example-robot-data/robots/hyq_description/meshes/leg/lowerleg.dae" />
</asset>
<worldbody>
<body name="base_link">
<inertial pos="0.0 0.0 0.0" mass="1e-06" fullinertia="1e-06 1e-06 1e-06 1e-06 1e-06 1e-06" />
<geom name="base_link_vis_0" type="cylinder" size="0.01 0.005" contype="0" conaffinity="0" group="2" />
<body name="trunk">
<inertial pos="0.056 0.0215 0.00358" mass="60.96" fullinertia="1.5725937 8.5015928 9.1954911 0.028375 -0.203139 -0.004462" />
<geom name="trunk_vis_0" type="mesh" mesh="trunk" contype="0" conaffinity="0" group="2" />
<geom name="trunk_col_0" type="mesh" mesh="trunk" group="3" />
<body name="lf_hipassembly" pos="0.3735 0.207 0.0" quat="-7.312301077203117e-14 -0.7071067811848163 -7.312301077167311e-14 0.7071067811882787">
<joint name="lf_haa_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.2217304764 0.436332312999" damping="0.1" />
<inertial pos="0.04263 0.0 0.16931" mass="2.93" fullinertia="0.05071 0.05486 0.00571 -4e-05 -0.00159 -5e-05" />
<geom name="lf_hipassembly_vis_0" type="mesh" mesh="hipassembly" contype="0" conaffinity="0" group="2" />
<geom name="lf_hipassembly_col_0" type="mesh" mesh="hipassembly" group="3" />
<body name="lf_upperleg" pos="0.08 0.0 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0">
<joint name="lf_hfe_joint" type="hinge" axis="0.0 0.0 1.0" range="-0.872664625997 1.2217304764" damping="0.1" />
<inertial pos="0.15074 -0.02625 0.0" mass="2.638" fullinertia="0.00368 0.02719 0.02811 -0.00302 0.0001 2e-05" />
<geom name="lf_upperleg_vis_0" type="mesh" mesh="upperleg" contype="0" conaffinity="0" group="2" />
<geom name="lf_upperleg_col_0" type="mesh" mesh="upperleg" group="3" />
<body name="lf_lowerleg" pos="0.35 0.0 0.0">
<joint name="lf_kfe_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.44346095279 -0.349065850399" damping="0.1" />
<inertial pos="0.1254 4e-05 -0.0001" mass="0.881" fullinertia="0.00047 0.01256 0.01233 6e-05 -1e-05 -0.0" />
<geom name="lf_lowerleg_vis_0" type="mesh" mesh="lowerleg" contype="0" conaffinity="0" group="2" material="white" />
<geom name="lf_lowerleg_col_0" type="cylinder" size="0.02 0.173" pos="0.173 0.0 0.0" quat="0.7071067811882787 0.0 -0.7071067811848163 0.0" group="3" />
<body name="lf_foot" pos="0.346 0.0 0.0" quat="0.5000000000024483 0.5 -0.4999999999975517 -0.5">
<inertial pos="0.0 0.0 0.0" mass="1e-06" fullinertia="1e-06 1e-06 1e-06 1e-06 1e-06 1e-06" />
<geom name="lf_foot_vis_0" type="sphere" size="0.02175" contype="0" conaffinity="0" group="2" material="black" />
<geom name="lf_foot_col_0" type="sphere" size="0.02175" group="3" />
</body>
</body>
</body>
</body>
<body name="rf_hipassembly" pos="0.3735 -0.207 0.0" quat="0.7071067811882787 0.0 0.7071067811848163 0.0">
<joint name="rf_haa_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.2217304764 0.436332312999" damping="0.1" />
<inertial pos="0.04263 -0.0 -0.16931" mass="2.93" fullinertia="0.05071 0.05486 0.00571 4e-05 0.00159 -5e-05" />
<geom name="rf_hipassembly_vis_0" type="mesh" mesh="hipassembly" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" contype="0" conaffinity="0" group="2" />
<geom name="rf_hipassembly_col_0" type="mesh" mesh="hipassembly" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" group="3" />
<body name="rf_upperleg" pos="0.08 0.0 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
<joint name="rf_hfe_joint" type="hinge" axis="0.0 0.0 1.0" range="-0.872664625997 1.2217304764" damping="0.1" />
<inertial pos="0.15074 -0.02625 0.0" mass="2.638" fullinertia="0.00368 0.02719 0.02811 -0.00302 0.0001 2e-05" />
<geom name="rf_upperleg_vis_0" type="mesh" mesh="upperleg" contype="0" conaffinity="0" group="2" />
<geom name="rf_upperleg_col_0" type="mesh" mesh="upperleg" group="3" />
<body name="rf_lowerleg" pos="0.35 0.0 0.0">
<joint name="rf_kfe_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.44346095279 -0.349065850399" damping="0.1" />
<inertial pos="0.1254 4e-05 -0.0001" mass="0.881" fullinertia="0.00047 0.01256 0.01233 6e-05 -1e-05 -0.0" />
<geom name="rf_lowerleg_vis_0" type="mesh" mesh="lowerleg" contype="0" conaffinity="0" group="2" material="white" />
<geom name="rf_lowerleg_col_0" type="cylinder" size="0.02 0.173" pos="0.173 0.0 0.0" quat="0.7071067811882787 0.0 -0.7071067811848163 0.0" group="3" />
<body name="rf_foot" pos="0.346 0.0 0.0" quat="0.5000000000024483 0.5 -0.4999999999975517 -0.5">
<inertial pos="0.0 0.0 0.0" mass="1e-06" fullinertia="1e-06 1e-06 1e-06 1e-06 1e-06 1e-06" />
<geom name="rf_foot_vis_0" type="sphere" size="0.02175" contype="0" conaffinity="0" group="2" material="black" />
<geom name="rf_foot_col_0" type="sphere" size="0.02175" group="3" />
</body>
</body>
</body>
</body>
<body name="lh_hipassembly" pos="-0.3735 0.207 0.0" quat="-7.312301077203117e-14 -0.7071067811848163 -7.312301077167311e-14 0.7071067811882787">
<joint name="lh_haa_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.2217304764 0.436332312999" damping="0.1" />
<inertial pos="0.04263 -0.0 -0.16931" mass="2.93" fullinertia="0.05071 0.05486 0.00571 4e-05 0.00159 -5e-05" />
<geom name="lh_hipassembly_vis_0" type="mesh" mesh="hipassembly" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" contype="0" conaffinity="0" group="2" />
<geom name="lh_hipassembly_col_0" type="mesh" mesh="hipassembly" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" group="3" />
<body name="lh_upperleg" pos="0.08 0.0 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0">
<joint name="lh_hfe_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.2217304764 0.872664625997" damping="0.1" />
<inertial pos="0.15074 0.02625 0.0" mass="2.638" fullinertia="0.00368 0.02719 0.02811 0.00302 -0.0001 2e-05" />
<geom name="lh_upperleg_vis_0" type="mesh" mesh="upperleg" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" contype="0" conaffinity="0" group="2" />
<geom name="lh_upperleg_col_0" type="mesh" mesh="upperleg" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" group="3" />
<body name="lh_lowerleg" pos="0.35 0.0 0.0">
<joint name="lh_kfe_joint" type="hinge" axis="0.0 0.0 1.0" range="0.349065850399 2.44346095279" damping="0.1" />
<inertial pos="0.1254 -4e-05 0.0001" mass="0.881" fullinertia="0.00047 0.01256 0.01233 -6e-05 1e-05 -0.0" />
<geom name="lh_lowerleg_vis_0" type="mesh" mesh="lowerleg" contype="0" conaffinity="0" group="2" material="white" />
<geom name="lh_lowerleg_col_0" type="cylinder" size="0.02 0.173" pos="0.173 0.0 0.0" quat="0.7071067811882787 0.0 -0.7071067811848163 0.0" group="3" />
<body name="lh_foot" pos="0.346 0.0 0.0" quat="0.5000000000024483 0.5 -0.4999999999975517 -0.5">
<inertial pos="0.0 0.0 0.0" mass="1e-06" fullinertia="1e-06 1e-06 1e-06 1e-06 1e-06 1e-06" />
<geom name="lh_foot_vis_0" type="sphere" size="0.02175" contype="0" conaffinity="0" group="2" material="black" />
<geom name="lh_foot_col_0" type="sphere" size="0.02175" group="3" />
</body>
</body>
</body>
</body>
<body name="rh_hipassembly" pos="-0.3735 -0.207 0.0" quat="0.7071067811882787 0.0 0.7071067811848163 0.0">
<joint name="rh_haa_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.2217304764 0.436332312999" damping="0.1" />
<inertial pos="0.04263 0.0 0.16931" mass="2.93" fullinertia="0.05071 0.05486 0.00571 -4e-05 -0.00159 -5e-05" />
<geom name="rh_hipassembly_vis_0" type="mesh" mesh="hipassembly" contype="0" conaffinity="0" group="2" />
<geom name="rh_hipassembly_col_0" type="mesh" mesh="hipassembly" group="3" />
<body name="rh_upperleg" pos="0.08 0.0 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
<joint name="rh_hfe_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.2217304764 0.872664625997" damping="0.1" />
<inertial pos="0.15074 0.02625 0.0" mass="2.638" fullinertia="0.00368 0.02719 0.02811 0.00302 -0.0001 2e-05" />
<geom name="rh_upperleg_vis_0" type="mesh" mesh="upperleg" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" contype="0" conaffinity="0" group="2" />
<geom name="rh_upperleg_col_0" type="mesh" mesh="upperleg" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" group="3" />
<body name="rh_lowerleg" pos="0.35 0.0 0.0">
<joint name="rh_kfe_joint" type="hinge" axis="0.0 0.0 1.0" range="0.349065850399 2.44346095279" damping="0.1" />
<inertial pos="0.1254 -4e-05 0.0001" mass="0.881" fullinertia="0.00047 0.01256 0.01233 -6e-05 1e-05 -0.0" />
<geom name="rh_lowerleg_vis_0" type="mesh" mesh="lowerleg" contype="0" conaffinity="0" group="2" material="white" />
<geom name="rh_lowerleg_col_0" type="cylinder" size="0.02 0.173" pos="0.173 0.0 0.0" quat="0.7071067811882787 0.0 -0.7071067811848163 0.0" group="3" />
<body name="rh_foot" pos="0.346 0.0 0.0" quat="0.5000000000024483 0.5 -0.4999999999975517 -0.5">
<inertial pos="0.0 0.0 0.0" mass="1e-06" fullinertia="1e-06 1e-06 1e-06 1e-06 1e-06 1e-06" />
<geom name="rh_foot_vis_0" type="sphere" size="0.02175" contype="0" conaffinity="0" group="2" material="black" />
<geom name="rh_foot_col_0" type="sphere" size="0.02175" group="3" />
</body>
</body>
</body>
</body>
<body name="trunk_imu" pos="0.29 0.0 0.0999214" quat="-1.0341155355510722e-13 0.0 -1.0 0.0">
<inertial pos="-0.0002 0.0001 0.0011" mass="0.018" diaginertia="0 0 0" />
<geom name="trunk_imu_vis_0" type="box" size="0.01645 0.0122 0.00555" pos="0.00485 0.0 -0.00105" contype="0" conaffinity="0" group="2" material="black" />
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base_link" body2="trunk" />
<exclude body1="trunk" body2="lf_hipassembly" />
<exclude body1="lf_hipassembly" body2="lf_upperleg" />
<exclude body1="lf_upperleg" body2="lf_lowerleg" />
<exclude body1="lf_lowerleg" body2="lf_foot" />
<exclude body1="trunk" body2="rf_hipassembly" />
<exclude body1="rf_hipassembly" body2="rf_upperleg" />
<exclude body1="rf_upperleg" body2="rf_lowerleg" />
<exclude body1="rf_lowerleg" body2="rf_foot" />
<exclude body1="trunk" body2="lh_hipassembly" />
<exclude body1="lh_hipassembly" body2="lh_upperleg" />
<exclude body1="lh_upperleg" body2="lh_lowerleg" />
<exclude body1="lh_lowerleg" body2="lh_foot" />
<exclude body1="trunk" body2="rh_hipassembly" />
<exclude body1="rh_hipassembly" body2="rh_upperleg" />
<exclude body1="rh_upperleg" body2="rh_lowerleg" />
<exclude body1="rh_lowerleg" body2="rh_foot" />
<exclude body1="trunk" body2="trunk_imu" />
</contact>
</mujoco>
Import report
Counts
| Links | 19 |
|---|---|
| Joints | 18 |
| Moving joints | 12 |
| Visuals | 19 |
| Collisions | 17 |
| Materials | 2 |
Meshes
Formats: dae.
Asset size: 0.5 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
contact | 4 | <contact> is not part of the URDF subset RobotDescription mirrors |
gazebo | 28 | Gazebo simulator extensions are not part of the description |
material | 1 | same name as an earlier material with a different colour; the earlier colour is used |
safety_controller | 12 | soft limits (safety_controller) are not representable yet |
transmission | 12 | ROS transmissions (actuator-to-joint wiring) have no RobotDescription field yet |
Forward-kinematics check
Forward kinematics of 19 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 · 3.0e-16 rad.
MuJoCo
robot.xml did not compile in MuJoCo: Error: error 'inertia must have positive eigenvalues' in fullinertia
Source & licence
| Repository | https://github.com/Gepetto/example-robot-data |
|---|---|
| Commit | d0d9098d752014aec3725b07766962acf06c5418 |
| Original file | robots/hyq_description/robots/hyq_no_sensors.urdf |
| Licence | Apache-2.0 · the upstream LICENSE file |
| Files | robot.urdf · robot.xml |
Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.