Laikago
UNITREE Robotics · licence BSD-3-Clause · source: github.com/unitreerobotics/unitree_mujoco @ f3300ff1b
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 775372dea1798f9f -->
<robot name="laikago_description">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0" />
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0" />
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0" />
</material>
<material name="silver">
<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0" />
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0" />
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0" />
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0" />
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0" />
</material>
<link name="world" />
<joint name="floating_base" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="world" />
<child link="trunk" />
</joint>
<link name="trunk">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/trunk.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.01675" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.5616 0.172 0.1875" />
</geometry>
</collision>
<inertial>
<origin xyz="0.002284 -4.1e-05 0.025165" rpy="0.0 0.0 0.0" />
<mass value="13.733" />
<inertia ixx="0.073348887" ixy="0.00030338" ixz="0.001918218" iyy="0.250684593" iyz="-7.5402e-05" izz="0.254469458" />
</inertial>
</link>
<joint name="FR_hip_joint" type="revolute">
<origin xyz="0.21935 -0.0875 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="FR_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="20.0" velocity="52.4" lower="-1.0471975512" upper="0.872664625997" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FR_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
<geometry>
<mesh filename="../meshes/hip.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.021 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.08" radius="0.041" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.001568 0.008134 0.000864" rpy="0.0 0.0 0.0" />
<mass value="1.096" />
<inertia ixx="0.000822113" ixy="4.982e-06" ixz="-3.672e-05" iyy="0.000983196" iyz="-2.811e-06" izz="0.000864753" />
</inertial>
</link>
<joint name="FR_thigh_joint" type="revolute">
<origin xyz="0.0 -0.037 0.0" rpy="0.0 0.0 0.0" />
<parent link="FR_hip" />
<child link="FR_thigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="55.0" velocity="28.6" lower="-0.523598775598" upper="3.92699081699" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FR_thigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/thigh_mirror.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.125" rpy="0.0 1.57079632679 0.0" />
<geometry>
<box size="0.25 0.034 0.043" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000482 -0.02001 -0.031996" rpy="0.0 0.0 0.0" />
<mass value="1.528" />
<inertia ixx="0.00991611" ixy="-1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="8.511e-05" izz="0.00178256" />
</inertial>
</link>
<joint name="FR_calf_joint" type="revolute">
<origin xyz="0.0 0.0 -0.25" rpy="0.0 0.0 0.0" />
<parent link="FR_thigh" />
<child link="FR_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="55.0" velocity="28.6" lower="-2.77507351067" upper="-0.610865238198" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FR_calf">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/calf.stl" />
</geometry>
<material name="silver" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.125" rpy="0.0 1.57079632679 0.0" />
<geometry>
<box size="0.25 0.016 0.016" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.002196 -0.000381 -0.12338" rpy="0.0 0.0 0.0" />
<mass value="0.241" />
<inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05" />
</inertial>
</link>
<joint name="FL_hip_joint" type="revolute">
<origin xyz="0.21935 0.0875 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="FL_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="20.0" velocity="52.4" lower="-0.872664625997" upper="1.0471975512" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FL_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/hip.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 -0.021 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.08" radius="0.041" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.001568 -0.008134 0.000864" rpy="0.0 0.0 0.0" />
<mass value="1.096" />
<inertia ixx="0.000822113" ixy="-4.982e-06" ixz="-3.672e-05" iyy="0.000983196" iyz="2.811e-06" izz="0.000864753" />
</inertial>
</link>
<joint name="FL_thigh_joint" type="revolute">
<origin xyz="0.0 0.037 0.0" rpy="0.0 0.0 0.0" />
<parent link="FL_hip" />
<child link="FL_thigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="55.0" velocity="28.6" lower="-0.523598775598" upper="3.92699081699" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FL_thigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/thigh.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.125" rpy="0.0 1.57079632679 0.0" />
<geometry>
<box size="0.25 0.034 0.043" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000482 0.02001 -0.031996" rpy="0.0 0.0 0.0" />
<mass value="1.528" />
<inertia ixx="0.00991611" ixy="1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="-8.511e-05" izz="0.00178256" />
</inertial>
</link>
<joint name="FL_calf_joint" type="revolute">
<origin xyz="0.0 0.0 -0.25" rpy="0.0 0.0 0.0" />
<parent link="FL_thigh" />
<child link="FL_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="55.0" velocity="28.6" lower="-2.77507351067" upper="-0.610865238198" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FL_calf">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/calf.stl" />
</geometry>
<material name="silver" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.125" rpy="0.0 1.57079632679 0.0" />
<geometry>
<box size="0.25 0.016 0.016" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.002196 -0.000381 -0.12338" rpy="0.0 0.0 0.0" />
<mass value="0.241" />
<inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05" />
</inertial>
</link>
<joint name="RR_hip_joint" type="revolute">
<origin xyz="-0.21935 -0.0875 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="RR_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="20.0" velocity="52.4" lower="-1.0471975512" upper="0.872664625997" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RR_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.14159265359 3.14159265359 0.0" />
<geometry>
<mesh filename="../meshes/hip.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.021 0.0" rpy="1.57079632679 0.0 0.0" />
<geometry>
<cylinder length="0.08" radius="0.041" />
</geometry>
</collision>
<inertial>
<origin xyz="0.001568 0.008134 0.000864" rpy="0.0 0.0 0.0" />
<mass value="1.096" />
<inertia ixx="0.000822113" ixy="-4.982e-06" ixz="3.672e-05" iyy="0.000983196" iyz="-2.811e-06" izz="0.000864753" />
</inertial>
</link>
<joint name="RR_thigh_joint" type="revolute">
<origin xyz="0.0 -0.037 0.0" rpy="0.0 0.0 0.0" />
<parent link="RR_hip" />
<child link="RR_thigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="55.0" velocity="28.6" lower="-0.523598775598" upper="3.92699081699" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RR_thigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/thigh_mirror.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.125" rpy="0.0 1.57079632679 0.0" />
<geometry>
<box size="0.25 0.034 0.043" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000482 -0.02001 -0.031996" rpy="0.0 0.0 0.0" />
<mass value="1.528" />
<inertia ixx="0.00991611" ixy="-1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="8.511e-05" izz="0.00178256" />
</inertial>
</link>
<joint name="RR_calf_joint" type="revolute">
<origin xyz="0.0 0.0 -0.25" rpy="0.0 0.0 0.0" />
<parent link="RR_thigh" />
<child link="RR_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="55.0" velocity="28.6" lower="-2.77507351067" upper="-0.610865238198" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RR_calf">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/calf.stl" />
</geometry>
<material name="silver" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.125" rpy="0.0 1.57079632679 0.0" />
<geometry>
<box size="0.25 0.016 0.016" />
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</collision>
<inertial>
<origin xyz="-0.002196 -0.000381 -0.12338" rpy="0.0 0.0 0.0" />
<mass value="0.241" />
<inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05" />
</inertial>
</link>
<joint name="RL_hip_joint" type="revolute">
<origin xyz="-0.21935 0.0875 0.0" rpy="0.0 0.0 0.0" />
<parent link="trunk" />
<child link="RL_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="20.0" velocity="52.4" lower="-0.872664625997" upper="1.0471975512" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RL_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 3.14159265359 0.0" />
<geometry>
<mesh filename="../meshes/hip.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 -0.021 0.0" rpy="1.57079632679 0.0 0.0" />
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</collision>
<inertial>
<origin xyz="0.001568 -0.008134 0.000864" rpy="0.0 0.0 0.0" />
<mass value="1.096" />
<inertia ixx="0.000822113" ixy="4.982e-06" ixz="3.672e-05" iyy="0.000983196" iyz="2.811e-06" izz="0.000864753" />
</inertial>
</link>
<joint name="RL_thigh_joint" type="revolute">
<origin xyz="0.0 0.037 0.0" rpy="0.0 0.0 0.0" />
<parent link="RL_hip" />
<child link="RL_thigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="55.0" velocity="28.6" lower="-0.523598775598" upper="3.92699081699" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RL_thigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/thigh.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.125" rpy="0.0 1.57079632679 0.0" />
<geometry>
<box size="0.25 0.034 0.043" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000482 0.02001 -0.031996" rpy="0.0 0.0 0.0" />
<mass value="1.528" />
<inertia ixx="0.00991611" ixy="1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="-8.511e-05" izz="0.00178256" />
</inertial>
</link>
<joint name="RL_calf_joint" type="revolute">
<origin xyz="0.0 0.0 -0.25" rpy="0.0 0.0 0.0" />
<parent link="RL_thigh" />
<child link="RL_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="55.0" velocity="28.6" lower="-2.77507351067" upper="-0.610865238198" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RL_calf">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/calf.stl" />
</geometry>
<material name="silver" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.125" rpy="0.0 1.57079632679 0.0" />
<geometry>
<box size="0.25 0.016 0.016" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.002196 -0.000381 -0.12338" rpy="0.0 0.0 0.0" />
<mass value="0.241" />
<inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05" />
</inertial>
</link>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 775372dea1798f9f -->
<mujoco model="laikago_description">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="black" rgba="0.0 0.0 0.0 1.0" />
<material name="blue" rgba="0.0 0.0 0.8 1.0" />
<material name="green" rgba="0.0 0.8 0.0 1.0" />
<material name="grey" rgba="0.2 0.2 0.2 1.0" />
<material name="silver" rgba="0.913725490196 0.913725490196 0.847058823529 1.0" />
<material name="orange" rgba="1.0 0.423529411765 0.0392156862745 1.0" />
<material name="brown" rgba="0.870588235294 0.811764705882 0.764705882353 1.0" />
<material name="red" rgba="0.8 0.0 0.0 1.0" />
<material name="white" rgba="1.0 1.0 1.0 1.0" />
<mesh name="trunk" file="../meshes/trunk.stl" />
<mesh name="hip" file="../meshes/hip.stl" />
<mesh name="thigh_mirror" file="../meshes/thigh_mirror.stl" />
<mesh name="calf" file="../meshes/calf.stl" />
<mesh name="thigh" file="../meshes/thigh.stl" />
</asset>
<worldbody>
<body name="trunk">
<inertial pos="0.002284 -4.1e-05 0.025165" mass="13.733" fullinertia="0.073348887 0.250684593 0.254469458 0.00030338 0.001918218 -7.5402e-05" />
<geom name="trunk_vis_0" type="mesh" mesh="trunk" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="trunk_col_0" type="box" size="0.2808 0.086 0.09375" pos="0.0 0.0 0.01675" group="3" />
<body name="FR_hip" pos="0.21935 -0.0875 0.0">
<joint name="FR_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.0471975512 0.872664625997" />
<inertial pos="-0.001568 0.008134 0.000864" mass="1.096" fullinertia="0.000822113 0.000983196 0.000864753 4.982e-06 -3.672e-05 -2.811e-06" />
<geom name="FR_hip_vis_0" type="mesh" mesh="hip" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="FR_hip_col_0" type="cylinder" size="0.041 0.04" pos="0.0 0.021 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
<body name="FR_thigh" pos="0.0 -0.037 0.0">
<joint name="FR_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.523598775598 3.92699081699" />
<inertial pos="-0.000482 -0.02001 -0.031996" mass="1.528" fullinertia="0.00991611 0.009280083 0.00178256 -1.0388e-05 0.000250428 8.511e-05" />
<geom name="FR_thigh_vis_0" type="mesh" mesh="thigh_mirror" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="FR_thigh_col_0" type="box" size="0.125 0.017 0.0215" pos="0.0 0.0 -0.125" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<body name="FR_calf" pos="0.0 0.0 -0.25">
<joint name="FR_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.77507351067 -0.610865238198" />
<inertial pos="-0.002196 -0.000381 -0.12338" mass="0.241" fullinertia="0.006181961 0.006196546 3.4774e-05 2.37e-07 -2.985e-06 5.138e-06" />
<geom name="FR_calf_vis_0" type="mesh" mesh="calf" contype="0" conaffinity="0" group="2" material="silver" />
<geom name="FR_calf_col_0" type="box" size="0.125 0.008 0.008" pos="0.0 0.0 -0.125" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
</body>
</body>
</body>
<body name="FL_hip" pos="0.21935 0.0875 0.0">
<joint name="FL_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.872664625997 1.0471975512" />
<inertial pos="-0.001568 -0.008134 0.000864" mass="1.096" fullinertia="0.000822113 0.000983196 0.000864753 -4.982e-06 -3.672e-05 2.811e-06" />
<geom name="FL_hip_vis_0" type="mesh" mesh="hip" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="FL_hip_col_0" type="cylinder" size="0.041 0.04" pos="0.0 -0.021 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
<body name="FL_thigh" pos="0.0 0.037 0.0">
<joint name="FL_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.523598775598 3.92699081699" />
<inertial pos="-0.000482 0.02001 -0.031996" mass="1.528" fullinertia="0.00991611 0.009280083 0.00178256 1.0388e-05 0.000250428 -8.511e-05" />
<geom name="FL_thigh_vis_0" type="mesh" mesh="thigh" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="FL_thigh_col_0" type="box" size="0.125 0.017 0.0215" pos="0.0 0.0 -0.125" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<body name="FL_calf" pos="0.0 0.0 -0.25">
<joint name="FL_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.77507351067 -0.610865238198" />
<inertial pos="-0.002196 -0.000381 -0.12338" mass="0.241" fullinertia="0.006181961 0.006196546 3.4774e-05 2.37e-07 -2.985e-06 5.138e-06" />
<geom name="FL_calf_vis_0" type="mesh" mesh="calf" contype="0" conaffinity="0" group="2" material="silver" />
<geom name="FL_calf_col_0" type="box" size="0.125 0.008 0.008" pos="0.0 0.0 -0.125" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
</body>
</body>
</body>
<body name="RR_hip" pos="-0.21935 -0.0875 0.0">
<joint name="RR_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.0471975512 0.872664625997" />
<inertial pos="0.001568 0.008134 0.000864" mass="1.096" fullinertia="0.000822113 0.000983196 0.000864753 -4.982e-06 3.672e-05 -2.811e-06" />
<geom name="RR_hip_vis_0" type="mesh" mesh="hip" quat="1.0693949408680808e-26 -1.0341155355510722e-13 -1.0341155355510722e-13 -1.0" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="RR_hip_col_0" type="cylinder" size="0.041 0.04" pos="0.0 0.021 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
<body name="RR_thigh" pos="0.0 -0.037 0.0">
<joint name="RR_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.523598775598 3.92699081699" />
<inertial pos="-0.000482 -0.02001 -0.031996" mass="1.528" fullinertia="0.00991611 0.009280083 0.00178256 -1.0388e-05 0.000250428 8.511e-05" />
<geom name="RR_thigh_vis_0" type="mesh" mesh="thigh_mirror" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="RR_thigh_col_0" type="box" size="0.125 0.017 0.0215" pos="0.0 0.0 -0.125" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<body name="RR_calf" pos="0.0 0.0 -0.25">
<joint name="RR_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.77507351067 -0.610865238198" />
<inertial pos="-0.002196 -0.000381 -0.12338" mass="0.241" fullinertia="0.006181961 0.006196546 3.4774e-05 2.37e-07 -2.985e-06 5.138e-06" />
<geom name="RR_calf_vis_0" type="mesh" mesh="calf" contype="0" conaffinity="0" group="2" material="silver" />
<geom name="RR_calf_col_0" type="box" size="0.125 0.008 0.008" pos="0.0 0.0 -0.125" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
</body>
</body>
</body>
<body name="RL_hip" pos="-0.21935 0.0875 0.0">
<joint name="RL_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.872664625997 1.0471975512" />
<inertial pos="0.001568 -0.008134 0.000864" mass="1.096" fullinertia="0.000822113 0.000983196 0.000864753 4.982e-06 3.672e-05 2.811e-06" />
<geom name="RL_hip_vis_0" type="mesh" mesh="hip" quat="-1.0341155355510722e-13 -0.0 1.0 -0.0" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="RL_hip_col_0" type="cylinder" size="0.041 0.04" pos="0.0 -0.021 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
<body name="RL_thigh" pos="0.0 0.037 0.0">
<joint name="RL_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.523598775598 3.92699081699" />
<inertial pos="-0.000482 0.02001 -0.031996" mass="1.528" fullinertia="0.00991611 0.009280083 0.00178256 1.0388e-05 0.000250428 -8.511e-05" />
<geom name="RL_thigh_vis_0" type="mesh" mesh="thigh" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="RL_thigh_col_0" type="box" size="0.125 0.017 0.0215" pos="0.0 0.0 -0.125" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
<body name="RL_calf" pos="0.0 0.0 -0.25">
<joint name="RL_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.77507351067 -0.610865238198" />
<inertial pos="-0.002196 -0.000381 -0.12338" mass="0.241" fullinertia="0.006181961 0.006196546 3.4774e-05 2.37e-07 -2.985e-06 5.138e-06" />
<geom name="RL_calf_vis_0" type="mesh" mesh="calf" contype="0" conaffinity="0" group="2" material="silver" />
<geom name="RL_calf_col_0" type="box" size="0.125 0.008 0.008" pos="0.0 0.0 -0.125" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="trunk" body2="FR_hip" />
<exclude body1="FR_hip" body2="FR_thigh" />
<exclude body1="FR_thigh" body2="FR_calf" />
<exclude body1="trunk" body2="FL_hip" />
<exclude body1="FL_hip" body2="FL_thigh" />
<exclude body1="FL_thigh" body2="FL_calf" />
<exclude body1="trunk" body2="RR_hip" />
<exclude body1="RR_hip" body2="RR_thigh" />
<exclude body1="RR_thigh" body2="RR_calf" />
<exclude body1="trunk" body2="RL_hip" />
<exclude body1="RL_hip" body2="RL_thigh" />
<exclude body1="RL_thigh" body2="RL_calf" />
</contact>
</mujoco>
Import report
Counts
| Links | 14 |
|---|---|
| Joints | 13 |
| Moving joints | 12 |
| Visuals | 13 |
| Collisions | 13 |
| Materials | 9 |
Meshes
Formats: stl.
Asset size: 2.1 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
@type | 1 | joint type floating not representable; imported as fixed |
mujoco | 1 | <mujoco> is not part of the URDF subset RobotDescription mirrors |
Forward-kinematics check
Forward kinematics of 14 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 · 2.0e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 12).
Source & licence
| Repository | https://github.com/unitreerobotics/unitree_mujoco |
|---|---|
| Commit | f3300ff1bf0ab9efbea0162717353480d9b05d73 |
| Original file | data/laikago/urdf/laikago.urdf |
| Licence | BSD-3-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.