iCub
IIT · licence CC-BY-SA-4.0 · source: github.com/robotology/icub-models @ v1.25.0
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 4151874d706815e1 -->
<robot name="iCub">
<material name="root_link_color">
<color rgba="0.9 0.9 0.9 1.0" />
</material>
<link name="root_link">
<visual>
<origin xyz="-0.036399999999999995 0.0 0.032" rpy="1.5707963267948961 0.0 -1.5707963267948961" />
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_root_link_prt-binary.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="root_link_color" />
</visual>
<collision>
<origin xyz="-0.036399999999999995 0.0 0.032" rpy="1.5707963267948961 0.0 -1.5707963267948961" />
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_root_link_prt-binary.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.02488209999999999 0.00010394699999999017 -0.04408060000000001" rpy="1.5707963267948961 0.0 -1.5707963267948961" />
<mass value="5.09143" />
<inertia ixx="0.0139679" ixy="-5.93488e-06" ixz="-1.55458e-05" iyy="0.0202112" iyz="-0.00170968" izz="0.0249124" />
</inertial>
</link>
<material name="r_hip_1_color">
<color rgba="0.9 0.9 0.9 1.0" />
</material>
<link name="r_hip_1">
<visual>
<origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0.0 1.5707963267948961" />
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="r_hip_1_color" />
</visual>
<collision>
<origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0.0 1.5707963267948961" />
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0.0 1.5707963267948961" />
<mass value="0.919978" />
<inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025" />
</inertial>
</link>
<joint name="r_hip_pitch" type="revolute">
<origin xyz="0.006451499999999992 0.025999999999999968 -0.11991299999999999" rpy="0.0 0.0 -3.141592653589793" />
<parent link="root_link" />
<child link="r_hip_1" />
<axis xyz="-2.220446049250313e-16 -0.9999999999999998 0.0" />
<limit effort="55.5" velocity="5.1" lower="-0.7853981633974483" upper="2.3387411976724017" />
<dynamics damping="1.0" friction="0.0" />
</joint>
<material name="r_hip_2_color">
<color rgba="0.9 0.9 0.9 1.0" />
</material>
<link name="r_hip_2">
<visual>
<origin xyz="0.04285149980937101 0.07010000000000424 0.15191299999996632" rpy="1.5707963267948961 0.0 1.5707963267948961" />
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_2_prt-binary.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="r_hip_2_color" />
</visual>
<collision>
<origin xyz="0.04285149980937101 0.07010000000000424 0.15191299999996632" rpy="1.5707963267948961 0.0 1.5707963267948961" />
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_2_prt-binary.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0009315000000000018 8.09999999998312e-06 -0.04480899999999996" rpy="1.5707963267948961 0.0 1.5707963267948961" />
<mass value="0.413242" />
<inertia ixx="0.00046914" ixy="-4.76597e-08" ixz="7.12496e-08" iyy="0.000277108" iyz="3.3401e-06" izz="0.000303891" />
</inertial>
</link>
<joint name="r_hip_roll" type="revolute">
<origin xyz="0.0 -0.04409999999999998 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_hip_1" />
<child link="r_hip_2" />
<axis xyz="-0.9999999999999998 0.0 -2.220446049250313e-16" />
<limit effort="37.0" velocity="7.64" lower="-0.3490658503988659" upper="2.0943951023931953" />
<dynamics damping="1.0" friction="0.0" />
</joint>
<material name="r_hip_3_color">
<color rgba="0.635 0.137 0.114 1.0" />
</material>
<link name="r_hip_3">
<visual>
<origin xyz="0.0437090152 -0.07009999189999992 -0.22621299999996644" rpy="-1.5707963267948961 0.0 -1.5707963267948961" />
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="r_hip_3_color" />
</visual>
<collision>
<origin xyz="0.0437090152 -0.07009999189999992 -0.22621299999996644" rpy="-1.5707963267948961 0.0 -1.5707963267948961" />
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00012300000000000505 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0.0 -1.5707963267948961" />
<mass value="0.126212" />
<inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01" />
</inertial>
</link>
<joint name="r_leg_ft_sensor" type="fixed">
<origin xyz="-0.0009362999999999941 1.3899999999969492e-05 -0.07429999999999995" rpy="3.141592653589793 0.0 0.0" />
<parent link="r_hip_2" />
<child link="r_hip_3" />
</joint>
<material name="r_upper_leg_color">
<color rgba="0.635 0.137 0.114 1.0" />
</material>
<link name="r_upper_leg">
<visual>
<origin xyz="0.0437090152 0.07009999190000003 0.24081299999999994" rpy="1.5707963267948961 0.0 1.5707963267948961" />
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_thigh_prt-binary.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="r_upper_leg_color" />
</visual>
<collision>
<origin xyz="0.0437090152 0.07009999190000003 0.24081299999999994" rpy="1.5707963267948961 0.0 1.5707963267948961" />
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_thigh_prt-binary.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0033999999999999933 -2.9100000000018e-05 -0.078954" rpy="1.5707963267948961 0.0 1.5707963267948961" />
<mass value="1.8035" />
<inertia ixx="0.006477514229987116" ixy="0.0001295794295884975" ixz="5.482050947393938e-06" iyy="0.0014593786411035647" iyz="-0.0001366130868747447" izz="0.006467208238130081" />
</inertial>
</link>
<joint name="r_hip_yaw" type="revolute">
<origin xyz="0.0 0.0 0.014399999999999996" rpy="-3.141592653589793 0.0 0.0" />
<parent link="r_hip_3" />
<child link="r_upper_leg" />
<axis xyz="0.0 -2.220446049250313e-16 -0.9999999999999998" />
<limit effort="37.0" velocity="7.64" lower="-1.3962634015954636" upper="1.3962634015954636" />
<dynamics damping="1.0" friction="0.0" />
</joint>
<link name="r_upper_leg_back_contact" />
<joint name="r_upper_leg_back_contact_fixed_joint" type="fixed">
<origin xyz="-0.051199800000000004 0.0 0.014599999999999946" rpy="0.0 1.5707963267948963 0.0" />
<parent link="r_upper_leg" />
<child link="r_upper_leg_back_contact" />
</joint>
<link name="r_upper_leg_dh_frame" />
<joint name="r_upper_leg_dh_frame_fixed_joint" type="fixed">
<origin xyz="0.0 0.0 -0.14582499999999995" rpy="1.5707963267948966 0.0 0.0" />
<parent link="r_upper_leg" />
<child link="r_upper_leg_dh_frame" />
</joint>
<material name="r_lower_leg_color">
<color rgba="0.635 0.137 0.114 1.0" />
</material>
<link name="r_lower_leg">
<visual>
<origin xyz="0.0437090152 0.07009999200000007 0.38663799999999987" rpy="1.5707963267948961 0.0 1.5707963267948961" />
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shank_prt-binary.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="r_lower_leg_color" />
</visual>
<collision>
<origin xyz="0.0437090152 0.07009999200000007 0.38663799999999987" rpy="1.5707963267948961 0.0 1.5707963267948961" />
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shank_prt-binary.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0012363999999999917 -0.003513100000000033 -0.08879400000000004" rpy="1.5707963267948961 0.0 1.5707963267948961" />
<mass value="1.472" />
<inertia ixx="0.00423993167477533" ixy="0.00022881454885381036" ixz="-5.556464594531433e-05" iyy="0.0015209504344685463" iyz="-0.0002641329792432387" izz="0.004573585842061655" />
</inertial>
</link>
<joint name="r_knee" type="revolute">
<origin xyz="0.0 0.0 -0.14582499999999995" rpy="0.0 0.0 0.0" />
<parent link="r_upper_leg" />
<child link="r_lower_leg" />
<axis xyz="-2.220446049250313e-16 -0.9999999999999998 0.0" />
<limit effort="37.0" velocity="7.64" lower="-2.1642082724729685" upper="0.06981317007977318" />
<dynamics damping="1.0" friction="0.0" />
</joint>
<link name="r_lower_leg_skin_0" />
<joint name="r_lower_leg_skin_0_fixed_joint" type="fixed">
<origin xyz="0.05441169999999998 -0.03121489999999999 -0.002634000000000025" rpy="2.0917380908554746e-06 -1.4153067624694633 2.48648458622082" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_0" />
</joint>
<link name="r_lower_leg_skin_3" />
<joint name="r_lower_leg_skin_3_fixed_joint" type="fixed">
<origin xyz="0.05157878999999999 0.030420499999999996 -0.0028429999999999844" rpy="0.0 -1.4295105408285231 -2.3039148418553874" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_3" />
</joint>
<link name="r_lower_leg_skin_4" />
<joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
<origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_4" />
</joint>
<link name="r_lower_leg_skin_5" />
<joint name="r_lower_leg_skin_5_fixed_joint" type="fixed">
<origin xyz="0.06365039999999998 0.00030939999999998746 -0.0019720000000000293" rpy="0.0 -1.3865221506831833 -3.1414716980716264" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_5" />
</joint>
<link name="r_lower_leg_skin_6" />
<joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
<origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_6" />
</joint>
<link name="r_lower_leg_skin_9" />
<joint name="r_lower_leg_skin_9_fixed_joint" type="fixed">
<origin xyz="0.05982139999999998 0.01679719999999999 -0.03096199999999999" rpy="-3.1415920235620423 -1.3422475532506952 0.37929447771782354" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_9" />
</joint>
<link name="r_lower_leg_skin_10" />
<joint name="r_lower_leg_skin_10_fixed_joint" type="fixed">
<origin xyz="0.06446069999999998 0.00034239999999997883 -0.021204999999999974" rpy="3.141592653553929 -1.4709580354104241 0.00043002167526072775" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_10" />
</joint>
<link name="r_lower_leg_skin_11" />
<joint name="r_lower_leg_skin_11_fixed_joint" type="fixed">
<origin xyz="0.060710799999999975 -0.016091600000000025 -0.030884999999999996" rpy="-3.1415921825227295 -1.32811804060386 -0.27213836787954737" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_11" />
</joint>
<link name="r_lower_leg_skin_14" />
<joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
<origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_14" />
</joint>
<link name="r_lower_leg_skin_15" />
<joint name="r_lower_leg_skin_15_fixed_joint" type="fixed">
<origin xyz="0.05917079999999998 -0.016178800000000007 0.0072429999999999994" rpy="4.274842569949443e-07 -1.2520363307607896 2.8679885947088186" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_15" />
</joint>
<link name="r_lower_leg_skin_16" />
<joint name="r_lower_leg_skin_16_fixed_joint" type="fixed">
<origin xyz="0.027287599999999978 -0.050286899999999995 -0.004549000000000025" rpy="1.3307591512293707e-05 -1.5326085351498482 1.9628024283508803" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_16" />
</joint>
<link name="r_lower_leg_skin_17" />
<joint name="r_lower_leg_skin_17_fixed_joint" type="fixed">
<origin xyz="0.027874999999999976 -0.05031190000000001 -0.023882000000000014" rpy="-3.141564526201752 -1.563662402374811 -1.1802250875588731" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_17" />
</joint>
<link name="r_lower_leg_skin_19" />
<joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
<origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_19" />
</joint>
<link name="r_lower_leg_skin_20" />
<joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
<origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_20" />
</joint>
<link name="r_lower_leg_skin_21" />
<joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
<origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_21" />
</joint>
<link name="r_lower_leg_skin_28" />
<joint name="r_lower_leg_skin_28_fixed_joint" type="fixed">
<origin xyz="0.04087215999999998 -0.0424399 -0.03275600000000001" rpy="3.1415808886539165 -1.5225246216918655 -0.9296810297631274" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_28" />
</joint>
<link name="r_lower_leg_skin_29" />
<joint name="r_lower_leg_skin_29_fixed_joint" type="fixed">
<origin xyz="0.03846637999999998 -0.04351590000000001 -0.05242000000000002" rpy="3.1415801704422774 -1.5342984156258153 -0.9154363466305139" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_29" />
</joint>
<link name="r_lower_leg_skin_31" />
<joint name="r_lower_leg_skin_31_fixed_joint" type="fixed">
<origin xyz="0.03914639999999998 -0.042270899999999986 0.006327000000000027" rpy="-6.583817471389409e-07 -1.4186494462021593 2.2085303298592955" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_31" />
</joint>
<link name="r_lower_leg_skin_32" />
<joint name="r_lower_leg_skin_32_fixed_joint" type="fixed">
<origin xyz="0.045983029999999994 0.03258469999999997 -0.080733" rpy="-3.141590149878832 -1.5223828979770995 0.6459403808870791" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_32" />
</joint>
<link name="r_lower_leg_skin_35" />
<joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
<origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_35" />
</joint>
<link name="r_lower_leg_skin_36" />
<joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
<origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_36" />
</joint>
<link name="r_lower_leg_skin_37" />
<joint name="r_lower_leg_skin_37_fixed_joint" type="fixed">
<origin xyz="0.055257199999999985 0.0009643999999999764 -0.078318" rpy="-3.1415818045233417 -1.5231833689799856 0.007524505830633038" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_37" />
</joint>
<link name="r_lower_leg_skin_38" />
<joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
<origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_38" />
</joint>
<link name="r_lower_leg_skin_41" />
<joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
<origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_41" />
</joint>
<link name="r_lower_leg_skin_42" />
<joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
<origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_42" />
</joint>
<link name="r_lower_leg_skin_43" />
<joint name="r_lower_leg_skin_43_fixed_joint" type="fixed">
<origin xyz="0.04712543999999999 0.03236529999999998 -0.06136200000000003" rpy="-3.1415913662061943 -1.5384303823718677 0.6242175236666732" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_43" />
</joint>
<link name="r_lower_leg_skin_46" />
<joint name="r_lower_leg_skin_46_fixed_joint" type="fixed">
<origin xyz="0.05581569999999999 0.01721639999999998 -0.05018" rpy="-3.141589878093782 -1.4275988160283246 0.3256077108756132" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_46" />
</joint>
<link name="r_lower_leg_skin_47" />
<joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
<origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_47" />
</joint>
<link name="r_lower_leg_skin_49" />
<joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
<origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964" />
<parent link="r_lower_leg" />
<child link="r_lower_leg_skin_49" />
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<link name="r_lower_leg_skin_50" />
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<link name="neck_2">
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<link name="head">
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<material name="r_shoulder_3_color">
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<link name="r_shoulder_3">
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<parent link="r_forearm" />
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<parent link="r_forearm" />
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<parent link="r_forearm" />
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<joint name="r_forearm_skin_19_fixed_joint" type="fixed">
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<joint name="r_forearm_skin_22_fixed_joint" type="fixed">
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<parent link="r_forearm" />
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<link name="l_upper_arm">
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<link name="l_elbow_1">
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<parent link="l_forearm" />
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<link name="l_forearm_skin_12" />
<joint name="l_forearm_skin_12_fixed_joint" type="fixed">
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<parent link="l_forearm" />
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<parent link="l_forearm" />
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<link name="l_forearm_skin_14" />
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<parent link="l_forearm" />
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<joint name="l_forearm_skin_15_fixed_joint" type="fixed">
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<parent link="l_foot" />
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</joint>
<link name="l_sole_skin_0" />
<joint name="l_sole_skin_0_fixed_joint" type="fixed">
<origin xyz="0.09320879999999998 0.032367999999999994 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_0" />
</joint>
<link name="l_sole_skin_1" />
<joint name="l_sole_skin_1_fixed_joint" type="fixed">
<origin xyz="0.07885119999999998 0.019439899999999996 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_1" />
</joint>
<link name="l_sole_skin_2" />
<joint name="l_sole_skin_2_fixed_joint" type="fixed">
<origin xyz="0.06047679999999998 0.02541059999999999 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_2" />
</joint>
<link name="l_sole_skin_3" />
<joint name="l_sole_skin_3_fixed_joint" type="fixed">
<origin xyz="0.04611922999999998 0.012482499999999994 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_3" />
</joint>
<link name="l_sole_skin_4" />
<joint name="l_sole_skin_4_fixed_joint" type="fixed">
<origin xyz="0.05013608999999999 -0.006414799999999998 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_4" />
</joint>
<link name="l_sole_skin_8" />
<joint name="l_sole_skin_8_fixed_joint" type="fixed">
<origin xyz="0.07252739999999999 -0.031282799999999986 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_8" />
</joint>
<link name="l_sole_skin_9" />
<joint name="l_sole_skin_9_fixed_joint" type="fixed">
<origin xyz="0.09090179999999999 -0.03725379999999999 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_9" />
</joint>
<link name="l_sole_skin_10" />
<joint name="l_sole_skin_10_fixed_joint" type="fixed">
<origin xyz="0.10525929999999997 -0.024325399999999983 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_10" />
</joint>
<link name="l_sole_skin_11" />
<joint name="l_sole_skin_11_fixed_joint" type="fixed">
<origin xyz="0.10124249999999999 -0.005428100000000005 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_11" />
</joint>
<link name="l_sole_skin_12" />
<joint name="l_sole_skin_12_fixed_joint" type="fixed">
<origin xyz="0.08286809999999997 0.0005426000000000042 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_12" />
</joint>
<link name="l_sole_skin_13" />
<joint name="l_sole_skin_13_fixed_joint" type="fixed">
<origin xyz="0.06851049999999999 -0.012385499999999994 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_13" />
</joint>
<link name="l_sole_skin_14" />
<joint name="l_sole_skin_14_fixed_joint" type="fixed">
<origin xyz="0.11559999999999998 0.007499500000000006 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_14" />
</joint>
<link name="l_sole_skin_15" />
<joint name="l_sole_skin_15_fixed_joint" type="fixed">
<origin xyz="0.11158319999999997 0.02639729999999999 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_15" />
</joint>
<link name="l_sole_skin_17" />
<joint name="l_sole_skin_17_fixed_joint" type="fixed">
<origin xyz="-0.03771910000000001 0.004538500000000001 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_17" />
</joint>
<link name="l_sole_skin_18" />
<joint name="l_sole_skin_18_fixed_joint" type="fixed">
<origin xyz="-0.05207669999999998 -0.008389699999999986 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_18" />
</joint>
<link name="l_sole_skin_19" />
<joint name="l_sole_skin_19_fixed_joint" type="fixed">
<origin xyz="-0.04805979999999999 -0.027286999999999978 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_19" />
</joint>
<link name="l_sole_skin_20" />
<joint name="l_sole_skin_20_fixed_joint" type="fixed">
<origin xyz="-0.02968539999999998 -0.03325779999999999 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_20" />
</joint>
<link name="l_sole_skin_21" />
<joint name="l_sole_skin_21_fixed_joint" type="fixed">
<origin xyz="0.027744799999999986 0.0184533 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_21" />
</joint>
<link name="l_sole_skin_22" />
<joint name="l_sole_skin_22_fixed_joint" type="fixed">
<origin xyz="0.03577849999999999 -0.019342899999999996 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_22" />
</joint>
<link name="l_sole_skin_24" />
<joint name="l_sole_skin_24_fixed_joint" type="fixed">
<origin xyz="0.0030465999999999965 -0.02630029999999997 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_24" />
</joint>
<link name="l_sole_skin_25" />
<joint name="l_sole_skin_25_fixed_joint" type="fixed">
<origin xyz="0.017404099999999995 -0.013372199999999987 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_25" />
</joint>
<link name="l_sole_skin_26" />
<joint name="l_sole_skin_26_fixed_joint" type="fixed">
<origin xyz="0.013387299999999991 0.005525100000000005 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_26" />
</joint>
<link name="l_sole_skin_27" />
<joint name="l_sole_skin_27_fixed_joint" type="fixed">
<origin xyz="-0.004987100000000001 0.011495900000000003 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_27" />
</joint>
<link name="l_sole_skin_28" />
<joint name="l_sole_skin_28_fixed_joint" type="fixed">
<origin xyz="-0.0193447 -0.0014322999999999975 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_28" />
</joint>
<link name="l_sole_skin_29" />
<joint name="l_sole_skin_29_fixed_joint" type="fixed">
<origin xyz="-0.015327899999999998 -0.020329600000000003 0.007500000000000062" rpy="0.0 0.0 0.0" />
<parent link="l_foot" />
<child link="l_sole_skin_29" />
</joint>
<link name="base_link" />
<joint name="base_link_fixed_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<parent link="root_link" />
<child link="base_link" />
</joint>
<link name="l_foot_dh_frame" />
<joint name="l_foot_dh_frame_fixed_joint" type="fixed">
<origin xyz="0.0 0.0 0.004" rpy="0.0 1.5708 0.0" />
<parent link="l_foot" />
<child link="l_foot_dh_frame" />
</joint>
<link name="r_foot_dh_frame" />
<joint name="r_foot_dh_frame_fixed_joint" type="fixed">
<origin xyz="0.0 0.0 0.004" rpy="0.0 1.5708 0.0" />
<parent link="r_foot" />
<child link="r_foot_dh_frame" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 4151874d706815e1 -->
<mujoco model="iCub">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="root_link_color" rgba="0.9 0.9 0.9 1.0" />
<material name="r_hip_1_color" rgba="0.9 0.9 0.9 1.0" />
<material name="r_hip_2_color" rgba="0.9 0.9 0.9 1.0" />
<material name="r_hip_3_color" rgba="0.635 0.137 0.114 1.0" />
<material name="r_upper_leg_color" rgba="0.635 0.137 0.114 1.0" />
<material name="r_lower_leg_color" rgba="0.635 0.137 0.114 1.0" />
<material name="r_ankle_1_color" rgba="0.9 0.9 0.9 1.0" />
<material name="r_ankle_2_color" rgba="0.9 0.9 0.9 1.0" />
<material name="r_foot_color" rgba="0.635 0.137 0.114 1.0" />
<material name="torso_1_color" rgba="0.9 0.9 0.9 1.0" />
<material name="torso_2_color" rgba="0.9 0.9 0.9 1.0" />
<material name="chest_color" rgba="0.635 0.137 0.114 1.0" />
<material name="neck_1_color" rgba="0.9 0.9 0.9 1.0" />
<material name="neck_2_color" rgba="0.9 0.9 0.9 1.0" />
<material name="head_color" rgba="1.0 1.0 1.0 1.0" />
<material name="r_shoulder_1_color" rgba="0.9 0.9 0.9 1.0" />
<material name="r_shoulder_2_color" rgba="0.9 0.9 0.9 1.0" />
<material name="r_shoulder_3_color" rgba="0.9 0.9 0.9 1.0" />
<material name="r_upper_arm_color" rgba="0.635 0.137 0.114 1.0" />
<material name="r_elbow_1_color" rgba="0.635 0.137 0.114 1.0" />
<material name="r_forearm_color" rgba="0.635 0.137 0.114 1.0" />
<material name="r_wrist_1_color" rgba="0.9 0.9 0.9 1.0" />
<material name="r_hand_color" rgba="0.9 0.9 0.9 1.0" />
<material name="l_shoulder_1_color" rgba="0.9 0.9 0.9 1.0" />
<material name="l_shoulder_2_color" rgba="0.9 0.9 0.9 1.0" />
<material name="l_shoulder_3_color" rgba="0.9 0.9 0.9 1.0" />
<material name="l_upper_arm_color" rgba="0.635 0.137 0.114 1.0" />
<material name="l_elbow_1_color" rgba="0.635 0.137 0.114 1.0" />
<material name="l_forearm_color" rgba="0.635 0.137 0.114 1.0" />
<material name="l_wrist_1_color" rgba="0.9 0.9 0.9 1.0" />
<material name="l_hand_color" rgba="0.9 0.9 0.9 1.0" />
<material name="l_hip_1_color" rgba="0.9 0.9 0.9 1.0" />
<material name="l_hip_2_color" rgba="0.9 0.9 0.9 1.0" />
<material name="l_hip_3_color" rgba="0.635 0.137 0.114 1.0" />
<material name="l_upper_leg_color" rgba="0.635 0.137 0.114 1.0" />
<material name="l_lower_leg_color" rgba="0.635 0.137 0.114 1.0" />
<material name="l_ankle_1_color" rgba="0.9 0.9 0.9 1.0" />
<material name="l_ankle_2_color" rgba="0.9 0.9 0.9 1.0" />
<material name="l_foot_color" rgba="0.635 0.137 0.114 1.0" />
<mesh name="sim_sea_2n5_root_link_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_root_link_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_r_hip_1_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_r_hip_2_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_r_hip_2_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_r_upper_thigh_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_r_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_r_thigh_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_r_thigh_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_r_shank_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_r_shank_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_r_ankle_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_r_foot_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_r_sole_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_lap_belt_1_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_lap_belt_1_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_lap_belt_2_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_lap_belt_2_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_chest_bb_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_chest_bb_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_neck_1_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_neck_1_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_neck_2_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_neck_2_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_head_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_head_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_r_shoulder_1_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_1_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_r_shoulder_2_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_r_upper_arm_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_r_upper_arm_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_r_elbow_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_r_elbow_prosup_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_r_forearm_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_r_forearm_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_r_wrist_pitch_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_r_hand_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_r_hand_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_l_shoulder_1_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_1_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_l_shoulder_2_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_l_upper_arm_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_l_upper_arm_prt-binary.stl" scale="0.001 0.001 0.001" />
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<mesh name="sim_sea_2n5_l_elbow_prosup_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_l_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_l_forearm_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_l_forearm_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_l_wrist_pitch_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_l_hand_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_l_hand_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_l_hip_1_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_l_hip_2_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_l_upper_thigh_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_l_thigh_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_l_shank_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_l_ankle_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_l_foot_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001" />
<mesh name="sim_sea_2n5_l_sole_prtnbinary_0p001_0p001_0p001" file="iCub/meshes/simmechanics/sim_sea_2-5_l_sole_prt-binary.stl" scale="0.001 0.001 0.001" />
</asset>
<worldbody>
<body name="root_link">
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<geom name="l_ankle_2_vis_0" type="mesh" mesh="sim_sea_2n5_l_foot_prtnbinary_0p001_0p001_0p001" pos="0.04368169961858297 -0.07017520019076885 0.5871379999999998" quat="0.5000000000000002 0.5 0.4999999999999998 0.5" contype="0" conaffinity="0" group="2" material="l_ankle_2_color" />
<geom name="l_ankle_2_col_0" type="mesh" mesh="sim_sea_2n5_l_foot_prtnbinary_0p001_0p001_0p001" pos="0.04368169961858297 -0.07017520019076885 0.5871379999999998" quat="0.5000000000000002 0.5 0.4999999999999998 0.5" group="3" />
<body name="l_foot" pos="-0.003500000000000003 0.0 -0.0605" quat="6.123233995736766e-17 1.0 0.0 0.0">
<inertial pos="0.03366689999999999 -0.005373499999999989 -0.0011639999999999429" mass="0.382968" fullinertia="0.00027384600000000006 0.00121242 0.00141712 -5.792730000000047e-05 7.649719999999423e-06 -3.695330000000254e-07" />
<geom name="l_foot_vis_0" type="mesh" mesh="sim_sea_2n5_l_sole_prtnbinary_0p001_0p001_0p001" pos="0.04720906119999997 0.07010002480000013 -0.6474380002860819" quat="0.5000000000000002 -0.5 0.4999999999999998 -0.5" contype="0" conaffinity="0" group="2" material="l_foot_color" />
<geom name="l_foot_col_0" type="box" size="0.08 0.036 0.0005" pos="0.03 -0.005 0.014" group="3" />
<body name="l_sole" pos="0.003500000000000003 0.0 0.0040000000000000036" quat="6.123233995736766e-17 -1.0 0.0 0.0" />
<body name="l_sole_skin_0" pos="0.09320879999999998 0.032367999999999994 0.007500000000000062" />
<body name="l_sole_skin_1" pos="0.07885119999999998 0.019439899999999996 0.007500000000000062" />
<body name="l_sole_skin_2" pos="0.06047679999999998 0.02541059999999999 0.007500000000000062" />
<body name="l_sole_skin_3" pos="0.04611922999999998 0.012482499999999994 0.007500000000000062" />
<body name="l_sole_skin_4" pos="0.05013608999999999 -0.006414799999999998 0.007500000000000062" />
<body name="l_sole_skin_8" pos="0.07252739999999999 -0.031282799999999986 0.007500000000000062" />
<body name="l_sole_skin_9" pos="0.09090179999999999 -0.03725379999999999 0.007500000000000062" />
<body name="l_sole_skin_10" pos="0.10525929999999997 -0.024325399999999983 0.007500000000000062" />
<body name="l_sole_skin_11" pos="0.10124249999999999 -0.005428100000000005 0.007500000000000062" />
<body name="l_sole_skin_12" pos="0.08286809999999997 0.0005426000000000042 0.007500000000000062" />
<body name="l_sole_skin_13" pos="0.06851049999999999 -0.012385499999999994 0.007500000000000062" />
<body name="l_sole_skin_14" pos="0.11559999999999998 0.007499500000000006 0.007500000000000062" />
<body name="l_sole_skin_15" pos="0.11158319999999997 0.02639729999999999 0.007500000000000062" />
<body name="l_sole_skin_17" pos="-0.03771910000000001 0.004538500000000001 0.007500000000000062" />
<body name="l_sole_skin_18" pos="-0.05207669999999998 -0.008389699999999986 0.007500000000000062" />
<body name="l_sole_skin_19" pos="-0.04805979999999999 -0.027286999999999978 0.007500000000000062" />
<body name="l_sole_skin_20" pos="-0.02968539999999998 -0.03325779999999999 0.007500000000000062" />
<body name="l_sole_skin_21" pos="0.027744799999999986 0.0184533 0.007500000000000062" />
<body name="l_sole_skin_22" pos="0.03577849999999999 -0.019342899999999996 0.007500000000000062" />
<body name="l_sole_skin_24" pos="0.0030465999999999965 -0.02630029999999997 0.007500000000000062" />
<body name="l_sole_skin_25" pos="0.017404099999999995 -0.013372199999999987 0.007500000000000062" />
<body name="l_sole_skin_26" pos="0.013387299999999991 0.005525100000000005 0.007500000000000062" />
<body name="l_sole_skin_27" pos="-0.004987100000000001 0.011495900000000003 0.007500000000000062" />
<body name="l_sole_skin_28" pos="-0.0193447 -0.0014322999999999975 0.007500000000000062" />
<body name="l_sole_skin_29" pos="-0.015327899999999998 -0.020329600000000003 0.007500000000000062" />
<body name="l_foot_dh_frame" pos="0.0 0.0 0.004" quat="0.7071054825112363 0.0 0.7071080798594735 0.0" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="base_link" />
</body>
</worldbody>
<contact>
<exclude body1="root_link" body2="r_hip_1" />
<exclude body1="r_hip_1" body2="r_hip_2" />
<exclude body1="r_hip_2" body2="r_hip_3" />
<exclude body1="r_hip_3" body2="r_upper_leg" />
<exclude body1="r_upper_leg" body2="r_upper_leg_back_contact" />
<exclude body1="r_upper_leg" body2="r_upper_leg_dh_frame" />
<exclude body1="r_upper_leg" body2="r_lower_leg" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_0" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_3" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_4" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_5" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_6" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_9" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_10" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_11" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_14" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_15" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_16" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_17" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_19" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_20" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_21" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_28" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_29" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_31" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_32" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_35" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_36" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_37" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_38" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_41" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_42" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_43" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_46" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_47" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_49" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_50" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_51" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_52" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_53" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_54" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_55" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_56" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_60" />
<exclude body1="r_lower_leg" body2="r_lower_leg_skin_61" />
<exclude body1="r_lower_leg" body2="r_ankle_1" />
<exclude body1="r_ankle_1" body2="r_ankle_2" />
<exclude body1="r_ankle_2" body2="r_foot" />
<exclude body1="r_foot" body2="r_sole" />
<exclude body1="r_foot" body2="r_sole_skin_0" />
<exclude body1="r_foot" body2="r_sole_skin_1" />
<exclude body1="r_foot" body2="r_sole_skin_2" />
<exclude body1="r_foot" body2="r_sole_skin_3" />
<exclude body1="r_foot" body2="r_sole_skin_4" />
<exclude body1="r_foot" body2="r_sole_skin_8" />
<exclude body1="r_foot" body2="r_sole_skin_9" />
<exclude body1="r_foot" body2="r_sole_skin_10" />
<exclude body1="r_foot" body2="r_sole_skin_11" />
<exclude body1="r_foot" body2="r_sole_skin_12" />
<exclude body1="r_foot" body2="r_sole_skin_13" />
<exclude body1="r_foot" body2="r_sole_skin_14" />
<exclude body1="r_foot" body2="r_sole_skin_15" />
<exclude body1="r_foot" body2="r_sole_skin_17" />
<exclude body1="r_foot" body2="r_sole_skin_18" />
<exclude body1="r_foot" body2="r_sole_skin_19" />
<exclude body1="r_foot" body2="r_sole_skin_20" />
<exclude body1="r_foot" body2="r_sole_skin_21" />
<exclude body1="r_foot" body2="r_sole_skin_22" />
<exclude body1="r_foot" body2="r_sole_skin_24" />
<exclude body1="r_foot" body2="r_sole_skin_25" />
<exclude body1="r_foot" body2="r_sole_skin_26" />
<exclude body1="r_foot" body2="r_sole_skin_27" />
<exclude body1="r_foot" body2="r_sole_skin_28" />
<exclude body1="r_foot" body2="r_sole_skin_29" />
<exclude body1="root_link" body2="torso_1" />
<exclude body1="torso_1" body2="torso_2" />
<exclude body1="torso_2" body2="chest" />
<exclude body1="chest" body2="neck_1" />
<exclude body1="neck_1" body2="neck_2" />
<exclude body1="neck_2" body2="head" />
<exclude body1="head" body2="imu_frame" />
<exclude body1="chest" body2="r_shoulder_1" />
<exclude body1="r_shoulder_1" body2="r_shoulder_2" />
<exclude body1="r_shoulder_2" body2="r_shoulder_3" />
<exclude body1="r_shoulder_3" body2="r_upper_arm" />
<exclude body1="r_upper_arm" body2="r_elbow_1" />
<exclude body1="r_elbow_1" body2="r_forearm" />
<exclude body1="r_forearm" body2="r_forearm_skin_0" />
<exclude body1="r_forearm" body2="r_forearm_skin_1" />
<exclude body1="r_forearm" body2="r_forearm_skin_2" />
<exclude body1="r_forearm" body2="r_forearm_skin_3" />
<exclude body1="r_forearm" body2="r_forearm_skin_4" />
<exclude body1="r_forearm" body2="r_forearm_skin_5" />
<exclude body1="r_forearm" body2="r_forearm_skin_6" />
<exclude body1="r_forearm" body2="r_forearm_skin_7" />
<exclude body1="r_forearm" body2="r_forearm_skin_8" />
<exclude body1="r_forearm" body2="r_forearm_skin_9" />
<exclude body1="r_forearm" body2="r_forearm_skin_10" />
<exclude body1="r_forearm" body2="r_forearm_skin_11" />
<exclude body1="r_forearm" body2="r_forearm_skin_12" />
<exclude body1="r_forearm" body2="r_forearm_skin_13" />
<exclude body1="r_forearm" body2="r_forearm_skin_14" />
<exclude body1="r_forearm" body2="r_forearm_skin_15" />
<exclude body1="r_forearm" body2="r_forearm_skin_16" />
<exclude body1="r_forearm" body2="r_forearm_skin_17" />
<exclude body1="r_forearm" body2="r_forearm_skin_19" />
<exclude body1="r_forearm" body2="r_forearm_skin_22" />
<exclude body1="r_forearm" body2="r_forearm_skin_24" />
<exclude body1="r_forearm" body2="r_forearm_skin_25" />
<exclude body1="r_forearm" body2="r_forearm_skin_28" />
<exclude body1="r_forearm" body2="r_forearm_skin_29" />
<exclude body1="r_forearm" body2="r_forearm_dh_frame" />
<exclude body1="r_forearm" body2="r_wrist_1" />
<exclude body1="r_wrist_1" body2="r_hand" />
<exclude body1="r_hand" body2="r_hand_dh_frame" />
<exclude body1="chest" body2="l_shoulder_1" />
<exclude body1="l_shoulder_1" body2="l_shoulder_2" />
<exclude body1="l_shoulder_2" body2="l_shoulder_3" />
<exclude body1="l_shoulder_3" body2="l_upper_arm" />
<exclude body1="l_upper_arm" body2="l_elbow_1" />
<exclude body1="l_elbow_1" body2="l_forearm" />
<exclude body1="l_forearm" body2="l_forearm_skin_0" />
<exclude body1="l_forearm" body2="l_forearm_skin_1" />
<exclude body1="l_forearm" body2="l_forearm_skin_2" />
<exclude body1="l_forearm" body2="l_forearm_skin_3" />
<exclude body1="l_forearm" body2="l_forearm_skin_4" />
<exclude body1="l_forearm" body2="l_forearm_skin_5" />
<exclude body1="l_forearm" body2="l_forearm_skin_6" />
<exclude body1="l_forearm" body2="l_forearm_skin_7" />
<exclude body1="l_forearm" body2="l_forearm_skin_8" />
<exclude body1="l_forearm" body2="l_forearm_skin_9" />
<exclude body1="l_forearm" body2="l_forearm_skin_10" />
<exclude body1="l_forearm" body2="l_forearm_skin_11" />
<exclude body1="l_forearm" body2="l_forearm_skin_12" />
<exclude body1="l_forearm" body2="l_forearm_skin_13" />
<exclude body1="l_forearm" body2="l_forearm_skin_14" />
<exclude body1="l_forearm" body2="l_forearm_skin_15" />
<exclude body1="l_forearm" body2="l_forearm_skin_16" />
<exclude body1="l_forearm" body2="l_forearm_skin_17" />
<exclude body1="l_forearm" body2="l_forearm_skin_19" />
<exclude body1="l_forearm" body2="l_forearm_skin_22" />
<exclude body1="l_forearm" body2="l_forearm_skin_24" />
<exclude body1="l_forearm" body2="l_forearm_skin_25" />
<exclude body1="l_forearm" body2="l_forearm_skin_28" />
<exclude body1="l_forearm" body2="l_forearm_skin_29" />
<exclude body1="l_forearm" body2="l_forearm_dh_frame" />
<exclude body1="l_forearm" body2="l_wrist_1" />
<exclude body1="l_wrist_1" body2="l_hand" />
<exclude body1="l_hand" body2="l_hand_dh_frame" />
<exclude body1="root_link" body2="l_hip_1" />
<exclude body1="l_hip_1" body2="l_hip_2" />
<exclude body1="l_hip_2" body2="l_hip_3" />
<exclude body1="l_hip_3" body2="l_upper_leg" />
<exclude body1="l_upper_leg" body2="l_upper_leg_back_contact" />
<exclude body1="l_upper_leg" body2="l_upper_leg_dh_frame" />
<exclude body1="l_upper_leg" body2="l_lower_leg" />
<exclude body1="l_lower_leg" body2="l_ankle_1" />
<exclude body1="l_ankle_1" body2="l_ankle_2" />
<exclude body1="l_ankle_2" body2="l_foot" />
<exclude body1="l_foot" body2="l_sole" />
<exclude body1="l_foot" body2="l_sole_skin_0" />
<exclude body1="l_foot" body2="l_sole_skin_1" />
<exclude body1="l_foot" body2="l_sole_skin_2" />
<exclude body1="l_foot" body2="l_sole_skin_3" />
<exclude body1="l_foot" body2="l_sole_skin_4" />
<exclude body1="l_foot" body2="l_sole_skin_8" />
<exclude body1="l_foot" body2="l_sole_skin_9" />
<exclude body1="l_foot" body2="l_sole_skin_10" />
<exclude body1="l_foot" body2="l_sole_skin_11" />
<exclude body1="l_foot" body2="l_sole_skin_12" />
<exclude body1="l_foot" body2="l_sole_skin_13" />
<exclude body1="l_foot" body2="l_sole_skin_14" />
<exclude body1="l_foot" body2="l_sole_skin_15" />
<exclude body1="l_foot" body2="l_sole_skin_17" />
<exclude body1="l_foot" body2="l_sole_skin_18" />
<exclude body1="l_foot" body2="l_sole_skin_19" />
<exclude body1="l_foot" body2="l_sole_skin_20" />
<exclude body1="l_foot" body2="l_sole_skin_21" />
<exclude body1="l_foot" body2="l_sole_skin_22" />
<exclude body1="l_foot" body2="l_sole_skin_24" />
<exclude body1="l_foot" body2="l_sole_skin_25" />
<exclude body1="l_foot" body2="l_sole_skin_26" />
<exclude body1="l_foot" body2="l_sole_skin_27" />
<exclude body1="l_foot" body2="l_sole_skin_28" />
<exclude body1="l_foot" body2="l_sole_skin_29" />
<exclude body1="root_link" body2="base_link" />
<exclude body1="l_foot" body2="l_foot_dh_frame" />
<exclude body1="r_foot" body2="r_foot_dh_frame" />
</contact>
</mujoco>
Import report
Counts
| Links | 189 |
|---|---|
| Joints | 188 |
| Moving joints | 32 |
| Visuals | 39 |
| Collisions | 39 |
| Materials | 39 |
Meshes
Formats: stl.
Asset size: 13.7 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
axis | 3 | fixed joints carry no <axis>; URDF ignores it too |
dynamics | 153 | fixed joints carry no <dynamics>; URDF ignores it too |
gazebo | 123 | Gazebo simulator extensions are not part of the description |
sensor | 81 | <sensor> is not part of the URDF subset RobotDescription mirrors |
Forward-kinematics check
Forward kinematics of 189 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 · 1.2e-15 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 32).
Source & licence
| Repository | https://github.com/robotology/icub-models |
|---|---|
| Commit | v1.25.0 |
| Original file | iCub/robots/iCubGazeboV2_5/model.urdf |
| Licence | CC-BY-SA-4.0 · 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.