JAXON
JSK · licence CC-BY-SA-4.0 · source: github.com/robot-descriptions/jaxon_description @ 4a0cb7a4a
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 71a23460d062e8f0 -->
<robot name="JAXON_JVRC">
<link name="BODY">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/BODY.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/BODY.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.1059 -0.00067 -0.023" rpy="0.0 -0.0 0.0" />
<mass value="22.7" />
<inertia ixx="0.229835" ixy="0.00171" ixz="0.135708" iyy="0.535336" iyz="0.000616" izz="0.549159" />
</inertial>
</link>
<link name="CHEST_LINK0">
<visual>
<origin xyz="0.006 0.0 0.128" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/CHEST_LINK0.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.006 0.0 0.128" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/CHEST_LINK0.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0084 0.00137 0.01359" rpy="0.0 -0.0 0.0" />
<mass value="0.866" />
<inertia ixx="0.00125384" ixy="0.0" ixz="0.0" iyy="0.00123407" iyz="0.0" izz="0.000677392" />
</inertial>
</link>
<link name="CHEST_LINK1">
<visual>
<origin xyz="0.0 0.0 0.025" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/CHEST_LINK1.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.025" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/CHEST_LINK1.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.111697 0.0039 0.03652" rpy="0.0 -0.0 0.0" />
<mass value="18.23" />
<inertia ixx="0.186526" ixy="0.003889" ixz="-0.039414" iyy="0.418012" iyz="0.001281" izz="0.477668" />
</inertial>
</link>
<link name="CHEST_LINK2">
<visual>
<origin xyz="0.0 0.0 0.3085" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/CHEST_LINK2.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.3085" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/CHEST_LINK2.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.13693 -0.00113 -0.05796" rpy="0.0 -0.0 0.0" />
<mass value="31.33" />
<inertia ixx="0.510746" ixy="0.005161" ixz="0.143334" iyy="1.09582" iyz="0.004687" izz="1.02505" />
</inertial>
</link>
<link name="HEAD_LINK0">
<visual>
<origin xyz="-0.015 0.0 0.0835" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/HEAD_LINK0.dae" />
</geometry>
</visual>
<collision>
<origin xyz="-0.015 0.0 0.0835" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/HEAD_LINK0.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.01227 3e-05 0.03231" rpy="0.0 -0.0 0.0" />
<mass value="1.086" />
<inertia ixx="0.0031" ixy="0.0" ixz="0.0" iyy="0.0035" iyz="0.0" izz="0.00119" />
</inertial>
</link>
<link name="HEAD_LINK1">
<visual>
<origin xyz="0.0 0.0 0.102" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/HEAD_LINK1.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.102" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/HEAD_LINK1.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.042 0.004 0.058" rpy="0.0 -0.0 0.0" />
<mass value="4.274" />
<inertia ixx="0.035683" ixy="0.000877" ixz="-0.003172" iyy="0.040037" iyz="0.000652" izz="0.035345" />
</inertial>
</link>
<link name="RANGE_LINK">
<visual>
<origin xyz="0.0559 0.0 0.14425" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RANGE_LINK.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0559 0.0 0.14425" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RANGE_LINK.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.03 0.0 0.0" rpy="0.0 -0.0 0.0" />
<mass value="0.4" />
<inertia ixx="0.00024" ixy="0.0" ixz="0.0" iyy="0.00024" iyz="0.0" izz="0.00024" />
</inertial>
</link>
<link name="LARM_LINK0">
<visual>
<origin xyz="0.0 0.0875 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LARM_LINK0.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0875 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LARM_LINK0.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.01745 0.00887 -0.00015" rpy="0.0 -0.0 0.0" />
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<inertia ixx="0.0029762" ixy="0.0" ixz="0.0" iyy="0.00235085" iyz="0.0" izz="0.00355486" />
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</link>
<link name="LARM_LINK1">
<visual>
<origin xyz="0.0 0.07275 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LARM_LINK1.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.07275 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LARM_LINK1.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00011 0.01799 0.00288" rpy="0.0 -0.0 0.0" />
<mass value="0.298" />
<inertia ixx="0.000412035" ixy="0.0" ixz="0.0" iyy="0.000251611" iyz="0.0" izz="0.000376771" />
</inertial>
</link>
<link name="LARM_LINK2">
<visual>
<origin xyz="0.0 0.057 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LARM_LINK2.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.057 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LARM_LINK2.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00845 0.00671 -0.0881" rpy="0.0 -0.0 0.0" />
<mass value="2.168" />
<inertia ixx="0.0127408" ixy="0.0" ixz="0.0" iyy="0.0133751" iyz="0.0" izz="0.00460362" />
</inertial>
</link>
<link name="LARM_LINK3">
<visual>
<origin xyz="0.0 0.0 -0.1965" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LARM_LINK3.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.1965" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LARM_LINK3.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.01393 4e-05 -0.07574" rpy="0.0 -0.0 0.0" />
<mass value="1.315" />
<inertia ixx="0.00451716" ixy="0.0" ixz="0.0" iyy="0.0055237" iyz="0.0" izz="0.00217053" />
</inertial>
</link>
<link name="LARM_LINK4">
<visual>
<origin xyz="0.0 0.0 -0.126" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LARM_LINK4.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.126" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LARM_LINK4.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="3e-05 0.00551 -0.0426" rpy="0.0 -0.0 0.0" />
<mass value="1.641" />
<inertia ixx="0.00665559" ixy="0.0" ixz="0.0" iyy="0.00598857" iyz="0.0" izz="0.00288237" />
</inertial>
</link>
<link name="LARM_LINK5">
<visual>
<origin xyz="0.0 0.0 -0.1275" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LARM_LINK5.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.1275" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LARM_LINK5.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.01271 2e-05 -0.08415" rpy="0.0 -0.0 0.0" />
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<inertia ixx="0.00533939" ixy="0.0" ixz="0.0" iyy="0.00624028" iyz="0.0" izz="0.00205604" />
</inertial>
</link>
<link name="LARM_LINK6">
<visual>
<origin xyz="0.0 0.0 -0.146" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LARM_LINK6.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.146" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LARM_LINK6.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00013 0.01427 0.00188" rpy="0.0 -0.0 0.0" />
<mass value="0.505" />
<inertia ixx="0.000901789" ixy="0.0" ixz="0.0" iyy="0.000626727" iyz="0.0" izz="0.000593753" />
</inertial>
</link>
<link name="LARM_LINK7">
<visual>
<origin xyz="0.0 0.0 -0.04" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LARM_LINK7.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.04" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LARM_LINK7.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.085" rpy="0.0 -0.0 0.0" />
<mass value="2.257" />
<inertia ixx="0.020752" ixy="-1.29859e-06" ixz="8.02988e-06" iyy="0.0198" iyz="0.000501" izz="0.013089" />
</inertial>
</link>
<link name="LARM_FINGER0">
<visual>
<origin xyz="0.0 -0.06 -0.1725" rpy="0.0 1.5708 -3.14159" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LARM_FINGER0.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.06 -0.1725" rpy="0.0 1.5708 -3.14159" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LARM_FINGER0.dae" />
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<inertial>
<origin xyz="0.077 0.0138 3.38271e-17" rpy="0.0 -0.0 0.0" />
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</inertial>
</link>
<link name="LARM_FINGER1">
<visual>
<origin xyz="0.0 0.06 -0.1725" rpy="0.0 1.5708 -3.14159" />
<geometry>
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</visual>
<collision>
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<geometry>
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<inertial>
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<link name="RARM_LINK0">
<visual>
<origin xyz="0.0 -0.0875 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RARM_LINK0.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.0875 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RARM_LINK0.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.01745 -0.00887 -0.00015" rpy="0.0 -0.0 0.0" />
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<inertia ixx="0.0029762" ixy="0.0" ixz="0.0" iyy="0.00235085" iyz="0.0" izz="0.00355486" />
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</link>
<link name="RARM_LINK1">
<visual>
<origin xyz="0.0 -0.07275 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RARM_LINK1.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.07275 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RARM_LINK1.dae" />
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<inertial>
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</link>
<link name="RARM_LINK2">
<visual>
<origin xyz="0.0 -0.057 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RARM_LINK2.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.057 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RARM_LINK2.dae" />
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<inertial>
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<inertia ixx="0.0127408" ixy="0.0" ixz="0.0" iyy="0.0133751" iyz="0.0" izz="0.00460362" />
</inertial>
</link>
<link name="RARM_LINK3">
<visual>
<origin xyz="0.0 0.0 -0.1965" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RARM_LINK3.dae" />
</geometry>
</visual>
<collision>
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<geometry>
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<link name="RARM_LINK4">
<visual>
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<geometry>
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</geometry>
</visual>
<collision>
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<geometry>
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<inertial>
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<link name="RARM_LINK5">
<visual>
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<geometry>
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<geometry>
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<geometry>
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<geometry>
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<geometry>
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<geometry>
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<link name="RARM_FINGER0">
<visual>
<origin xyz="0.0 0.06 -0.1725" rpy="0.0 1.5708 -0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RARM_FINGER0.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.06 -0.1725" rpy="0.0 1.5708 -0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RARM_FINGER0.dae" />
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<link name="RARM_FINGER1">
<visual>
<origin xyz="0.0 -0.06 -0.1725" rpy="0.0 1.5708 -0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RARM_FINGER1.dae" />
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</visual>
<collision>
<origin xyz="0.0 -0.06 -0.1725" rpy="0.0 1.5708 -0.0" />
<geometry>
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<link name="LLEG_LINK0">
<visual>
<origin xyz="0.0 0.1 0.0095" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LLEG_LINK0.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.1 0.0095" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LLEG_LINK0.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.02299 -0.00588 -0.07031" rpy="0.0 -0.0 0.0" />
<mass value="2.915" />
<inertia ixx="0.00999808" ixy="-1.99354e-06" ixz="7.22147e-07" iyy="0.00999559" iyz="3.13302e-06" izz="0.00999172" />
</inertial>
</link>
<link name="LLEG_LINK1">
<visual>
<origin xyz="0.0 0.0 -0.122" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LLEG_LINK1.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.122" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LLEG_LINK1.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00441 0.00696 -0.00694" rpy="0.0 -0.0 0.0" />
<mass value="1.199" />
<inertia ixx="0.00299879" ixy="-3.30504e-37" ixz="9.70868e-20" iyy="0.00179963" iyz="4.51014e-37" izz="0.00343603" />
</inertial>
</link>
<link name="LLEG_LINK2">
<visual>
<origin xyz="0.0 0.0 -0.01" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LLEG_LINK2.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.01" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LLEG_LINK2.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00658 0.03431 -0.18864" rpy="0.0 -0.0 0.0" />
<mass value="5.783" />
<inertia ixx="0.109779" ixy="0.0002015" ixz="0.00500356" iyy="0.109973" iyz="-0.00331032" izz="0.0103577" />
</inertial>
</link>
<link name="LLEG_LINK3">
<visual>
<origin xyz="0.0 0.0 -0.38" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LLEG_LINK3.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.38" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LLEG_LINK3.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0176 0.01611 -0.17992" rpy="0.0 -0.0 0.0" />
<mass value="3.156" />
<inertia ixx="0.0592962" ixy="0.0" ixz="0.0" iyy="0.0592638" iyz="0.0" izz="0.00799027" />
</inertial>
</link>
<link name="LLEG_LINK4">
<visual>
<origin xyz="0.0 0.0 -0.38" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LLEG_LINK4.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.38" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LLEG_LINK4.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00769 0.00203 -0.00714" rpy="0.0 -0.0 0.0" />
<mass value="0.836" />
<inertia ixx="0.0014428" ixy="0.0" ixz="0.0" iyy="0.001606" iyz="0.0" izz="0.00150135" />
</inertial>
</link>
<link name="LLEG_LINK5">
<visual>
<origin xyz="0.0 0.0 -0.04" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LLEG_LINK5.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.04" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/LLEG_LINK5.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00064 0.00264 -0.05633" rpy="0.0 -0.0 0.0" />
<mass value="1.552" />
<inertia ixx="0.00442296" ixy="0.0" ixz="0.0" iyy="0.00907896" iyz="0.0" izz="0.00902826" />
</inertial>
</link>
<link name="RLEG_LINK0">
<visual>
<origin xyz="0.0 -0.1 0.0095" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RLEG_LINK0.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.1 0.0095" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RLEG_LINK0.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.02299 0.00588 -0.07031" rpy="0.0 -0.0 0.0" />
<mass value="2.915" />
<inertia ixx="0.00999808" ixy="-1.99354e-06" ixz="-7.22147e-07" iyy="0.00999559" iyz="-3.13302e-06" izz="0.00999172" />
</inertial>
</link>
<link name="RLEG_LINK1">
<visual>
<origin xyz="0.0 0.0 -0.122" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RLEG_LINK1.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.122" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RLEG_LINK1.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00441 -0.00696 -0.00694" rpy="0.0 -0.0 0.0" />
<mass value="1.199" />
<inertia ixx="0.00299879" ixy="3.30504e-37" ixz="9.70868e-20" iyy="0.00179963" iyz="-4.51014e-37" izz="0.00343603" />
</inertial>
</link>
<link name="RLEG_LINK2">
<visual>
<origin xyz="0.0 0.0 -0.01" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RLEG_LINK2.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.01" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RLEG_LINK2.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00658 -0.03431 -0.18864" rpy="0.0 -0.0 0.0" />
<mass value="5.783" />
<inertia ixx="0.109779" ixy="-0.0002015" ixz="0.00500356" iyy="0.109973" iyz="0.00331032" izz="0.0103577" />
</inertial>
</link>
<link name="RLEG_LINK3">
<visual>
<origin xyz="0.0 0.0 -0.38" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RLEG_LINK3.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.38" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RLEG_LINK3.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0176 -0.01611 -0.17992" rpy="0.0 -0.0 0.0" />
<mass value="3.156" />
<inertia ixx="0.0592962" ixy="0.0" ixz="0.0" iyy="0.0592638" iyz="0.0" izz="0.00799027" />
</inertial>
</link>
<link name="RLEG_LINK4">
<visual>
<origin xyz="0.0 0.0 -0.38" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RLEG_LINK4.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.38" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RLEG_LINK4.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00769 -0.00203 -0.00714" rpy="0.0 -0.0 0.0" />
<mass value="0.836" />
<inertia ixx="0.0014428" ixy="0.0" ixz="0.0" iyy="0.001606" iyz="0.0" izz="0.00150135" />
</inertial>
</link>
<link name="RLEG_LINK5">
<visual>
<origin xyz="0.0 0.0 -0.04" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RLEG_LINK5.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.04" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://jaxon_description/meshes/RLEG_LINK5.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00064 -0.00264 -0.05633" rpy="0.0 -0.0 0.0" />
<mass value="1.552" />
<inertia ixx="0.00442296" ixy="0.0" ixz="0.0" iyy="0.00907896" iyz="0.0" izz="0.00902826" />
</inertial>
</link>
<joint name="CHEST_JOINT0" type="revolute">
<origin xyz="0.006 0.0 0.128" rpy="0.0 -0.0 0.0" />
<parent link="BODY" />
<child link="CHEST_LINK0" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="787.2" velocity="4.0" lower="-0.198551" upper="0.198551" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="CHEST_JOINT1" type="revolute">
<origin xyz="0.0 0.0 0.025" rpy="0.0 -0.0 0.0" />
<parent link="CHEST_LINK0" />
<child link="CHEST_LINK1" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="787.2" velocity="4.0" lower="-0.0349066" upper="0.610865" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="CHEST_JOINT2" type="revolute">
<origin xyz="0.0 0.0 0.3085" rpy="0.0 -0.0 0.0" />
<parent link="CHEST_LINK1" />
<child link="CHEST_LINK2" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="393.6" velocity="4.0" lower="-1.0566" upper="1.0566" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="HEAD_JOINT0" type="revolute">
<origin xyz="-0.015 0.0 0.0835" rpy="0.0 -0.0 0.0" />
<parent link="CHEST_LINK2" />
<child link="HEAD_LINK0" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="472.32" velocity="4.0" lower="-0.575959" upper="0.541052" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="HEAD_JOINT1" type="revolute">
<origin xyz="0.0 0.0 0.102" rpy="0.0 -0.0 0.0" />
<parent link="HEAD_LINK0" />
<child link="HEAD_LINK1" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="472.32" velocity="4.0" lower="-0.575959" upper="0.698132" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RANGE_JOINT" type="continuous">
<origin xyz="0.0559 0.0 0.14425" rpy="0.0 -0.0 0.0" />
<parent link="HEAD_LINK1" />
<child link="RANGE_LINK" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="50.0" velocity="4.0" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LARM_JOINT0" type="revolute">
<origin xyz="0.0 0.0875 0.0" rpy="0.0 -0.0 0.0" />
<parent link="CHEST_LINK2" />
<child link="LARM_LINK0" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="472.32" velocity="4.0" lower="-1.4208" upper="0.144751" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LARM_JOINT1" type="revolute">
<origin xyz="0.0 0.07275 0.0" rpy="0.0 -0.0 0.0" />
<parent link="LARM_LINK0" />
<child link="LARM_LINK1" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="472.32" velocity="4.0" lower="-3.14159" upper="3.14159" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LARM_JOINT2" type="revolute">
<origin xyz="0.0 0.057 0.0" rpy="0.0 -0.0 0.0" />
<parent link="LARM_LINK1" />
<child link="LARM_LINK2" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="472.32" velocity="4.0" lower="0.2762" upper="3.14159" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LARM_JOINT3" type="revolute">
<origin xyz="0.0 0.0 -0.1965" rpy="0.0 -0.0 0.0" />
<parent link="LARM_LINK2" />
<child link="LARM_LINK3" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="472.32" velocity="4.0" lower="-3.14159" upper="3.14159" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LARM_JOINT4" type="revolute">
<origin xyz="0.0 0.0 -0.126" rpy="0.0 -0.0 0.0" />
<parent link="LARM_LINK3" />
<child link="LARM_LINK4" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="472.32" velocity="4.0" lower="-2.19006" upper="1.0472" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LARM_JOINT5" type="revolute">
<origin xyz="0.0 0.0 -0.1275" rpy="0.0 -0.0 0.0" />
<parent link="LARM_LINK4" />
<child link="LARM_LINK5" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="472.32" velocity="4.0" lower="-3.14159" upper="3.14159" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LARM_JOINT6" type="revolute">
<origin xyz="0.0 0.0 -0.146" rpy="0.0 -0.0 0.0" />
<parent link="LARM_LINK5" />
<child link="LARM_LINK6" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="472.32" velocity="4.0" lower="-1.54494" upper="1.5708" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LARM_JOINT7" type="revolute">
<origin xyz="0.0 0.0 -0.04" rpy="0.0 -0.0 0.0" />
<parent link="LARM_LINK6" />
<child link="LARM_LINK7" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="475.272" velocity="4.0" lower="-1.41372" upper="1.0472" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LARM_F_JOINT0" type="revolute">
<origin xyz="0.0 -0.06 -0.1725" rpy="0.0 1.5708 -3.14159" />
<parent link="LARM_LINK7" />
<child link="LARM_FINGER0" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="20.0" velocity="4.0" lower="-1.39626" upper="0.610865" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LARM_F_JOINT1" type="revolute">
<origin xyz="0.0 0.06 -0.1725" rpy="0.0 1.5708 -3.14159" />
<parent link="LARM_LINK7" />
<child link="LARM_FINGER1" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="20.0" velocity="4.0" lower="-0.610865" upper="1.39626" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RARM_JOINT0" type="revolute">
<origin xyz="0.0 -0.0875 0.0" rpy="0.0 -0.0 0.0" />
<parent link="CHEST_LINK2" />
<child link="RARM_LINK0" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="472.32" velocity="4.0" lower="-0.144751" upper="1.4208" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RARM_JOINT1" type="revolute">
<origin xyz="0.0 -0.07275 0.0" rpy="0.0 -0.0 0.0" />
<parent link="RARM_LINK0" />
<child link="RARM_LINK1" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="472.32" velocity="4.0" lower="-3.14159" upper="3.14159" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RARM_JOINT2" type="revolute">
<origin xyz="0.0 -0.057 0.0" rpy="0.0 -0.0 0.0" />
<parent link="RARM_LINK1" />
<child link="RARM_LINK2" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="472.32" velocity="4.0" lower="-3.14159" upper="-0.2762" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RARM_JOINT3" type="revolute">
<origin xyz="0.0 0.0 -0.1965" rpy="0.0 -0.0 0.0" />
<parent link="RARM_LINK2" />
<child link="RARM_LINK3" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="472.32" velocity="4.0" lower="-3.14159" upper="3.14159" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RARM_JOINT4" type="revolute">
<origin xyz="0.0 0.0 -0.126" rpy="0.0 -0.0 0.0" />
<parent link="RARM_LINK3" />
<child link="RARM_LINK4" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="472.32" velocity="4.0" lower="-2.19006" upper="1.0472" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RARM_JOINT5" type="revolute">
<origin xyz="0.0 0.0 -0.1275" rpy="0.0 -0.0 0.0" />
<parent link="RARM_LINK4" />
<child link="RARM_LINK5" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="472.32" velocity="4.0" lower="-3.14159" upper="3.14159" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RARM_JOINT6" type="revolute">
<origin xyz="0.0 0.0 -0.146" rpy="0.0 -0.0 0.0" />
<parent link="RARM_LINK5" />
<child link="RARM_LINK6" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="472.32" velocity="4.0" lower="-1.5708" upper="1.54494" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RARM_JOINT7" type="revolute">
<origin xyz="0.0 0.0 -0.04" rpy="0.0 -0.0 0.0" />
<parent link="RARM_LINK6" />
<child link="RARM_LINK7" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="475.272" velocity="4.0" lower="-1.41372" upper="1.0472" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RARM_F_JOINT0" type="revolute">
<origin xyz="0.0 0.06 -0.1725" rpy="0.0 1.5708 -0.0" />
<parent link="RARM_LINK7" />
<child link="RARM_FINGER0" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="20.0" velocity="4.0" lower="-1.39626" upper="0.610865" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RARM_F_JOINT1" type="revolute">
<origin xyz="0.0 -0.06 -0.1725" rpy="0.0 1.5708 -0.0" />
<parent link="RARM_LINK7" />
<child link="RARM_FINGER1" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="20.0" velocity="4.0" lower="-0.610865" upper="1.39626" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LLEG_JOINT0" type="revolute">
<origin xyz="0.0 0.1 0.0095" rpy="0.0 -0.0 0.0" />
<parent link="BODY" />
<child link="LLEG_LINK0" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="246.0" velocity="17.0" lower="-1.0972" upper="1.02662" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LLEG_JOINT1" type="revolute">
<origin xyz="0.0 0.0 -0.122" rpy="0.0 -0.0 0.0" />
<parent link="LLEG_LINK0" />
<child link="LLEG_LINK1" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="393.6" velocity="17.0" lower="-0.523599" upper="0.725029" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LLEG_JOINT2" type="revolute">
<origin xyz="0.0 0.0 -0.01" rpy="0.0 -0.0 0.0" />
<parent link="LLEG_LINK1" />
<child link="LLEG_LINK2" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="492.0" velocity="17.0" lower="-2.11843" upper="0.785398" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LLEG_JOINT3" type="revolute">
<origin xyz="0.0 0.0 -0.38" rpy="0.0 -0.0 0.0" />
<parent link="LLEG_LINK2" />
<child link="LLEG_LINK3" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="492.0" velocity="17.0" lower="0.0" upper="2.77419" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LLEG_JOINT4" type="revolute">
<origin xyz="0.0 0.0 -0.38" rpy="0.0 -0.0 0.0" />
<parent link="LLEG_LINK3" />
<child link="LLEG_LINK4" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="295.2" velocity="17.0" lower="-1.38564" upper="1.47343" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LLEG_JOINT5" type="revolute">
<origin xyz="0.0 0.0 -0.04" rpy="0.0 -0.0 0.0" />
<parent link="LLEG_LINK4" />
<child link="LLEG_LINK5" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="247.537" velocity="17.0" lower="-1.0472" upper="1.0472" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RLEG_JOINT0" type="revolute">
<origin xyz="0.0 -0.1 0.0095" rpy="0.0 -0.0 0.0" />
<parent link="BODY" />
<child link="RLEG_LINK0" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="246.0" velocity="17.0" lower="-1.02662" upper="1.0972" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RLEG_JOINT1" type="revolute">
<origin xyz="0.0 0.0 -0.122" rpy="0.0 -0.0 0.0" />
<parent link="RLEG_LINK0" />
<child link="RLEG_LINK1" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="393.6" velocity="17.0" lower="-0.725029" upper="0.523599" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RLEG_JOINT2" type="revolute">
<origin xyz="0.0 0.0 -0.01" rpy="0.0 -0.0 0.0" />
<parent link="RLEG_LINK1" />
<child link="RLEG_LINK2" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="492.0" velocity="17.0" lower="-2.11843" upper="0.785398" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RLEG_JOINT3" type="revolute">
<origin xyz="0.0 0.0 -0.38" rpy="0.0 -0.0 0.0" />
<parent link="RLEG_LINK2" />
<child link="RLEG_LINK3" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="492.0" velocity="17.0" lower="0.0" upper="2.77419" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RLEG_JOINT4" type="revolute">
<origin xyz="0.0 0.0 -0.38" rpy="0.0 -0.0 0.0" />
<parent link="RLEG_LINK3" />
<child link="RLEG_LINK4" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="295.2" velocity="17.0" lower="-1.38564" upper="1.47343" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RLEG_JOINT5" type="revolute">
<origin xyz="0.0 0.0 -0.04" rpy="0.0 -0.0 0.0" />
<parent link="RLEG_LINK4" />
<child link="RLEG_LINK5" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="247.537" velocity="17.0" lower="-1.0472" upper="1.0472" />
<dynamics damping="0.2" friction="0.0" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 71a23460d062e8f0 -->
<mujoco model="JAXON_JVRC">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="BODY" file="jaxon_description/meshes/BODY.dae" />
<mesh name="CHEST_LINK0" file="jaxon_description/meshes/CHEST_LINK0.dae" />
<mesh name="CHEST_LINK1" file="jaxon_description/meshes/CHEST_LINK1.dae" />
<mesh name="CHEST_LINK2" file="jaxon_description/meshes/CHEST_LINK2.dae" />
<mesh name="HEAD_LINK0" file="jaxon_description/meshes/HEAD_LINK0.dae" />
<mesh name="HEAD_LINK1" file="jaxon_description/meshes/HEAD_LINK1.dae" />
<mesh name="RANGE_LINK" file="jaxon_description/meshes/RANGE_LINK.dae" />
<mesh name="LARM_LINK0" file="jaxon_description/meshes/LARM_LINK0.dae" />
<mesh name="LARM_LINK1" file="jaxon_description/meshes/LARM_LINK1.dae" />
<mesh name="LARM_LINK2" file="jaxon_description/meshes/LARM_LINK2.dae" />
<mesh name="LARM_LINK3" file="jaxon_description/meshes/LARM_LINK3.dae" />
<mesh name="LARM_LINK4" file="jaxon_description/meshes/LARM_LINK4.dae" />
<mesh name="LARM_LINK5" file="jaxon_description/meshes/LARM_LINK5.dae" />
<mesh name="LARM_LINK6" file="jaxon_description/meshes/LARM_LINK6.dae" />
<mesh name="LARM_LINK7" file="jaxon_description/meshes/LARM_LINK7.dae" />
<mesh name="LARM_FINGER0" file="jaxon_description/meshes/LARM_FINGER0.dae" />
<mesh name="LARM_FINGER1" file="jaxon_description/meshes/LARM_FINGER1.dae" />
<mesh name="RARM_LINK0" file="jaxon_description/meshes/RARM_LINK0.dae" />
<mesh name="RARM_LINK1" file="jaxon_description/meshes/RARM_LINK1.dae" />
<mesh name="RARM_LINK2" file="jaxon_description/meshes/RARM_LINK2.dae" />
<mesh name="RARM_LINK3" file="jaxon_description/meshes/RARM_LINK3.dae" />
<mesh name="RARM_LINK4" file="jaxon_description/meshes/RARM_LINK4.dae" />
<mesh name="RARM_LINK5" file="jaxon_description/meshes/RARM_LINK5.dae" />
<mesh name="RARM_LINK6" file="jaxon_description/meshes/RARM_LINK6.dae" />
<mesh name="RARM_LINK7" file="jaxon_description/meshes/RARM_LINK7.dae" />
<mesh name="RARM_FINGER0" file="jaxon_description/meshes/RARM_FINGER0.dae" />
<mesh name="RARM_FINGER1" file="jaxon_description/meshes/RARM_FINGER1.dae" />
<mesh name="LLEG_LINK0" file="jaxon_description/meshes/LLEG_LINK0.dae" />
<mesh name="LLEG_LINK1" file="jaxon_description/meshes/LLEG_LINK1.dae" />
<mesh name="LLEG_LINK2" file="jaxon_description/meshes/LLEG_LINK2.dae" />
<mesh name="LLEG_LINK3" file="jaxon_description/meshes/LLEG_LINK3.dae" />
<mesh name="LLEG_LINK4" file="jaxon_description/meshes/LLEG_LINK4.dae" />
<mesh name="LLEG_LINK5" file="jaxon_description/meshes/LLEG_LINK5.dae" />
<mesh name="RLEG_LINK0" file="jaxon_description/meshes/RLEG_LINK0.dae" />
<mesh name="RLEG_LINK1" file="jaxon_description/meshes/RLEG_LINK1.dae" />
<mesh name="RLEG_LINK2" file="jaxon_description/meshes/RLEG_LINK2.dae" />
<mesh name="RLEG_LINK3" file="jaxon_description/meshes/RLEG_LINK3.dae" />
<mesh name="RLEG_LINK4" file="jaxon_description/meshes/RLEG_LINK4.dae" />
<mesh name="RLEG_LINK5" file="jaxon_description/meshes/RLEG_LINK5.dae" />
</asset>
<worldbody>
<body name="BODY">
<inertial pos="-0.1059 -0.00067 -0.023" mass="22.7" fullinertia="0.229835 0.535336 0.549159 0.00171 0.135708 0.000616" />
<geom name="BODY_vis_0" type="mesh" mesh="BODY" contype="0" conaffinity="0" group="2" />
<geom name="BODY_col_0" type="mesh" mesh="BODY" group="3" />
<body name="CHEST_LINK0" pos="0.006 0.0 0.128">
<joint name="CHEST_JOINT0" type="hinge" axis="1.0 0.0 0.0" range="-0.198551 0.198551" damping="0.2" />
<inertial pos="-0.0084 0.00137 0.01359" mass="0.866" fullinertia="0.00125384 0.00123407 0.000677392 0.0 0.0 0.0" />
<geom name="CHEST_LINK0_vis_0" type="mesh" mesh="CHEST_LINK0" pos="0.006 0.0 0.128" contype="0" conaffinity="0" group="2" />
<geom name="CHEST_LINK0_col_0" type="mesh" mesh="CHEST_LINK0" pos="0.006 0.0 0.128" group="3" />
<body name="CHEST_LINK1" pos="0.0 0.0 0.025">
<joint name="CHEST_JOINT1" type="hinge" axis="0.0 1.0 0.0" range="-0.0349066 0.610865" damping="0.2" />
<inertial pos="-0.111697 0.0039 0.03652" mass="18.23" fullinertia="0.186526 0.418012 0.477668 0.003889 -0.039414 0.001281" />
<geom name="CHEST_LINK1_vis_0" type="mesh" mesh="CHEST_LINK1" pos="0.0 0.0 0.025" contype="0" conaffinity="0" group="2" />
<geom name="CHEST_LINK1_col_0" type="mesh" mesh="CHEST_LINK1" pos="0.0 0.0 0.025" group="3" />
<body name="CHEST_LINK2" pos="0.0 0.0 0.3085">
<joint name="CHEST_JOINT2" type="hinge" axis="0.0 0.0 1.0" range="-1.0566 1.0566" damping="0.2" />
<inertial pos="-0.13693 -0.00113 -0.05796" mass="31.33" fullinertia="0.510746 1.09582 1.02505 0.005161 0.143334 0.004687" />
<geom name="CHEST_LINK2_vis_0" type="mesh" mesh="CHEST_LINK2" pos="0.0 0.0 0.3085" contype="0" conaffinity="0" group="2" />
<geom name="CHEST_LINK2_col_0" type="mesh" mesh="CHEST_LINK2" pos="0.0 0.0 0.3085" group="3" />
<body name="HEAD_LINK0" pos="-0.015 0.0 0.0835">
<joint name="HEAD_JOINT0" type="hinge" axis="0.0 0.0 1.0" range="-0.575959 0.541052" damping="0.2" />
<inertial pos="-0.01227 3e-05 0.03231" mass="1.086" fullinertia="0.0031 0.0035 0.00119 0.0 0.0 0.0" />
<geom name="HEAD_LINK0_vis_0" type="mesh" mesh="HEAD_LINK0" pos="-0.015 0.0 0.0835" contype="0" conaffinity="0" group="2" />
<geom name="HEAD_LINK0_col_0" type="mesh" mesh="HEAD_LINK0" pos="-0.015 0.0 0.0835" group="3" />
<body name="HEAD_LINK1" pos="0.0 0.0 0.102">
<joint name="HEAD_JOINT1" type="hinge" axis="0.0 1.0 0.0" range="-0.575959 0.698132" damping="0.2" />
<inertial pos="0.042 0.004 0.058" mass="4.274" fullinertia="0.035683 0.040037 0.035345 0.000877 -0.003172 0.000652" />
<geom name="HEAD_LINK1_vis_0" type="mesh" mesh="HEAD_LINK1" pos="0.0 0.0 0.102" contype="0" conaffinity="0" group="2" />
<geom name="HEAD_LINK1_col_0" type="mesh" mesh="HEAD_LINK1" pos="0.0 0.0 0.102" group="3" />
<body name="RANGE_LINK" pos="0.0559 0.0 0.14425">
<joint name="RANGE_JOINT" type="hinge" axis="1.0 0.0 0.0" limited="false" damping="0.2" />
<inertial pos="0.03 0.0 0.0" mass="0.4" fullinertia="0.00024 0.00024 0.00024 0.0 0.0 0.0" />
<geom name="RANGE_LINK_vis_0" type="mesh" mesh="RANGE_LINK" pos="0.0559 0.0 0.14425" contype="0" conaffinity="0" group="2" />
<geom name="RANGE_LINK_col_0" type="mesh" mesh="RANGE_LINK" pos="0.0559 0.0 0.14425" group="3" />
</body>
</body>
</body>
<body name="LARM_LINK0" pos="0.0 0.0875 0.0">
<joint name="LARM_JOINT0" type="hinge" axis="0.0 0.0 1.0" range="-1.4208 0.144751" damping="0.2" />
<inertial pos="-0.01745 0.00887 -0.00015" mass="1.048" fullinertia="0.0029762 0.00235085 0.00355486 0.0 0.0 0.0" />
<geom name="LARM_LINK0_vis_0" type="mesh" mesh="LARM_LINK0" pos="0.0 0.0875 0.0" contype="0" conaffinity="0" group="2" />
<geom name="LARM_LINK0_col_0" type="mesh" mesh="LARM_LINK0" pos="0.0 0.0875 0.0" group="3" />
<body name="LARM_LINK1" pos="0.0 0.07275 0.0">
<joint name="LARM_JOINT1" type="hinge" axis="0.0 1.0 0.0" range="-3.14159 3.14159" damping="0.2" />
<inertial pos="0.00011 0.01799 0.00288" mass="0.298" fullinertia="0.000412035 0.000251611 0.000376771 0.0 0.0 0.0" />
<geom name="LARM_LINK1_vis_0" type="mesh" mesh="LARM_LINK1" pos="0.0 0.07275 0.0" contype="0" conaffinity="0" group="2" />
<geom name="LARM_LINK1_col_0" type="mesh" mesh="LARM_LINK1" pos="0.0 0.07275 0.0" group="3" />
<body name="LARM_LINK2" pos="0.0 0.057 0.0">
<joint name="LARM_JOINT2" type="hinge" axis="1.0 0.0 0.0" range="0.2762 3.14159" damping="0.2" />
<inertial pos="0.00845 0.00671 -0.0881" mass="2.168" fullinertia="0.0127408 0.0133751 0.00460362 0.0 0.0 0.0" />
<geom name="LARM_LINK2_vis_0" type="mesh" mesh="LARM_LINK2" pos="0.0 0.057 0.0" contype="0" conaffinity="0" group="2" />
<geom name="LARM_LINK2_col_0" type="mesh" mesh="LARM_LINK2" pos="0.0 0.057 0.0" group="3" />
<body name="LARM_LINK3" pos="0.0 0.0 -0.1965">
<joint name="LARM_JOINT3" type="hinge" axis="0.0 0.0 1.0" range="-3.14159 3.14159" damping="0.2" />
<inertial pos="0.01393 4e-05 -0.07574" mass="1.315" fullinertia="0.00451716 0.0055237 0.00217053 0.0 0.0 0.0" />
<geom name="LARM_LINK3_vis_0" type="mesh" mesh="LARM_LINK3" pos="0.0 0.0 -0.1965" contype="0" conaffinity="0" group="2" />
<geom name="LARM_LINK3_col_0" type="mesh" mesh="LARM_LINK3" pos="0.0 0.0 -0.1965" group="3" />
<body name="LARM_LINK4" pos="0.0 0.0 -0.126">
<joint name="LARM_JOINT4" type="hinge" axis="0.0 1.0 0.0" range="-2.19006 1.0472" damping="0.2" />
<inertial pos="3e-05 0.00551 -0.0426" mass="1.641" fullinertia="0.00665559 0.00598857 0.00288237 0.0 0.0 0.0" />
<geom name="LARM_LINK4_vis_0" type="mesh" mesh="LARM_LINK4" pos="0.0 0.0 -0.126" contype="0" conaffinity="0" group="2" />
<geom name="LARM_LINK4_col_0" type="mesh" mesh="LARM_LINK4" pos="0.0 0.0 -0.126" group="3" />
<body name="LARM_LINK5" pos="0.0 0.0 -0.1275">
<joint name="LARM_JOINT5" type="hinge" axis="0.0 0.0 1.0" range="-3.14159 3.14159" damping="0.2" />
<inertial pos="0.01271 2e-05 -0.08415" mass="1.305" fullinertia="0.00533939 0.00624028 0.00205604 0.0 0.0 0.0" />
<geom name="LARM_LINK5_vis_0" type="mesh" mesh="LARM_LINK5" pos="0.0 0.0 -0.1275" contype="0" conaffinity="0" group="2" />
<geom name="LARM_LINK5_col_0" type="mesh" mesh="LARM_LINK5" pos="0.0 0.0 -0.1275" group="3" />
<body name="LARM_LINK6" pos="0.0 0.0 -0.146">
<joint name="LARM_JOINT6" type="hinge" axis="1.0 0.0 0.0" range="-1.54494 1.5708" damping="0.2" />
<inertial pos="0.00013 0.01427 0.00188" mass="0.505" fullinertia="0.000901789 0.000626727 0.000593753 0.0 0.0 0.0" />
<geom name="LARM_LINK6_vis_0" type="mesh" mesh="LARM_LINK6" pos="0.0 0.0 -0.146" contype="0" conaffinity="0" group="2" />
<geom name="LARM_LINK6_col_0" type="mesh" mesh="LARM_LINK6" pos="0.0 0.0 -0.146" group="3" />
<body name="LARM_LINK7" pos="0.0 0.0 -0.04">
<joint name="LARM_JOINT7" type="hinge" axis="0.0 1.0 0.0" range="-1.41372 1.0472" damping="0.2" />
<inertial pos="0.0 0.0 -0.085" mass="2.257" fullinertia="0.020752 0.0198 0.013089 -1.29859e-06 8.02988e-06 0.000501" />
<geom name="LARM_LINK7_vis_0" type="mesh" mesh="LARM_LINK7" pos="0.0 0.0 -0.04" contype="0" conaffinity="0" group="2" />
<geom name="LARM_LINK7_col_0" type="mesh" mesh="LARM_LINK7" pos="0.0 0.0 -0.04" group="3" />
<body name="LARM_FINGER0" pos="0.0 -0.06 -0.1725" quat="9.381839456086127e-07 0.7071080798588512 9.381873917569988e-07 -0.7071054825106139">
<joint name="LARM_F_JOINT0" type="hinge" axis="0.0 0.0 1.0" range="-1.39626 0.610865" damping="0.2" />
<inertial pos="0.077 0.0138 3.38271e-17" mass="0.15" fullinertia="4.4505e-05 0.001245 0.00128 0.000156 1.07138e-21 -3.47216e-22" />
<geom name="LARM_FINGER0_vis_0" type="mesh" mesh="LARM_FINGER0" pos="0.0 -0.06 -0.1725" quat="9.381839456086127e-07 0.7071080798588512 9.381873917569988e-07 -0.7071054825106139" contype="0" conaffinity="0" group="2" />
<geom name="LARM_FINGER0_col_0" type="mesh" mesh="LARM_FINGER0" pos="0.0 -0.06 -0.1725" quat="9.381839456086127e-07 0.7071080798588512 9.381873917569988e-07 -0.7071054825106139" group="3" />
</body>
<body name="LARM_FINGER1" pos="0.0 0.06 -0.1725" quat="9.381839456086127e-07 0.7071080798588512 9.381873917569988e-07 -0.7071054825106139">
<joint name="LARM_F_JOINT1" type="hinge" axis="0.0 0.0 1.0" range="-0.610865 1.39626" damping="0.2" />
<inertial pos="0.077 0.0138 3.38271e-17" mass="0.3" fullinertia="4.4505e-05 0.001245 0.00128 0.000156 1.07138e-21 -3.47216e-22" />
<geom name="LARM_FINGER1_vis_0" type="mesh" mesh="LARM_FINGER1" pos="0.0 0.06 -0.1725" quat="9.381839456086127e-07 0.7071080798588512 9.381873917569988e-07 -0.7071054825106139" contype="0" conaffinity="0" group="2" />
<geom name="LARM_FINGER1_col_0" type="mesh" mesh="LARM_FINGER1" pos="0.0 0.06 -0.1725" quat="9.381839456086127e-07 0.7071080798588512 9.381873917569988e-07 -0.7071054825106139" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="RARM_LINK0" pos="0.0 -0.0875 0.0">
<joint name="RARM_JOINT0" type="hinge" axis="0.0 0.0 1.0" range="-0.144751 1.4208" damping="0.2" />
<inertial pos="-0.01745 -0.00887 -0.00015" mass="1.048" fullinertia="0.0029762 0.00235085 0.00355486 0.0 0.0 0.0" />
<geom name="RARM_LINK0_vis_0" type="mesh" mesh="RARM_LINK0" pos="0.0 -0.0875 0.0" contype="0" conaffinity="0" group="2" />
<geom name="RARM_LINK0_col_0" type="mesh" mesh="RARM_LINK0" pos="0.0 -0.0875 0.0" group="3" />
<body name="RARM_LINK1" pos="0.0 -0.07275 0.0">
<joint name="RARM_JOINT1" type="hinge" axis="0.0 1.0 0.0" range="-3.14159 3.14159" damping="0.2" />
<inertial pos="0.00011 -0.01799 0.00288" mass="0.298" fullinertia="0.000412035 0.000251611 0.000376771 0.0 0.0 0.0" />
<geom name="RARM_LINK1_vis_0" type="mesh" mesh="RARM_LINK1" pos="0.0 -0.07275 0.0" contype="0" conaffinity="0" group="2" />
<geom name="RARM_LINK1_col_0" type="mesh" mesh="RARM_LINK1" pos="0.0 -0.07275 0.0" group="3" />
<body name="RARM_LINK2" pos="0.0 -0.057 0.0">
<joint name="RARM_JOINT2" type="hinge" axis="1.0 0.0 0.0" range="-3.14159 -0.2762" damping="0.2" />
<inertial pos="0.00845 -0.00671 -0.0881" mass="2.168" fullinertia="0.0127408 0.0133751 0.00460362 0.0 0.0 0.0" />
<geom name="RARM_LINK2_vis_0" type="mesh" mesh="RARM_LINK2" pos="0.0 -0.057 0.0" contype="0" conaffinity="0" group="2" />
<geom name="RARM_LINK2_col_0" type="mesh" mesh="RARM_LINK2" pos="0.0 -0.057 0.0" group="3" />
<body name="RARM_LINK3" pos="0.0 0.0 -0.1965">
<joint name="RARM_JOINT3" type="hinge" axis="0.0 0.0 1.0" range="-3.14159 3.14159" damping="0.2" />
<inertial pos="0.01393 -4e-05 -0.07574" mass="1.315" fullinertia="0.00451716 0.0055237 0.00217053 0.0 0.0 0.0" />
<geom name="RARM_LINK3_vis_0" type="mesh" mesh="RARM_LINK3" pos="0.0 0.0 -0.1965" contype="0" conaffinity="0" group="2" />
<geom name="RARM_LINK3_col_0" type="mesh" mesh="RARM_LINK3" pos="0.0 0.0 -0.1965" group="3" />
<body name="RARM_LINK4" pos="0.0 0.0 -0.126">
<joint name="RARM_JOINT4" type="hinge" axis="0.0 1.0 0.0" range="-2.19006 1.0472" damping="0.2" />
<inertial pos="3e-05 -0.00551 -0.0426" mass="1.641" fullinertia="0.00665559 0.00598857 0.00288237 0.0 0.0 0.0" />
<geom name="RARM_LINK4_vis_0" type="mesh" mesh="RARM_LINK4" pos="0.0 0.0 -0.126" contype="0" conaffinity="0" group="2" />
<geom name="RARM_LINK4_col_0" type="mesh" mesh="RARM_LINK4" pos="0.0 0.0 -0.126" group="3" />
<body name="RARM_LINK5" pos="0.0 0.0 -0.1275">
<joint name="RARM_JOINT5" type="hinge" axis="0.0 0.0 1.0" range="-3.14159 3.14159" damping="0.2" />
<inertial pos="0.01271 -2e-05 -0.08415" mass="1.305" fullinertia="0.00533939 0.00624028 0.00205604 0.0 0.0 0.0" />
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<body name="RARM_LINK6" pos="0.0 0.0 -0.146">
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<geom name="RARM_LINK6_vis_0" type="mesh" mesh="RARM_LINK6" pos="0.0 0.0 -0.146" contype="0" conaffinity="0" group="2" />
<geom name="RARM_LINK6_col_0" type="mesh" mesh="RARM_LINK6" pos="0.0 0.0 -0.146" group="3" />
<body name="RARM_LINK7" pos="0.0 0.0 -0.04">
<joint name="RARM_JOINT7" type="hinge" axis="0.0 1.0 0.0" range="-1.41372 1.0472" damping="0.2" />
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<geom name="RARM_LINK7_vis_0" type="mesh" mesh="RARM_LINK7" pos="0.0 0.0 -0.04" contype="0" conaffinity="0" group="2" />
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<body name="RARM_FINGER0" pos="0.0 0.06 -0.1725" quat="0.7071054825112363 0.0 0.7071080798594735 -0.0">
<joint name="RARM_F_JOINT0" type="hinge" axis="0.0 0.0 1.0" range="-1.39626 0.610865" damping="0.2" />
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</body>
<body name="RARM_FINGER1" pos="0.0 -0.06 -0.1725" quat="0.7071054825112363 0.0 0.7071080798594735 -0.0">
<joint name="RARM_F_JOINT1" type="hinge" axis="0.0 0.0 1.0" range="-0.610865 1.39626" damping="0.2" />
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<geom name="RARM_FINGER1_col_0" type="mesh" mesh="RARM_FINGER1" pos="0.0 -0.06 -0.1725" quat="0.7071054825112363 0.0 0.7071080798594735 -0.0" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="LLEG_LINK0" pos="0.0 0.1 0.0095">
<joint name="LLEG_JOINT0" type="hinge" axis="0.0 0.0 1.0" range="-1.0972 1.02662" damping="0.2" />
<inertial pos="-0.02299 -0.00588 -0.07031" mass="2.915" fullinertia="0.00999808 0.00999559 0.00999172 -1.99354e-06 7.22147e-07 3.13302e-06" />
<geom name="LLEG_LINK0_vis_0" type="mesh" mesh="LLEG_LINK0" pos="0.0 0.1 0.0095" contype="0" conaffinity="0" group="2" />
<geom name="LLEG_LINK0_col_0" type="mesh" mesh="LLEG_LINK0" pos="0.0 0.1 0.0095" group="3" />
<body name="LLEG_LINK1" pos="0.0 0.0 -0.122">
<joint name="LLEG_JOINT1" type="hinge" axis="1.0 0.0 0.0" range="-0.523599 0.725029" damping="0.2" />
<inertial pos="-0.00441 0.00696 -0.00694" mass="1.199" fullinertia="0.00299879 0.00179963 0.00343603 -3.30504e-37 9.70868e-20 4.51014e-37" />
<geom name="LLEG_LINK1_vis_0" type="mesh" mesh="LLEG_LINK1" pos="0.0 0.0 -0.122" contype="0" conaffinity="0" group="2" />
<geom name="LLEG_LINK1_col_0" type="mesh" mesh="LLEG_LINK1" pos="0.0 0.0 -0.122" group="3" />
<body name="LLEG_LINK2" pos="0.0 0.0 -0.01">
<joint name="LLEG_JOINT2" type="hinge" axis="0.0 1.0 0.0" range="-2.11843 0.785398" damping="0.2" />
<inertial pos="0.00658 0.03431 -0.18864" mass="5.783" fullinertia="0.109779 0.109973 0.0103577 0.0002015 0.00500356 -0.00331032" />
<geom name="LLEG_LINK2_vis_0" type="mesh" mesh="LLEG_LINK2" pos="0.0 0.0 -0.01" contype="0" conaffinity="0" group="2" />
<geom name="LLEG_LINK2_col_0" type="mesh" mesh="LLEG_LINK2" pos="0.0 0.0 -0.01" group="3" />
<body name="LLEG_LINK3" pos="0.0 0.0 -0.38">
<joint name="LLEG_JOINT3" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.77419" damping="0.2" />
<inertial pos="0.0176 0.01611 -0.17992" mass="3.156" fullinertia="0.0592962 0.0592638 0.00799027 0.0 0.0 0.0" />
<geom name="LLEG_LINK3_vis_0" type="mesh" mesh="LLEG_LINK3" pos="0.0 0.0 -0.38" contype="0" conaffinity="0" group="2" />
<geom name="LLEG_LINK3_col_0" type="mesh" mesh="LLEG_LINK3" pos="0.0 0.0 -0.38" group="3" />
<body name="LLEG_LINK4" pos="0.0 0.0 -0.38">
<joint name="LLEG_JOINT4" type="hinge" axis="0.0 1.0 0.0" range="-1.38564 1.47343" damping="0.2" />
<inertial pos="-0.00769 0.00203 -0.00714" mass="0.836" fullinertia="0.0014428 0.001606 0.00150135 0.0 0.0 0.0" />
<geom name="LLEG_LINK4_vis_0" type="mesh" mesh="LLEG_LINK4" pos="0.0 0.0 -0.38" contype="0" conaffinity="0" group="2" />
<geom name="LLEG_LINK4_col_0" type="mesh" mesh="LLEG_LINK4" pos="0.0 0.0 -0.38" group="3" />
<body name="LLEG_LINK5" pos="0.0 0.0 -0.04">
<joint name="LLEG_JOINT5" type="hinge" axis="1.0 0.0 0.0" range="-1.0472 1.0472" damping="0.2" />
<inertial pos="0.00064 0.00264 -0.05633" mass="1.552" fullinertia="0.00442296 0.00907896 0.00902826 0.0 0.0 0.0" />
<geom name="LLEG_LINK5_vis_0" type="mesh" mesh="LLEG_LINK5" pos="0.0 0.0 -0.04" contype="0" conaffinity="0" group="2" />
<geom name="LLEG_LINK5_col_0" type="mesh" mesh="LLEG_LINK5" pos="0.0 0.0 -0.04" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="RLEG_LINK0" pos="0.0 -0.1 0.0095">
<joint name="RLEG_JOINT0" type="hinge" axis="0.0 0.0 1.0" range="-1.02662 1.0972" damping="0.2" />
<inertial pos="-0.02299 0.00588 -0.07031" mass="2.915" fullinertia="0.00999808 0.00999559 0.00999172 -1.99354e-06 -7.22147e-07 -3.13302e-06" />
<geom name="RLEG_LINK0_vis_0" type="mesh" mesh="RLEG_LINK0" pos="0.0 -0.1 0.0095" contype="0" conaffinity="0" group="2" />
<geom name="RLEG_LINK0_col_0" type="mesh" mesh="RLEG_LINK0" pos="0.0 -0.1 0.0095" group="3" />
<body name="RLEG_LINK1" pos="0.0 0.0 -0.122">
<joint name="RLEG_JOINT1" type="hinge" axis="1.0 0.0 0.0" range="-0.725029 0.523599" damping="0.2" />
<inertial pos="-0.00441 -0.00696 -0.00694" mass="1.199" fullinertia="0.00299879 0.00179963 0.00343603 3.30504e-37 9.70868e-20 -4.51014e-37" />
<geom name="RLEG_LINK1_vis_0" type="mesh" mesh="RLEG_LINK1" pos="0.0 0.0 -0.122" contype="0" conaffinity="0" group="2" />
<geom name="RLEG_LINK1_col_0" type="mesh" mesh="RLEG_LINK1" pos="0.0 0.0 -0.122" group="3" />
<body name="RLEG_LINK2" pos="0.0 0.0 -0.01">
<joint name="RLEG_JOINT2" type="hinge" axis="0.0 1.0 0.0" range="-2.11843 0.785398" damping="0.2" />
<inertial pos="0.00658 -0.03431 -0.18864" mass="5.783" fullinertia="0.109779 0.109973 0.0103577 -0.0002015 0.00500356 0.00331032" />
<geom name="RLEG_LINK2_vis_0" type="mesh" mesh="RLEG_LINK2" pos="0.0 0.0 -0.01" contype="0" conaffinity="0" group="2" />
<geom name="RLEG_LINK2_col_0" type="mesh" mesh="RLEG_LINK2" pos="0.0 0.0 -0.01" group="3" />
<body name="RLEG_LINK3" pos="0.0 0.0 -0.38">
<joint name="RLEG_JOINT3" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.77419" damping="0.2" />
<inertial pos="0.0176 -0.01611 -0.17992" mass="3.156" fullinertia="0.0592962 0.0592638 0.00799027 0.0 0.0 0.0" />
<geom name="RLEG_LINK3_vis_0" type="mesh" mesh="RLEG_LINK3" pos="0.0 0.0 -0.38" contype="0" conaffinity="0" group="2" />
<geom name="RLEG_LINK3_col_0" type="mesh" mesh="RLEG_LINK3" pos="0.0 0.0 -0.38" group="3" />
<body name="RLEG_LINK4" pos="0.0 0.0 -0.38">
<joint name="RLEG_JOINT4" type="hinge" axis="0.0 1.0 0.0" range="-1.38564 1.47343" damping="0.2" />
<inertial pos="-0.00769 -0.00203 -0.00714" mass="0.836" fullinertia="0.0014428 0.001606 0.00150135 0.0 0.0 0.0" />
<geom name="RLEG_LINK4_vis_0" type="mesh" mesh="RLEG_LINK4" pos="0.0 0.0 -0.38" contype="0" conaffinity="0" group="2" />
<geom name="RLEG_LINK4_col_0" type="mesh" mesh="RLEG_LINK4" pos="0.0 0.0 -0.38" group="3" />
<body name="RLEG_LINK5" pos="0.0 0.0 -0.04">
<joint name="RLEG_JOINT5" type="hinge" axis="1.0 0.0 0.0" range="-1.0472 1.0472" damping="0.2" />
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</body>
</worldbody>
<contact>
<exclude body1="BODY" body2="CHEST_LINK0" />
<exclude body1="CHEST_LINK0" body2="CHEST_LINK1" />
<exclude body1="CHEST_LINK1" body2="CHEST_LINK2" />
<exclude body1="CHEST_LINK2" body2="HEAD_LINK0" />
<exclude body1="HEAD_LINK0" body2="HEAD_LINK1" />
<exclude body1="HEAD_LINK1" body2="RANGE_LINK" />
<exclude body1="CHEST_LINK2" body2="LARM_LINK0" />
<exclude body1="LARM_LINK0" body2="LARM_LINK1" />
<exclude body1="LARM_LINK1" body2="LARM_LINK2" />
<exclude body1="LARM_LINK2" body2="LARM_LINK3" />
<exclude body1="LARM_LINK3" body2="LARM_LINK4" />
<exclude body1="LARM_LINK4" body2="LARM_LINK5" />
<exclude body1="LARM_LINK5" body2="LARM_LINK6" />
<exclude body1="LARM_LINK6" body2="LARM_LINK7" />
<exclude body1="LARM_LINK7" body2="LARM_FINGER0" />
<exclude body1="LARM_LINK7" body2="LARM_FINGER1" />
<exclude body1="CHEST_LINK2" body2="RARM_LINK0" />
<exclude body1="RARM_LINK0" body2="RARM_LINK1" />
<exclude body1="RARM_LINK1" body2="RARM_LINK2" />
<exclude body1="RARM_LINK2" body2="RARM_LINK3" />
<exclude body1="RARM_LINK3" body2="RARM_LINK4" />
<exclude body1="RARM_LINK4" body2="RARM_LINK5" />
<exclude body1="RARM_LINK5" body2="RARM_LINK6" />
<exclude body1="RARM_LINK6" body2="RARM_LINK7" />
<exclude body1="RARM_LINK7" body2="RARM_FINGER0" />
<exclude body1="RARM_LINK7" body2="RARM_FINGER1" />
<exclude body1="BODY" body2="LLEG_LINK0" />
<exclude body1="LLEG_LINK0" body2="LLEG_LINK1" />
<exclude body1="LLEG_LINK1" body2="LLEG_LINK2" />
<exclude body1="LLEG_LINK2" body2="LLEG_LINK3" />
<exclude body1="LLEG_LINK3" body2="LLEG_LINK4" />
<exclude body1="LLEG_LINK4" body2="LLEG_LINK5" />
<exclude body1="BODY" body2="RLEG_LINK0" />
<exclude body1="RLEG_LINK0" body2="RLEG_LINK1" />
<exclude body1="RLEG_LINK1" body2="RLEG_LINK2" />
<exclude body1="RLEG_LINK2" body2="RLEG_LINK3" />
<exclude body1="RLEG_LINK3" body2="RLEG_LINK4" />
<exclude body1="RLEG_LINK4" body2="RLEG_LINK5" />
</contact>
</mujoco>
Import report
Counts
| Links | 39 |
|---|---|
| Joints | 38 |
| Moving joints | 38 |
| Visuals | 39 |
| Collisions | 39 |
| Materials | 0 |
Meshes
Formats: dae.
Asset size: 38.3 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
@lower | 1 | continuous joints have no position limits; URDF ignores it too |
@upper | 1 | continuous joints have no position limits; URDF ignores it too |
Forward-kinematics check
Forward kinematics of 39 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 · 8.2e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 38).
Source & licence
| Repository | https://github.com/robot-descriptions/jaxon_description |
|---|---|
| Commit | 4a0cb7a4a737864312f8d6e3f89823a741539bfc |
| Original file | urdf/jaxon_jvrc.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.