JVRC-1
AIST · licence BSD-2-Clause · source: github.com/jrl-umi3218/jvrc_description @ 9ff8efbc7
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 b75727263d88acf2 -->
<robot name="jvrc1">
<link name="base_link" />
<link name="R_HIP_P_S">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<mass value="1.0" />
<inertia ixx="0.00196" ixy="0.0" ixz="0.0" iyy="0.00196" iyz="0.0" izz="0.00196" />
</inertial>
</link>
<link name="R_HIP_R_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_HIP_R_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_HIP_R_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<mass value="1.0" />
<inertia ixx="0.00196" ixy="0.0" ixz="0.0" iyy="0.00196" iyz="0.0" izz="0.00196" />
</inertial>
</link>
<link name="R_HIP_Y_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_HIP_Y_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_HIP_Y_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.01 0.0 -0.22" rpy="0.0 -0.0 0.0" />
<mass value="3.0" />
<inertia ixx="0.031925" ixy="0.0" ixz="0.0" iyy="0.034525" iyz="0.0" izz="0.00865" />
</inertial>
</link>
<link name="R_KNEE_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_KNEE_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_KNEE_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.04 0.0 -0.16" rpy="0.0 -0.0 0.0" />
<mass value="3.0" />
<inertia ixx="0.031925" ixy="0.0" ixz="0.0" iyy="0.034525" iyz="0.0" izz="0.00865" />
</inertial>
</link>
<link name="R_ANKLE_R_S">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<mass value="1.0" />
<inertia ixx="0.00064" ixy="0.0" ixz="0.0" iyy="0.00064" iyz="0.0" izz="0.00064" />
</inertial>
</link>
<link name="R_ANKLE_P_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_ANKLE_P_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_ANKLE_P_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.03 0.0 -0.07" rpy="0.0 -0.0 0.0" />
<mass value="1.5" />
<inertia ixx="0.00141666666667" ixy="0.0" ixz="0.0" iyy="0.00561666666667" iyz="0.0" izz="0.00621666666667" />
</inertial>
</link>
<link name="L_HIP_P_S">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<mass value="1.0" />
<inertia ixx="0.00196" ixy="0.0" ixz="0.0" iyy="0.00196" iyz="0.0" izz="0.00196" />
</inertial>
</link>
<link name="L_HIP_R_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_HIP_R_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_HIP_R_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<mass value="1.0" />
<inertia ixx="0.00196" ixy="0.0" ixz="0.0" iyy="0.00196" iyz="0.0" izz="0.00196" />
</inertial>
</link>
<link name="L_HIP_Y_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_HIP_Y_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_HIP_Y_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.01 0.0 -0.22" rpy="0.0 -0.0 0.0" />
<mass value="3.0" />
<inertia ixx="0.031925" ixy="0.0" ixz="0.0" iyy="0.034525" iyz="0.0" izz="0.00865" />
</inertial>
</link>
<link name="L_KNEE_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_KNEE_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_KNEE_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.04 0.0 -0.16" rpy="0.0 -0.0 0.0" />
<mass value="3.0" />
<inertia ixx="0.031925" ixy="0.0" ixz="0.0" iyy="0.034525" iyz="0.0" izz="0.00865" />
</inertial>
</link>
<link name="L_ANKLE_R_S">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<mass value="1.0" />
<inertia ixx="0.00064" ixy="0.0" ixz="0.0" iyy="0.00064" iyz="0.0" izz="0.00064" />
</inertial>
</link>
<link name="L_ANKLE_P_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_ANKLE_P_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_ANKLE_P_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.03 0.0 -0.07" rpy="0.0 -0.0 0.0" />
<mass value="1.5" />
<inertia ixx="0.00141666666667" ixy="0.0" ixz="0.0" iyy="0.00561666666667" iyz="0.0" izz="0.00621666666667" />
</inertial>
</link>
<link name="WAIST_Y_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/WAIST_Y_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/WAIST_Y_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.07" rpy="0.0 -0.0 0.0" />
<mass value="1.0" />
<inertia ixx="0.00173333333333" ixy="0.0" ixz="0.0" iyy="0.00173333333333" iyz="0.0" izz="0.0032" />
</inertial>
</link>
<link name="WAIST_P_S">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<mass value="1.0" />
<inertia ixx="0.00245" ixy="0.0" ixz="0.0" iyy="0.002425" iyz="0.0" izz="0.002425" />
</inertial>
</link>
<link name="WAIST_R_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://jvrc_description/meshes/WAIST_R_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://jvrc_description/meshes/WAIST_R_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.02 0.0 0.24" rpy="0.0 -0.0 0.0" />
<mass value="10.0" />
<inertia ixx="0.157083333333" ixy="0.0" ixz="0.0" iyy="0.101083333333" iyz="0.0" izz="0.136666666667" />
</inertial>
</link>
<link name="NECK_Y_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/NECK_Y_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/NECK_Y_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.05" rpy="0.0 -0.0 0.0" />
<mass value="0.5" />
<inertia ixx="0.000729166666667" ixy="0.0" ixz="0.0" iyy="0.000729166666667" iyz="0.0" izz="0.000625" />
</inertial>
</link>
<link name="NECK_R_S">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<mass value="0.5" />
<inertia ixx="0.0005" ixy="0.0" ixz="0.0" iyy="0.0005" iyz="0.0" izz="0.0005" />
</inertial>
</link>
<link name="NECK_P_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 0.0 0.0" />
<geometry>
<mesh filename="package://jvrc_description/meshes/NECK_P_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 0.0 0.0" />
<geometry>
<mesh filename="package://jvrc_description/meshes/NECK_P_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.01 0.0 0.11" rpy="0.0 -0.0 0.0" />
<mass value="2.0" />
<inertia ixx="0.00968" ixy="0.0" ixz="0.0" iyy="0.00968" iyz="0.0" izz="0.00968" />
</inertial>
</link>
<link name="R_SHOULDER_P_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_SHOULDER_P_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_SHOULDER_P_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<mass value="1.0" />
<inertia ixx="0.00196" ixy="0.0" ixz="0.0" iyy="0.00196" iyz="0.0" izz="0.00196" />
</inertial>
</link>
<link name="R_SHOULDER_R_S">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<mass value="1.0" />
<inertia ixx="0.00196" ixy="0.0" ixz="0.0" iyy="0.00196" iyz="0.0" izz="0.00196" />
</inertial>
</link>
<link name="R_SHOULDER_Y_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_SHOULDER_Y_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_SHOULDER_Y_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.01 0.0 -0.19" rpy="0.0 -0.0 0.0" />
<mass value="2.0" />
<inertia ixx="0.01365" ixy="0.0" ixz="0.0" iyy="0.0146" iyz="0.0" izz="0.00635" />
</inertial>
</link>
<link name="R_ELBOW_P_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_ELBOW_P_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_ELBOW_P_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.02 0.0 -0.1" rpy="0.0 -0.0 0.0" />
<mass value="1.0" />
<inertia ixx="0.010675" ixy="0.0" ixz="0.0" iyy="0.010675" iyz="0.0" izz="0.0027" />
</inertial>
</link>
<link name="R_ELBOW_Y_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_ELBOW_Y_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_ELBOW_Y_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<mass value="1.0" />
<inertia ixx="0.00064" ixy="0.0" ixz="0.0" iyy="0.00064" iyz="0.0" izz="0.00064" />
</inertial>
</link>
<link name="R_WRIST_R_S">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<mass value="0.5" />
<inertia ixx="0.00032" ixy="0.0" ixz="0.0" iyy="0.00032" iyz="0.0" izz="0.00032" />
</inertial>
</link>
<link name="R_WRIST_Y_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_WRIST_Y_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_WRIST_Y_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.01 -0.06" rpy="0.0 -0.0 0.0" />
<mass value="0.5" />
<inertia ixx="0.0004625" ixy="0.0" ixz="0.0" iyy="0.0007625" iyz="0.0" izz="0.0004625" />
</inertial>
</link>
<link name="R_UTHUMB_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_UTHUMB_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_UTHUMB_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.015" rpy="0.0 -0.0 0.0" />
<mass value="0.2" />
<inertia ixx="6.16666666667e-05" ixy="0.0" ixz="0.0" iyy="6.16666666667e-05" iyz="0.0" izz="2.66666666667e-05" />
</inertial>
</link>
<link name="R_LTHUMB_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_LTHUMB_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_LTHUMB_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.015" rpy="0.0 -0.0 0.0" />
<mass value="0.2" />
<inertia ixx="6.16666666667e-05" ixy="0.0" ixz="0.0" iyy="6.16666666667e-05" iyz="0.0" izz="2.66666666667e-05" />
</inertial>
</link>
<link name="R_UINDEX_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_UINDEX_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_UINDEX_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.015" rpy="0.0 -0.0 0.0" />
<mass value="0.2" />
<inertia ixx="6.16666666667e-05" ixy="0.0" ixz="0.0" iyy="6.16666666667e-05" iyz="0.0" izz="2.66666666667e-05" />
</inertial>
</link>
<link name="R_LINDEX_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_LINDEX_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_LINDEX_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.015" rpy="0.0 -0.0 0.0" />
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<inertia ixx="6.16666666667e-05" ixy="0.0" ixz="0.0" iyy="6.16666666667e-05" iyz="0.0" izz="2.66666666667e-05" />
</inertial>
</link>
<link name="R_ULITTLE_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_ULITTLE_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_ULITTLE_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.015" rpy="0.0 -0.0 0.0" />
<mass value="0.2" />
<inertia ixx="6.16666666667e-05" ixy="0.0" ixz="0.0" iyy="6.16666666667e-05" iyz="0.0" izz="2.66666666667e-05" />
</inertial>
</link>
<link name="R_LLITTLE_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_LLITTLE_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/R_LLITTLE_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.015" rpy="0.0 -0.0 0.0" />
<mass value="0.2" />
<inertia ixx="6.16666666667e-05" ixy="0.0" ixz="0.0" iyy="6.16666666667e-05" iyz="0.0" izz="2.66666666667e-05" />
</inertial>
</link>
<link name="L_SHOULDER_P_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_SHOULDER_P_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_SHOULDER_P_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<mass value="1.0" />
<inertia ixx="0.00196" ixy="0.0" ixz="0.0" iyy="0.00196" iyz="0.0" izz="0.00196" />
</inertial>
</link>
<link name="L_SHOULDER_R_S">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<mass value="1.0" />
<inertia ixx="0.00196" ixy="0.0" ixz="0.0" iyy="0.00196" iyz="0.0" izz="0.00196" />
</inertial>
</link>
<link name="L_SHOULDER_Y_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_SHOULDER_Y_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_SHOULDER_Y_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.01 0.0 -0.19" rpy="0.0 -0.0 0.0" />
<mass value="2.0" />
<inertia ixx="0.01365" ixy="0.0" ixz="0.0" iyy="0.0146" iyz="0.0" izz="0.00635" />
</inertial>
</link>
<link name="L_ELBOW_P_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_ELBOW_P_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_ELBOW_P_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.02 0.0 -0.1" rpy="0.0 -0.0 0.0" />
<mass value="1.0" />
<inertia ixx="0.010675" ixy="0.0" ixz="0.0" iyy="0.010675" iyz="0.0" izz="0.0027" />
</inertial>
</link>
<link name="L_ELBOW_Y_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_ELBOW_Y_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_ELBOW_Y_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<mass value="1.0" />
<inertia ixx="0.00064" ixy="0.0" ixz="0.0" iyy="0.00064" iyz="0.0" izz="0.00064" />
</inertial>
</link>
<link name="L_WRIST_R_S">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<mass value="0.5" />
<inertia ixx="0.00032" ixy="0.0" ixz="0.0" iyy="0.00032" iyz="0.0" izz="0.00032" />
</inertial>
</link>
<link name="L_WRIST_Y_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_WRIST_Y_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_WRIST_Y_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.01 -0.06" rpy="0.0 -0.0 0.0" />
<mass value="0.5" />
<inertia ixx="0.0004625" ixy="0.0" ixz="0.0" iyy="0.0007625" iyz="0.0" izz="0.0004625" />
</inertial>
</link>
<link name="L_UTHUMB_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_UTHUMB_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_UTHUMB_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.015" rpy="0.0 -0.0 0.0" />
<mass value="0.2" />
<inertia ixx="6.16666666667e-05" ixy="0.0" ixz="0.0" iyy="6.16666666667e-05" iyz="0.0" izz="2.66666666667e-05" />
</inertial>
</link>
<link name="L_LTHUMB_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_LTHUMB_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_LTHUMB_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.015" rpy="0.0 -0.0 0.0" />
<mass value="0.2" />
<inertia ixx="6.16666666667e-05" ixy="0.0" ixz="0.0" iyy="6.16666666667e-05" iyz="0.0" izz="2.66666666667e-05" />
</inertial>
</link>
<link name="L_UINDEX_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_UINDEX_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_UINDEX_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.015" rpy="0.0 -0.0 0.0" />
<mass value="0.2" />
<inertia ixx="6.16666666667e-05" ixy="0.0" ixz="0.0" iyy="6.16666666667e-05" iyz="0.0" izz="2.66666666667e-05" />
</inertial>
</link>
<link name="L_LINDEX_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_LINDEX_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_LINDEX_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.015" rpy="0.0 -0.0 0.0" />
<mass value="0.2" />
<inertia ixx="6.16666666667e-05" ixy="0.0" ixz="0.0" iyy="6.16666666667e-05" iyz="0.0" izz="2.66666666667e-05" />
</inertial>
</link>
<link name="L_ULITTLE_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_ULITTLE_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_ULITTLE_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.015" rpy="0.0 -0.0 0.0" />
<mass value="0.2" />
<inertia ixx="6.16666666667e-05" ixy="0.0" ixz="0.0" iyy="6.16666666667e-05" iyz="0.0" izz="2.66666666667e-05" />
</inertial>
</link>
<link name="L_LLITTLE_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_LLITTLE_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/L_LLITTLE_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.015" rpy="0.0 -0.0 0.0" />
<mass value="0.2" />
<inertia ixx="6.16666666667e-05" ixy="0.0" ixz="0.0" iyy="6.16666666667e-05" iyz="0.0" izz="2.66666666667e-05" />
</inertial>
</link>
<link name="PELVIS_S">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/PELVIS_S.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-0.0 -0.0 1.5708" />
<geometry>
<mesh filename="package://jvrc_description/meshes/PELVIS_S.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.01 0.0 0.034" rpy="0.0 -0.0 0.0" />
<mass value="10.0" />
<inertia ixx="0.0895833333333" ixy="0.0" ixz="0.0" iyy="0.0895833333333" iyz="0.0" izz="0.1125" />
</inertial>
</link>
<joint name="waist" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="PELVIS_S" />
</joint>
<joint name="R_HIP_P" type="revolute">
<origin xyz="0.0 -0.096 0.0" rpy="0.0 -0.0 0.0" />
<parent link="PELVIS_S" />
<child link="R_HIP_P_S" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="12.56636" lower="-2.09439510239" upper="0.785398163397" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="R_HIP_R" type="revolute">
<origin xyz="0.0 2.77555756156e-17 0.0" rpy="0.0 -0.0 0.0" />
<parent link="R_HIP_P_S" />
<child link="R_HIP_R_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="8.90117" lower="-0.785398163397" upper="0.349065850399" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="R_HIP_Y" type="revolute">
<origin xyz="0.0 2.77555756156e-17 0.0" rpy="0.0 -0.0 0.0" />
<parent link="R_HIP_R_S" />
<child link="R_HIP_Y_S" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="8.90117" lower="-0.523598775598" upper="0.785398163397" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="R_KNEE" type="revolute">
<origin xyz="-0.02 2.77555756156e-17 -0.389" rpy="0.0 -0.0 0.0" />
<parent link="R_HIP_Y_S" />
<child link="R_KNEE_S" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="14.66075" lower="0.0" upper="2.61799387799" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="R_ANKLE_R" type="revolute">
<origin xyz="0.04 1.11022302463e-16 -0.357" rpy="0.0 -0.0 0.0" />
<parent link="R_KNEE_S" />
<child link="R_ANKLE_R_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="15.18435" lower="-0.610865238198" upper="0.785398163397" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="R_ANKLE_P" type="revolute">
<origin xyz="-1.73472347598e-17 -4.4408920985e-16 -1.11022302463e-16" rpy="0.0 -0.0 0.0" />
<parent link="R_ANKLE_R_S" />
<child link="R_ANKLE_P_S" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="14.18435" lower="-1.4835298642" upper="0.959931088597" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="L_HIP_P" type="revolute">
<origin xyz="0.0 0.096 0.0" rpy="0.0 -0.0 0.0" />
<parent link="PELVIS_S" />
<child link="L_HIP_P_S" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="12.56636" lower="-2.09439510239" upper="0.785398163397" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="L_HIP_R" type="revolute">
<origin xyz="0.0 -2.77555756156e-17 0.0" rpy="0.0 -0.0 0.0" />
<parent link="L_HIP_P_S" />
<child link="L_HIP_R_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="8.90117" lower="-0.349065850399" upper="0.785398163397" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="L_HIP_Y" type="revolute">
<origin xyz="0.0 -2.77555756156e-17 0.0" rpy="0.0 -0.0 0.0" />
<parent link="L_HIP_R_S" />
<child link="L_HIP_Y_S" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="8.90117" lower="-0.785398163397" upper="0.523598775598" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="L_KNEE" type="revolute">
<origin xyz="-0.02 -2.77555756156e-17 -0.389" rpy="0.0 -0.0 0.0" />
<parent link="L_HIP_Y_S" />
<child link="L_KNEE_S" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="14.66075" lower="0.0" upper="2.61799387799" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="L_ANKLE_R" type="revolute">
<origin xyz="0.04 1.52655665886e-16 -0.357" rpy="0.0 -0.0 0.0" />
<parent link="L_KNEE_S" />
<child link="L_ANKLE_R_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="15.18435" lower="-0.785398163397" upper="0.610865238198" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="L_ANKLE_P" type="revolute">
<origin xyz="-4.85722573274e-17 3.60822483003e-16 -2.22044604925e-16" rpy="0.0 -0.0 0.0" />
<parent link="L_ANKLE_R_S" />
<child link="L_ANKLE_P_S" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="14.18435" lower="-1.4835298642" upper="0.959931088597" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="WAIST_Y" type="revolute">
<origin xyz="0.0 0.0 0.192" rpy="0.0 -0.0 0.0" />
<parent link="PELVIS_S" />
<child link="WAIST_Y_S" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="8.90117" lower="-0.785398163397" upper="0.785398163397" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="WAIST_P" type="revolute">
<origin xyz="0.0 0.0 -1.11022302463e-16" rpy="0.0 -0.0 0.0" />
<parent link="WAIST_Y_S" />
<child link="WAIST_P_S" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="8.90117" lower="-0.523598775598" upper="1.0471975512" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="WAIST_R" type="revolute">
<origin xyz="0.0 0.0 -1.11022302463e-16" rpy="0.0 -0.0 0.0" />
<parent link="WAIST_P_S" />
<child link="WAIST_R_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="9.42477" lower="-0.872664625997" upper="0.872664625997" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="NECK_Y" type="revolute">
<origin xyz="-0.003 0.0 0.453" rpy="0.0 -0.0 0.0" />
<parent link="WAIST_R_S" />
<child link="NECK_Y_S" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="5.23598" lower="-1.2217304764" upper="1.2217304764" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="NECK_R" type="revolute">
<origin xyz="8.23993651089e-18 0.0 2.22044604925e-16" rpy="0.0 -0.0 0.0" />
<parent link="NECK_Y_S" />
<child link="NECK_R_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="5.75958" lower="-0.872664625997" upper="0.872664625997" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="NECK_P" type="revolute">
<origin xyz="8.23993651089e-18 0.0 2.22044604925e-16" rpy="0.0 -0.0 0.0" />
<parent link="NECK_R_S" />
<child link="NECK_P_S" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="5.75958" lower="-0.872664625997" upper="1.0471975512" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="R_SHOULDER_P" type="revolute">
<origin xyz="0.0 -0.24 0.33" rpy="0.0 -0.0 0.0" />
<parent link="WAIST_R_S" />
<child link="R_SHOULDER_P_S" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="8.90117" lower="-3.14159265359" upper="1.0471975512" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="R_SHOULDER_R" type="revolute">
<origin xyz="0.0 -2.77555756156e-17 -7.77156117238e-16" rpy="0.0 -0.0 0.0" />
<parent link="R_SHOULDER_P_S" />
<child link="R_SHOULDER_R_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="8.90117" lower="-1.74532925199" upper="0.174532925199" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="R_SHOULDER_Y" type="revolute">
<origin xyz="0.0 -2.77555756156e-17 -7.77156117238e-16" rpy="0.0 -0.0 0.0" />
<parent link="R_SHOULDER_R_S" />
<child link="R_SHOULDER_Y_S" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="4.18879" lower="-1.57079632679" upper="1.57079632679" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="R_ELBOW_P" type="revolute">
<origin xyz="0.004 2.77555756156e-17 -0.305" rpy="0.0 -0.0 0.0" />
<parent link="R_SHOULDER_Y_S" />
<child link="R_ELBOW_P_S" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="9.42477" lower="-2.53072741539" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="R_ELBOW_Y" type="revolute">
<origin xyz="-0.004 -4.99600361081e-16 -0.239" rpy="0.0 -0.0 0.0" />
<parent link="R_ELBOW_P_S" />
<child link="R_ELBOW_Y_S" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="3.66519" lower="-1.91986217719" upper="1.91986217719" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="R_WRIST_R" type="revolute">
<origin xyz="0.0 2.77555756156e-16 -1.80411241502e-16" rpy="0.0 -0.0 0.0" />
<parent link="R_ELBOW_Y_S" />
<child link="R_WRIST_R_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="5.75958" lower="-1.91986217719" upper="1.91986217719" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="R_WRIST_Y" type="revolute">
<origin xyz="0.0 2.77555756156e-16 -1.80411241502e-16" rpy="0.0 -0.0 0.0" />
<parent link="R_WRIST_R_S" />
<child link="R_WRIST_Y_S" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="3.66519" lower="-2.61799387799" upper="2.61799387799" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="R_UTHUMB" type="revolute">
<origin xyz="0.0 0.033 -0.084" rpy="0.0 -0.0 0.0" />
<parent link="R_WRIST_Y_S" />
<child link="R_UTHUMB_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="6.80678" lower="-0.785398163397" upper="0.785398163397" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="R_LTHUMB" type="revolute">
<origin xyz="0.0 -2.47024622979e-15 -0.045" rpy="0.0 -0.0 0.0" />
<parent link="R_UTHUMB_S" />
<child link="R_LTHUMB_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="300.0" velocity="20.42034" lower="-2.356194490191" upper="2.356194490191" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="R_UINDEX" type="revolute">
<origin xyz="0.025 -0.016 -0.084" rpy="0.0 -0.0 0.0" />
<parent link="R_WRIST_Y_S" />
<child link="R_UINDEX_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="6.80678" lower="-0.785398163397" upper="0.785398163397" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="R_LINDEX" type="revolute">
<origin xyz="3.46944695195e-17 -2.77555756156e-17 -0.045" rpy="0.0 -0.0 0.0" />
<parent link="R_UINDEX_S" />
<child link="R_LINDEX_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="300.0" velocity="20.42034" lower="-2.356194490191" upper="2.356194490191" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="R_ULITTLE" type="revolute">
<origin xyz="-0.025 -0.016 -0.084" rpy="0.0 -0.0 0.0" />
<parent link="R_WRIST_Y_S" />
<child link="R_ULITTLE_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="6.80678" lower="-0.785398163397" upper="0.785398163397" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="R_LLITTLE" type="revolute">
<origin xyz="-3.46944695195e-17 -1.38777878078e-16 -0.045" rpy="0.0 -0.0 0.0" />
<parent link="R_ULITTLE_S" />
<child link="R_LLITTLE_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="300.0" velocity="20.42034" lower="-2.356194490191" upper="2.356194490191" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="L_SHOULDER_P" type="revolute">
<origin xyz="0.0 0.24 0.33" rpy="0.0 -0.0 0.0" />
<parent link="WAIST_R_S" />
<child link="L_SHOULDER_P_S" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="8.90117" lower="-3.14159265359" upper="1.0471975512" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="L_SHOULDER_R" type="revolute">
<origin xyz="0.0 2.77555756156e-17 -5.55111512313e-16" rpy="0.0 -0.0 0.0" />
<parent link="L_SHOULDER_P_S" />
<child link="L_SHOULDER_R_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="8.90117" lower="-0.174532925199" upper="1.74532925199" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="L_SHOULDER_Y" type="revolute">
<origin xyz="0.0 2.77555756156e-17 -5.55111512313e-16" rpy="0.0 -0.0 0.0" />
<parent link="L_SHOULDER_R_S" />
<child link="L_SHOULDER_Y_S" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="4.18879" lower="-1.57079632679" upper="1.57079632679" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="L_ELBOW_P" type="revolute">
<origin xyz="0.004 -2.77555756156e-17 -0.305" rpy="0.0 -0.0 0.0" />
<parent link="L_SHOULDER_Y_S" />
<child link="L_ELBOW_P_S" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="9.42477" lower="-2.53072741539" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="L_ELBOW_Y" type="revolute">
<origin xyz="-0.004 3.88578058619e-16 -0.239" rpy="0.0 -0.0 0.0" />
<parent link="L_ELBOW_P_S" />
<child link="L_ELBOW_Y_S" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="3.66519" lower="-1.91986217719" upper="1.91986217719" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="L_WRIST_R" type="revolute">
<origin xyz="0.0 -2.77555756156e-16 -1.80411241502e-16" rpy="0.0 -0.0 0.0" />
<parent link="L_ELBOW_Y_S" />
<child link="L_WRIST_R_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="5.75958" lower="-1.91986217719" upper="1.91986217719" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="L_WRIST_Y" type="revolute">
<origin xyz="0.0 -2.77555756156e-16 -1.80411241502e-16" rpy="0.0 -0.0 0.0" />
<parent link="L_WRIST_R_S" />
<child link="L_WRIST_Y_S" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="3.66519" lower="-2.61799387799" upper="2.61799387799" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="L_UTHUMB" type="revolute">
<origin xyz="0.0 -0.033 -0.084" rpy="0.0 -0.0 0.0" />
<parent link="L_WRIST_Y_S" />
<child link="L_UTHUMB_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="6.80678" lower="-0.785398163397" upper="0.785398163397" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="L_LTHUMB" type="revolute">
<origin xyz="0.0 2.16493489802e-15 -0.045" rpy="0.0 -0.0 0.0" />
<parent link="L_UTHUMB_S" />
<child link="L_LTHUMB_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="300.0" velocity="20.42034" lower="-2.356194490191" upper="2.356194490191" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="L_UINDEX" type="revolute">
<origin xyz="0.025 0.016 -0.084" rpy="0.0 -0.0 0.0" />
<parent link="L_WRIST_Y_S" />
<child link="L_UINDEX_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="6.80678" lower="-0.785398163397" upper="0.785398163397" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="L_LINDEX" type="revolute">
<origin xyz="3.46944695195e-17 1.38777878078e-16 -0.045" rpy="0.0 -0.0 0.0" />
<parent link="L_UINDEX_S" />
<child link="L_LINDEX_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="300.0" velocity="20.42034" lower="-2.356194490191" upper="2.356194490191" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="L_ULITTLE" type="revolute">
<origin xyz="-0.025 0.016 -0.084" rpy="0.0 -0.0 0.0" />
<parent link="L_WRIST_Y_S" />
<child link="L_ULITTLE_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="6.80678" lower="-0.785398163397" upper="0.785398163397" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="L_LLITTLE" type="revolute">
<origin xyz="-3.46944695195e-17 2.77555756156e-17 -0.045" rpy="0.0 -0.0 0.0" />
<parent link="L_ULITTLE_S" />
<child link="L_LLITTLE_S" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="300.0" velocity="20.42034" lower="-2.356194490191" upper="2.356194490191" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="gsensor" />
<joint name="gsensor_JOINT" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<parent link="PELVIS_S" />
<child link="gsensor" />
</joint>
<link name="gyrometer" />
<joint name="gyrometer_JOINT" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<parent link="PELVIS_S" />
<child link="gyrometer" />
</joint>
<link name="rfsensor" />
<joint name="rfsensor_JOINT" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<parent link="R_ANKLE_P_S" />
<child link="rfsensor" />
</joint>
<link name="lfsensor" />
<joint name="lfsensor_JOINT" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<parent link="L_ANKLE_P_S" />
<child link="lfsensor" />
</joint>
<link name="rcamera" />
<joint name="rcamera_JOINT" type="fixed">
<origin xyz="0.1 -0.03 0.09" rpy="-2.09440867144 1.64830267294e-05 -1.57082487668" />
<parent link="NECK_P_S" />
<child link="rcamera" />
</joint>
<link name="lcamera" />
<joint name="lcamera_JOINT" type="fixed">
<origin xyz="0.1 0.03 0.09" rpy="-2.09440867144 1.64830267294e-05 -1.57082487668" />
<parent link="NECK_P_S" />
<child link="lcamera" />
</joint>
<link name="dcamera" />
<joint name="dcamera_JOINT" type="fixed">
<origin xyz="0.1 0.0 0.09" rpy="-2.09440867144 1.64830267294e-05 -1.57082487668" />
<parent link="NECK_P_S" />
<child link="dcamera" />
</joint>
<link name="ranger" />
<joint name="ranger_JOINT" type="fixed">
<origin xyz="0.1 0.0 0.0" rpy="1.90331089466e-05 0.523612344569 -1.9033108947e-05" />
<parent link="NECK_P_S" />
<child link="ranger" />
</joint>
<link name="rhsensor" />
<joint name="rhsensor_JOINT" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<parent link="R_WRIST_Y_S" />
<child link="rhsensor" />
</joint>
<link name="lhsensor" />
<joint name="lhsensor_JOINT" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<parent link="L_WRIST_Y_S" />
<child link="lhsensor" />
</joint>
<joint name="r_wrist_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="R_WRIST_Y_S" />
<child link="r_wrist" />
</joint>
<link name="r_wrist" />
<joint name="l_wrist_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="L_WRIST_Y_S" />
<child link="l_wrist" />
</joint>
<link name="l_wrist" />
<joint name="r_ankle_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="R_ANKLE_P_S" />
<child link="r_ankle" />
</joint>
<link name="r_ankle" />
<joint name="l_ankle_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="L_ANKLE_P_S" />
<child link="l_ankle" />
</joint>
<link name="l_ankle" />
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content b75727263d88acf2 -->
<mujoco model="jvrc1">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="R_HIP_R_S" file="jvrc_description/meshes/R_HIP_R_S.dae" />
<mesh name="R_HIP_Y_S" file="jvrc_description/meshes/R_HIP_Y_S.dae" />
<mesh name="R_KNEE_S" file="jvrc_description/meshes/R_KNEE_S.dae" />
<mesh name="R_ANKLE_P_S" file="jvrc_description/meshes/R_ANKLE_P_S.dae" />
<mesh name="L_HIP_R_S" file="jvrc_description/meshes/L_HIP_R_S.dae" />
<mesh name="L_HIP_Y_S" file="jvrc_description/meshes/L_HIP_Y_S.dae" />
<mesh name="L_KNEE_S" file="jvrc_description/meshes/L_KNEE_S.dae" />
<mesh name="L_ANKLE_P_S" file="jvrc_description/meshes/L_ANKLE_P_S.dae" />
<mesh name="WAIST_Y_S" file="jvrc_description/meshes/WAIST_Y_S.dae" />
<mesh name="WAIST_R_S" file="jvrc_description/meshes/WAIST_R_S.dae" />
<mesh name="NECK_Y_S" file="jvrc_description/meshes/NECK_Y_S.dae" />
<mesh name="NECK_P_S" file="jvrc_description/meshes/NECK_P_S.dae" />
<mesh name="R_SHOULDER_P_S" file="jvrc_description/meshes/R_SHOULDER_P_S.dae" />
<mesh name="R_SHOULDER_Y_S" file="jvrc_description/meshes/R_SHOULDER_Y_S.dae" />
<mesh name="R_ELBOW_P_S" file="jvrc_description/meshes/R_ELBOW_P_S.dae" />
<mesh name="R_ELBOW_Y_S" file="jvrc_description/meshes/R_ELBOW_Y_S.dae" />
<mesh name="R_WRIST_Y_S" file="jvrc_description/meshes/R_WRIST_Y_S.dae" />
<mesh name="R_UTHUMB_S" file="jvrc_description/meshes/R_UTHUMB_S.dae" />
<mesh name="R_LTHUMB_S" file="jvrc_description/meshes/R_LTHUMB_S.dae" />
<mesh name="R_UINDEX_S" file="jvrc_description/meshes/R_UINDEX_S.dae" />
<mesh name="R_LINDEX_S" file="jvrc_description/meshes/R_LINDEX_S.dae" />
<mesh name="R_ULITTLE_S" file="jvrc_description/meshes/R_ULITTLE_S.dae" />
<mesh name="R_LLITTLE_S" file="jvrc_description/meshes/R_LLITTLE_S.dae" />
<mesh name="L_SHOULDER_P_S" file="jvrc_description/meshes/L_SHOULDER_P_S.dae" />
<mesh name="L_SHOULDER_Y_S" file="jvrc_description/meshes/L_SHOULDER_Y_S.dae" />
<mesh name="L_ELBOW_P_S" file="jvrc_description/meshes/L_ELBOW_P_S.dae" />
<mesh name="L_ELBOW_Y_S" file="jvrc_description/meshes/L_ELBOW_Y_S.dae" />
<mesh name="L_WRIST_Y_S" file="jvrc_description/meshes/L_WRIST_Y_S.dae" />
<mesh name="L_UTHUMB_S" file="jvrc_description/meshes/L_UTHUMB_S.dae" />
<mesh name="L_LTHUMB_S" file="jvrc_description/meshes/L_LTHUMB_S.dae" />
<mesh name="L_UINDEX_S" file="jvrc_description/meshes/L_UINDEX_S.dae" />
<mesh name="L_LINDEX_S" file="jvrc_description/meshes/L_LINDEX_S.dae" />
<mesh name="L_ULITTLE_S" file="jvrc_description/meshes/L_ULITTLE_S.dae" />
<mesh name="L_LLITTLE_S" file="jvrc_description/meshes/L_LLITTLE_S.dae" />
<mesh name="PELVIS_S" file="jvrc_description/meshes/PELVIS_S.dae" />
</asset>
<worldbody>
<body name="base_link">
<body name="PELVIS_S">
<inertial pos="-0.01 0.0 0.034" mass="10.0" fullinertia="0.0895833333333 0.0895833333333 0.1125 0.0 0.0 0.0" />
<geom name="PELVIS_S_vis_0" type="mesh" mesh="PELVIS_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
<geom name="PELVIS_S_col_0" type="mesh" mesh="PELVIS_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
<body name="R_HIP_P_S" pos="0.0 -0.096 0.0">
<joint name="R_HIP_P" type="hinge" axis="0.0 1.0 0.0" range="-2.09439510239 0.785398163397" />
<inertial pos="0.0 0.0 0.0" mass="1.0" fullinertia="0.00196 0.00196 0.00196 0.0 0.0 0.0" />
<body name="R_HIP_R_S" pos="0.0 2.77555756156e-17 0.0">
<joint name="R_HIP_R" type="hinge" axis="1.0 0.0 0.0" range="-0.785398163397 0.349065850399" />
<inertial pos="0.0 0.0 0.0" mass="1.0" fullinertia="0.00196 0.00196 0.00196 0.0 0.0 0.0" />
<geom name="R_HIP_R_S_vis_0" type="mesh" mesh="R_HIP_R_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
<geom name="R_HIP_R_S_col_0" type="mesh" mesh="R_HIP_R_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
<body name="R_HIP_Y_S" pos="0.0 2.77555756156e-17 0.0">
<joint name="R_HIP_Y" type="hinge" axis="0.0 0.0 1.0" range="-0.523598775598 0.785398163397" />
<inertial pos="0.01 0.0 -0.22" mass="3.0" fullinertia="0.031925 0.034525 0.00865 0.0 0.0 0.0" />
<geom name="R_HIP_Y_S_vis_0" type="mesh" mesh="R_HIP_Y_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
<geom name="R_HIP_Y_S_col_0" type="mesh" mesh="R_HIP_Y_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
<body name="R_KNEE_S" pos="-0.02 2.77555756156e-17 -0.389">
<joint name="R_KNEE" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.61799387799" />
<inertial pos="0.04 0.0 -0.16" mass="3.0" fullinertia="0.031925 0.034525 0.00865 0.0 0.0 0.0" />
<geom name="R_KNEE_S_vis_0" type="mesh" mesh="R_KNEE_S" contype="0" conaffinity="0" group="2" />
<geom name="R_KNEE_S_col_0" type="mesh" mesh="R_KNEE_S" group="3" />
<body name="R_ANKLE_R_S" pos="0.04 1.11022302463e-16 -0.357">
<joint name="R_ANKLE_R" type="hinge" axis="1.0 0.0 0.0" range="-0.610865238198 0.785398163397" />
<inertial pos="0.0 0.0 0.0" mass="1.0" fullinertia="0.00064 0.00064 0.00064 0.0 0.0 0.0" />
<body name="R_ANKLE_P_S" pos="-1.73472347598e-17 -4.4408920985e-16 -1.11022302463e-16">
<joint name="R_ANKLE_P" type="hinge" axis="0.0 1.0 0.0" range="-1.4835298642 0.959931088597" />
<inertial pos="0.03 0.0 -0.07" mass="1.5" fullinertia="0.00141666666667 0.00561666666667 0.00621666666667 0.0 0.0 0.0" />
<geom name="R_ANKLE_P_S_vis_0" type="mesh" mesh="R_ANKLE_P_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
<geom name="R_ANKLE_P_S_col_0" type="mesh" mesh="R_ANKLE_P_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
<body name="rfsensor" />
<body name="r_ankle" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="L_HIP_P_S" pos="0.0 0.096 0.0">
<joint name="L_HIP_P" type="hinge" axis="0.0 1.0 0.0" range="-2.09439510239 0.785398163397" />
<inertial pos="0.0 0.0 0.0" mass="1.0" fullinertia="0.00196 0.00196 0.00196 0.0 0.0 0.0" />
<body name="L_HIP_R_S" pos="0.0 -2.77555756156e-17 0.0">
<joint name="L_HIP_R" type="hinge" axis="1.0 0.0 0.0" range="-0.349065850399 0.785398163397" />
<inertial pos="0.0 0.0 0.0" mass="1.0" fullinertia="0.00196 0.00196 0.00196 0.0 0.0 0.0" />
<geom name="L_HIP_R_S_vis_0" type="mesh" mesh="L_HIP_R_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
<geom name="L_HIP_R_S_col_0" type="mesh" mesh="L_HIP_R_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
<body name="L_HIP_Y_S" pos="0.0 -2.77555756156e-17 0.0">
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<geom name="L_LTHUMB_S_vis_0" type="mesh" mesh="L_LTHUMB_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
<geom name="L_LTHUMB_S_col_0" type="mesh" mesh="L_LTHUMB_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
</body>
</body>
<body name="L_UINDEX_S" pos="0.025 0.016 -0.084">
<joint name="L_UINDEX" type="hinge" axis="1.0 0.0 0.0" range="-0.785398163397 0.785398163397" />
<inertial pos="0.0 0.0 -0.015" mass="0.2" fullinertia="6.16666666667e-05 6.16666666667e-05 2.66666666667e-05 0.0 0.0 0.0" />
<geom name="L_UINDEX_S_vis_0" type="mesh" mesh="L_UINDEX_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
<geom name="L_UINDEX_S_col_0" type="mesh" mesh="L_UINDEX_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
<body name="L_LINDEX_S" pos="3.46944695195e-17 1.38777878078e-16 -0.045">
<joint name="L_LINDEX" type="hinge" axis="1.0 0.0 0.0" range="-2.356194490191 2.356194490191" />
<inertial pos="0.0 0.0 -0.015" mass="0.2" fullinertia="6.16666666667e-05 6.16666666667e-05 2.66666666667e-05 0.0 0.0 0.0" />
<geom name="L_LINDEX_S_vis_0" type="mesh" mesh="L_LINDEX_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
<geom name="L_LINDEX_S_col_0" type="mesh" mesh="L_LINDEX_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
</body>
</body>
<body name="L_ULITTLE_S" pos="-0.025 0.016 -0.084">
<joint name="L_ULITTLE" type="hinge" axis="1.0 0.0 0.0" range="-0.785398163397 0.785398163397" />
<inertial pos="0.0 0.0 -0.015" mass="0.2" fullinertia="6.16666666667e-05 6.16666666667e-05 2.66666666667e-05 0.0 0.0 0.0" />
<geom name="L_ULITTLE_S_vis_0" type="mesh" mesh="L_ULITTLE_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
<geom name="L_ULITTLE_S_col_0" type="mesh" mesh="L_ULITTLE_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
<body name="L_LLITTLE_S" pos="-3.46944695195e-17 2.77555756156e-17 -0.045">
<joint name="L_LLITTLE" type="hinge" axis="1.0 0.0 0.0" range="-2.356194490191 2.356194490191" />
<inertial pos="0.0 0.0 -0.015" mass="0.2" fullinertia="6.16666666667e-05 6.16666666667e-05 2.66666666667e-05 0.0 0.0 0.0" />
<geom name="L_LLITTLE_S_vis_0" type="mesh" mesh="L_LLITTLE_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
<geom name="L_LLITTLE_S_col_0" type="mesh" mesh="L_LLITTLE_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
</body>
</body>
<body name="lhsensor" />
<body name="l_wrist" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="gsensor" />
<body name="gyrometer" />
</body>
</body>
</worldbody>
<contact>
<exclude body1="base_link" body2="PELVIS_S" />
<exclude body1="PELVIS_S" body2="R_HIP_P_S" />
<exclude body1="R_HIP_P_S" body2="R_HIP_R_S" />
<exclude body1="R_HIP_R_S" body2="R_HIP_Y_S" />
<exclude body1="R_HIP_Y_S" body2="R_KNEE_S" />
<exclude body1="R_KNEE_S" body2="R_ANKLE_R_S" />
<exclude body1="R_ANKLE_R_S" body2="R_ANKLE_P_S" />
<exclude body1="PELVIS_S" body2="L_HIP_P_S" />
<exclude body1="L_HIP_P_S" body2="L_HIP_R_S" />
<exclude body1="L_HIP_R_S" body2="L_HIP_Y_S" />
<exclude body1="L_HIP_Y_S" body2="L_KNEE_S" />
<exclude body1="L_KNEE_S" body2="L_ANKLE_R_S" />
<exclude body1="L_ANKLE_R_S" body2="L_ANKLE_P_S" />
<exclude body1="PELVIS_S" body2="WAIST_Y_S" />
<exclude body1="WAIST_Y_S" body2="WAIST_P_S" />
<exclude body1="WAIST_P_S" body2="WAIST_R_S" />
<exclude body1="WAIST_R_S" body2="NECK_Y_S" />
<exclude body1="NECK_Y_S" body2="NECK_R_S" />
<exclude body1="NECK_R_S" body2="NECK_P_S" />
<exclude body1="WAIST_R_S" body2="R_SHOULDER_P_S" />
<exclude body1="R_SHOULDER_P_S" body2="R_SHOULDER_R_S" />
<exclude body1="R_SHOULDER_R_S" body2="R_SHOULDER_Y_S" />
<exclude body1="R_SHOULDER_Y_S" body2="R_ELBOW_P_S" />
<exclude body1="R_ELBOW_P_S" body2="R_ELBOW_Y_S" />
<exclude body1="R_ELBOW_Y_S" body2="R_WRIST_R_S" />
<exclude body1="R_WRIST_R_S" body2="R_WRIST_Y_S" />
<exclude body1="R_WRIST_Y_S" body2="R_UTHUMB_S" />
<exclude body1="R_UTHUMB_S" body2="R_LTHUMB_S" />
<exclude body1="R_WRIST_Y_S" body2="R_UINDEX_S" />
<exclude body1="R_UINDEX_S" body2="R_LINDEX_S" />
<exclude body1="R_WRIST_Y_S" body2="R_ULITTLE_S" />
<exclude body1="R_ULITTLE_S" body2="R_LLITTLE_S" />
<exclude body1="WAIST_R_S" body2="L_SHOULDER_P_S" />
<exclude body1="L_SHOULDER_P_S" body2="L_SHOULDER_R_S" />
<exclude body1="L_SHOULDER_R_S" body2="L_SHOULDER_Y_S" />
<exclude body1="L_SHOULDER_Y_S" body2="L_ELBOW_P_S" />
<exclude body1="L_ELBOW_P_S" body2="L_ELBOW_Y_S" />
<exclude body1="L_ELBOW_Y_S" body2="L_WRIST_R_S" />
<exclude body1="L_WRIST_R_S" body2="L_WRIST_Y_S" />
<exclude body1="L_WRIST_Y_S" body2="L_UTHUMB_S" />
<exclude body1="L_UTHUMB_S" body2="L_LTHUMB_S" />
<exclude body1="L_WRIST_Y_S" body2="L_UINDEX_S" />
<exclude body1="L_UINDEX_S" body2="L_LINDEX_S" />
<exclude body1="L_WRIST_Y_S" body2="L_ULITTLE_S" />
<exclude body1="L_ULITTLE_S" body2="L_LLITTLE_S" />
<exclude body1="PELVIS_S" body2="gsensor" />
<exclude body1="PELVIS_S" body2="gyrometer" />
<exclude body1="R_ANKLE_P_S" body2="rfsensor" />
<exclude body1="L_ANKLE_P_S" body2="lfsensor" />
<exclude body1="NECK_P_S" body2="rcamera" />
<exclude body1="NECK_P_S" body2="lcamera" />
<exclude body1="NECK_P_S" body2="dcamera" />
<exclude body1="NECK_P_S" body2="ranger" />
<exclude body1="R_WRIST_Y_S" body2="rhsensor" />
<exclude body1="L_WRIST_Y_S" body2="lhsensor" />
<exclude body1="R_WRIST_Y_S" body2="r_wrist" />
<exclude body1="L_WRIST_Y_S" body2="l_wrist" />
<exclude body1="R_ANKLE_P_S" body2="r_ankle" />
<exclude body1="L_ANKLE_P_S" body2="l_ankle" />
</contact>
</mujoco>
Import report
Counts
| Links | 60 |
|---|---|
| Joints | 59 |
| Moving joints | 44 |
| Visuals | 35 |
| Collisions | 35 |
| Materials | 0 |
Meshes
Formats: dae.
Asset size: 1.9 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
mimic | 10 | joint coupling (mimic) is not representable yet; the joint imports as independent |
sensor | 10 | <sensor> is not part of the URDF subset RobotDescription mirrors |
Forward-kinematics check
Forward kinematics of 60 link frames at 20 random joint positions within limits, original URDF against robot.urdf, computed by pinocchio 3.8.0. Worst difference: 0.0e+00 m · 5.4e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 44).
Source & licence
| Repository | https://github.com/jrl-umi3218/jvrc_description |
|---|---|
| Commit | 9ff8efbc7043459a8f0892662bd030d8020fb682 |
| Original file | urdf/jvrc1.urdf |
| Licence | BSD-2-Clause · the upstream LICENSE file |
| Files | robot.urdf · robot.xml |
Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.