Luna
LimX Dynamics · licence Apache-2.0 · source: github.com/limxdynamics/luna-description @ 21608d341
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 289abf8a74953382 -->
<robot name="HU_L04_01">
<link name="base_link">
<visual>
<origin xyz="-0.00056266 0.00451 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/base_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="-0.00056266 0.00451 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/base_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0036933 0.00027286 0.05504719" rpy="0.0 0.0 0.0" />
<mass value="6.44924514" />
<inertia ixx="0.04095352" ixy="1.495e-05" ixz="-0.00040094" iyy="0.01340395" iyz="-2.5e-07" izz="0.04083703" />
</inertial>
</link>
<material name="marker_red">
<color rgba="1.0 0.0 0.0 1.0" />
</material>
<link name="base_imu">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
<material name="marker_red" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="base_imu_joint" type="fixed">
<origin xyz="-8.466e-05 -4.6e-05 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="base_imu" />
</joint>
<link name="left_hip_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/left_hip_pitch_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/left_hip_pitch_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00245202 0.003863235 -0.083076805" rpy="0.0 0.0 0.0" />
<mass value="2.563772465" />
<inertia ixx="0.00695592" ixy="1.6695000000000002e-05" ixz="0.000118235" iyy="0.006111025" iyz="-0.0008046049999999999" izz="0.00334657" />
</inertial>
</link>
<joint name="left_hip_pitch_joint" type="revolute">
<origin xyz="0.0 0.10843 0.028124" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="left_hip_pitch_link" />
<axis xyz="-0.0 0.8660265528314682 -0.49999800978688286" />
<limit effort="200.0" velocity="18.3" lower="-3.0543" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_hip_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/left_hip_roll_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/left_hip_roll_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.002998195 -0.0029406249999999997 -0.042980075" rpy="0.0 0.0 0.0" />
<mass value="0.96446718" />
<inertia ixx="0.00215128" ixy="-1.8404999999999997e-05" ixz="-0.00014623499999999998" iyy="0.0025807599999999997" iyz="-3.01e-06" izz="0.0024414099999999998" />
</inertial>
</link>
<joint name="left_hip_roll_joint" type="revolute">
<origin xyz="0.0 -0.000928882791991492 -0.0998113463614758" rpy="0.0 0.0 0.0" />
<parent link="left_hip_pitch_link" />
<child link="left_hip_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="200.0" velocity="18.3" lower="-1.0472" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_hip_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/left_hip_yaw_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/left_hip_yaw_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000337765 -0.00063904 -0.06737818500000001" rpy="0.0 0.0 0.0" />
<mass value="2.8471496800000002" />
<inertia ixx="0.014760785" ixy="-1.263e-05" ixz="-0.000411" iyy="0.014635229999999999" iyz="-0.00027203" izz="0.00562815" />
</inertial>
</link>
<joint name="left_hip_yaw_joint" type="revolute">
<origin xyz="-0.000456858436752703 0.0 -0.0764999999999998" rpy="0.0 0.0 0.0" />
<parent link="left_hip_roll_link" />
<child link="left_hip_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="200.0" velocity="18.3" lower="-1.5708" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_knee_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/left_knee_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/left_knee_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.01587861 -0.000749395 -0.109227005" rpy="0.0 0.0 0.0" />
<mass value="5.062820609999999" />
<inertia ixx="0.06210234" ixy="-1.732e-05" ixz="0.003455995" iyy="0.064925465" iyz="0.00029199499999999997" izz="0.00639306" />
</inertial>
</link>
<joint name="left_knee_joint" type="revolute">
<origin xyz="-0.0200001840152544 0.0 -0.184500355579722" rpy="0.0 0.0 0.0" />
<parent link="left_hip_yaw_link" />
<child link="left_knee_link" />
<axis xyz="-0.0 1.0 -0.0" />
<limit effort="200.0" velocity="18.3" lower="-0.087266" upper="2.4435" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_ankle_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/left_ankle_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.03944929" />
<inertia ixx="3.46e-06" ixy="0.0" ixz="0.0" iyy="2.16e-06" iyz="0.0" izz="3.69e-06" />
</inertial>
</link>
<joint name="left_ankle_pitch_joint" type="revolute">
<origin xyz="-7.40514069974343e-05 0.0 -0.417063028945095" rpy="0.0 0.0 0.0" />
<parent link="left_knee_link" />
<child link="left_ankle_pitch_link" />
<axis xyz="-0.0 1.0 -0.0" />
<limit effort="70.0" velocity="24.48" lower="-1.0123" upper="0.61086" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_ankle_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/left_ankle_roll_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.018 0.0 -0.056" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.18 0.065 0.022" />
</geometry>
</collision>
<collision>
<origin xyz="0.11773 -0.0355 -0.068" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.005" />
</geometry>
</collision>
<collision>
<origin xyz="0.11773 0.04208 -0.068" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.005" />
</geometry>
</collision>
<collision>
<origin xyz="-0.07665 0.034 -0.068" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.005" />
</geometry>
</collision>
<collision>
<origin xyz="-0.07665 -0.034 -0.068" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.005" />
</geometry>
</collision>
<collision>
<origin xyz="0.145 0.0 -0.05977" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.005" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00952498 0.002470515 -0.037849975" rpy="0.0 0.0 0.0" />
<mass value="1.205462175" />
<inertia ixx="0.001307735" ixy="-9.4965e-05" ixz="0.000553425" iyy="0.005067835" iyz="2.8760000000000002e-05" izz="0.005251935" />
</inertial>
</link>
<joint name="left_ankle_roll_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_ankle_pitch_link" />
<child link="left_ankle_roll_link" />
<axis xyz="1.0 -0.0 -0.0" />
<limit effort="70.0" velocity="24.48" lower="-0.43633" upper="0.43633" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="contact_foot_center_L">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
<material name="marker_red" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<joint name="contact_foot_center_joint_L" type="fixed">
<origin xyz="0.0 0.0 -0.07327" rpy="0.0 0.0 0.0" />
<parent link="left_ankle_roll_link" />
<child link="contact_foot_center_L" />
</joint>
<link name="contact_foot_heel_L">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
<material name="marker_red" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<joint name="contact_foot_heel_joint_L" type="fixed">
<origin xyz="-0.09669 0.0 -0.07327" rpy="0.0 0.0 0.0" />
<parent link="left_ankle_roll_link" />
<child link="contact_foot_heel_L" />
</joint>
<link name="contact_foot_tip_L">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
<material name="marker_red" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<joint name="contact_foot_tip_joint_L" type="fixed">
<origin xyz="0.11773 0.0 -0.07327" rpy="0.0 0.0 0.0" />
<parent link="left_ankle_roll_link" />
<child link="contact_foot_tip_L" />
</joint>
<link name="right_hip_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/right_hip_pitch_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/right_hip_pitch_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00245202 -0.003863235 -0.083076805" rpy="0.0 0.0 0.0" />
<mass value="2.563772465" />
<inertia ixx="0.00695592" ixy="-1.6695000000000002e-05" ixz="0.000118235" iyy="0.006111025" iyz="0.0008046049999999999" izz="0.00334657" />
</inertial>
</link>
<joint name="right_hip_pitch_joint" type="revolute">
<origin xyz="0.0 -0.10843 0.028124" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="right_hip_pitch_link" />
<axis xyz="-0.0 0.8660265528314682 0.49999800978688286" />
<limit effort="200.0" velocity="18.3" lower="-3.0543" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_hip_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/right_hip_roll_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/right_hip_roll_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.002998195 0.0029406249999999997 -0.042980075" rpy="0.0 0.0 0.0" />
<mass value="0.96446718" />
<inertia ixx="0.00215128" ixy="1.8404999999999997e-05" ixz="-0.00014623499999999998" iyy="0.0025807599999999997" iyz="3.01e-06" izz="0.0024414099999999998" />
</inertial>
</link>
<joint name="right_hip_roll_joint" type="revolute">
<origin xyz="0.0 0.000928882791991492 -0.0998113463614758" rpy="0.0 0.0 0.0" />
<parent link="right_hip_pitch_link" />
<child link="right_hip_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="200.0" velocity="18.3" lower="-1.5708" upper="1.0472" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_hip_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/right_hip_yaw_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/right_hip_yaw_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000337765 0.00063904 -0.06737818500000001" rpy="0.0 0.0 0.0" />
<mass value="2.8471496800000002" />
<inertia ixx="0.014760785" ixy="1.263e-05" ixz="-0.000411" iyy="0.014635229999999999" iyz="0.00027203" izz="0.00562815" />
</inertial>
</link>
<joint name="right_hip_yaw_joint" type="revolute">
<origin xyz="-0.000456858436752703 0.0 -0.0764999999999998" rpy="0.0 0.0 0.0" />
<parent link="right_hip_roll_link" />
<child link="right_hip_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="200.0" velocity="18.3" lower="-1.5708" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_knee_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/right_knee_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/right_knee_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.01587861 0.000749395 -0.109227005" rpy="0.0 0.0 0.0" />
<mass value="5.062820609999999" />
<inertia ixx="0.06210234" ixy="1.732e-05" ixz="0.003455995" iyy="0.064925465" iyz="-0.00029199499999999997" izz="0.00639306" />
</inertial>
</link>
<joint name="right_knee_joint" type="revolute">
<origin xyz="-0.0200001840152544 0.0 -0.184500355579722" rpy="0.0 0.0 0.0" />
<parent link="right_hip_yaw_link" />
<child link="right_knee_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="200.0" velocity="18.3" lower="-0.087266" upper="2.4435" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_ankle_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/right_ankle_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.03944929" />
<inertia ixx="3.46e-06" ixy="0.0" ixz="0.0" iyy="2.16e-06" iyz="0.0" izz="3.69e-06" />
</inertial>
</link>
<joint name="right_ankle_pitch_joint" type="revolute">
<origin xyz="-7.40514069974343e-05 0.0 -0.417063028945095" rpy="0.0 0.0 0.0" />
<parent link="right_knee_link" />
<child link="right_ankle_pitch_link" />
<axis xyz="-0.0 1.0 -0.0" />
<limit effort="70.0" velocity="24.48" lower="-1.0123" upper="0.61086" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_ankle_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/right_ankle_roll_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.018 0.0 -0.056" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.18 0.065 0.022" />
</geometry>
</collision>
<collision>
<origin xyz="0.11773 0.0355 -0.068" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.005" />
</geometry>
</collision>
<collision>
<origin xyz="0.11773 -0.04208 -0.068" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.005" />
</geometry>
</collision>
<collision>
<origin xyz="-0.07665 -0.034 -0.068" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.005" />
</geometry>
</collision>
<collision>
<origin xyz="-0.07665 0.034 -0.068" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.005" />
</geometry>
</collision>
<collision>
<origin xyz="0.145 0.0 -0.05977" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.005" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00952498 -0.002470515 -0.037849975" rpy="0.0 0.0 0.0" />
<mass value="1.205462175" />
<inertia ixx="0.001307735" ixy="9.4965e-05" ixz="0.000553425" iyy="0.005067835" iyz="-2.8760000000000002e-05" izz="0.005251935" />
</inertial>
</link>
<joint name="right_ankle_roll_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_ankle_pitch_link" />
<child link="right_ankle_roll_link" />
<axis xyz="1.0 -0.0 -0.0" />
<limit effort="70.0" velocity="24.48" lower="-0.43633" upper="0.43633" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="contact_foot_center_R">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
<material name="marker_red" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<joint name="contact_foot_center_joint_R" type="fixed">
<origin xyz="0.0 0.0 -0.07327" rpy="0.0 0.0 0.0" />
<parent link="right_ankle_roll_link" />
<child link="contact_foot_center_R" />
</joint>
<link name="contact_foot_heel_R">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
<material name="marker_red" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<joint name="contact_foot_heel_joint_R" type="fixed">
<origin xyz="-0.09669 0.0 -0.07327" rpy="0.0 0.0 0.0" />
<parent link="right_ankle_roll_link" />
<child link="contact_foot_heel_R" />
</joint>
<link name="contact_foot_tip_R">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
<material name="marker_red" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<joint name="contact_foot_tip_joint_R" type="fixed">
<origin xyz="0.11773 0.0 -0.07327" rpy="0.0 0.0 0.0" />
<parent link="right_ankle_roll_link" />
<child link="contact_foot_tip_R" />
</joint>
<link name="waist_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/waist_yaw_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.019515 -0.00018707 0.028951" rpy="0.0 0.0 0.0" />
<mass value="0.93774" />
<inertia ixx="0.0011999" ixy="3.99e-06" ixz="-0.00033612" iyy="0.0018677" iyz="1.34e-06" izz="0.0017762" />
</inertial>
</link>
<joint name="waist_yaw_joint" type="revolute">
<origin xyz="0.0 3.40601610519e-06 0.12958" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="waist_yaw_link" />
<axis xyz="-0.0 -0.0 1.0" />
<limit effort="70.0" velocity="24.48" lower="-1.5708" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="waist_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/waist_roll_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 -0.00013759" rpy="0.0 0.0 0.0" />
<mass value="0.31501408" />
<inertia ixx="0.00019826" ixy="0.0" ixz="0.0" iyy="4.083e-05" iyz="0.0" izz="0.00020168" />
</inertial>
</link>
<joint name="waist_roll_joint" type="revolute">
<origin xyz="0.0 0.0 0.0595999999999998" rpy="0.0 0.0 0.0" />
<parent link="waist_yaw_link" />
<child link="waist_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="70.0" velocity="24.48" lower="-0.5236" upper="0.5236" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="waist_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/waist_pitch_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/waist_pitch_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.01541756 -4.37e-06 0.19056282" rpy="0.0 0.0 0.0" />
<mass value="11.65536043" />
<inertia ixx="0.13631931" ixy="-7.679e-05" ixz="0.01041615" iyy="0.11394267" iyz="7.649e-05" izz="0.07910081" />
</inertial>
</link>
<joint name="waist_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="waist_roll_link" />
<child link="waist_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="70.0" velocity="24.48" lower="-0.5236" upper="0.7854" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="head_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/head_yaw_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-5.822e-05 0.00331589 0.04716509" rpy="0.0 0.0 0.0" />
<mass value="0.39074289" />
<inertia ixx="0.00020957" ixy="1.38e-06" ixz="4.1e-06" iyy="0.00018734" iyz="-1.63e-06" izz="0.00017487" />
</inertial>
</link>
<joint name="head_yaw_joint" type="revolute">
<origin xyz="-0.0280961087301243 0.0 0.348670496884438" rpy="0.0 0.0 0.0" />
<parent link="waist_pitch_link" />
<child link="head_yaw_link" />
<axis xyz="-0.0 -0.0 1.0" />
<limit effort="15.8" velocity="17.47" lower="-0.7854" upper="0.7854" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="head_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/head_pitch_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/head_pitch_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.02597569 -0.0296937 0.08347172" rpy="0.0 0.0 0.0" />
<mass value="0.75270394" />
<inertia ixx="0.00318957" ixy="4.38e-06" ixz="0.00032073" iyy="0.00329005" iyz="1.141e-05" izz="0.0027032" />
</inertial>
</link>
<joint name="head_pitch_joint" type="revolute">
<origin xyz="1.58650833830612e-05 0.0295999999996828 0.0499959437400408" rpy="0.0 0.0 0.0" />
<parent link="head_yaw_link" />
<child link="head_pitch_link" />
<axis xyz="-0.0 1.0 -0.0" />
<limit effort="15.8" velocity="17.47" lower="-0.5236" upper="0.5236" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_shoulder_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/left_shoulder_pitch_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/left_shoulder_pitch_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.001074835 0.035558825 0.00249631" rpy="0.0 0.0 0.0" />
<mass value="0.41826782" />
<inertia ixx="0.00058057" ixy="2.8135e-05" ixz="-4.21e-06" iyy="0.000707775" iyz="-1.4934999999999998e-05" izz="0.0007612" />
</inertial>
</link>
<joint name="left_shoulder_pitch_joint" type="revolute">
<origin xyz="-0.0299999999990098 0.123000000000184 0.276600000000001" rpy="0.0 0.0 0.0" />
<parent link="waist_pitch_link" />
<child link="left_shoulder_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="70.0" velocity="24.48" lower="-3.0543" upper="1.0472" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_shoulder_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/left_shoulder_roll_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/left_shoulder_roll_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00017774499999999999 -0.000204635 -0.039822184999999996" rpy="0.0 0.0 0.0" />
<mass value="1.980050065" />
<inertia ixx="0.004159025" ixy="2.4149999999999997e-06" ixz="7.81e-06" iyy="0.004117775000000001" iyz="-1.5975000000000002e-05" izz="0.0012202749999999998" />
</inertial>
</link>
<joint name="left_shoulder_roll_joint" type="revolute">
<origin xyz="0.0 0.0692000055837298 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_shoulder_pitch_link" />
<child link="left_shoulder_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="70.0" velocity="24.48" lower="-0.087266" upper="1.9199" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_shoulder_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/left_shoulder_yaw_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/left_shoulder_yaw_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00078608 0.0024226200000000003 -0.0594" rpy="0.0 0.0 0.0" />
<mass value="0.487684695" />
<inertia ixx="0.001234515" ixy="-1.697e-05" ixz="5.045e-05" iyy="0.001139565" iyz="5.975e-05" izz="0.0005274" />
</inertial>
</link>
<joint name="left_shoulder_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 -0.1126" rpy="0.0 0.0 0.0" />
<parent link="left_shoulder_roll_link" />
<child link="left_shoulder_yaw_link" />
<axis xyz="-0.0 -0.0 1.0" />
<limit effort="70.0" velocity="24.48" lower="-2.5307" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_elbow_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/left_elbow_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/left_elbow_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.005490625 0.00046824 -0.051280995" rpy="0.0 0.0 0.0" />
<mass value="1.54710466" />
<inertia ixx="0.005924270000000001" ixy="-3.36e-06" ixz="-0.000361005" iyy="0.00606145" iyz="-3.693e-05" izz="0.00081196" />
</inertial>
</link>
<joint name="left_elbow_joint" type="revolute">
<origin xyz="0.0130000000000001 5.00000000004108e-05 -0.1183" rpy="0.0 0.0 0.0" />
<parent link="left_shoulder_yaw_link" />
<child link="left_elbow_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="30.0" velocity="26.93" lower="-2.3911" upper="0.5236" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_wrist_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.004" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/left_wrist_yaw_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.004" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/left_wrist_yaw_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.002049085 -0.001740855 -0.04309845" rpy="0.0 0.0 0.0" />
<mass value="0.6406095700000001" />
<inertia ixx="0.0027453900000000003" ixy="2.943e-05" ixz="9.189e-05" iyy="0.002842405" iyz="-9.2385e-05" izz="0.00037398499999999996" />
</inertial>
</link>
<joint name="left_wrist_yaw_joint" type="revolute">
<origin xyz="-0.00799999999999785 4.99999999999945e-05 -0.22199999999999" rpy="0.0 0.0 0.0" />
<parent link="left_elbow_link" />
<child link="left_wrist_yaw_link" />
<axis xyz="-0.0 -0.0 1.0" />
<limit effort="15.8" velocity="17.47" lower="-1.5708" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_hand_contact">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
<material name="marker_red" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<joint name="left_hand_contact_joint" type="fixed">
<origin xyz="0.0 0.0 -0.121" rpy="0.0 0.0 0.0" />
<parent link="left_wrist_yaw_link" />
<child link="left_hand_contact" />
</joint>
<link name="left_hand_manip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
<material name="marker_red" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<joint name="left_hand_manip_joint" type="fixed">
<origin xyz="0.0 0.0 -0.121" rpy="0.0 1.5708 0.0" />
<parent link="left_wrist_yaw_link" />
<child link="left_hand_manip" />
</joint>
<link name="right_shoulder_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/right_shoulder_pitch_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/right_shoulder_pitch_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.001074835 -0.035558825 0.00249631" rpy="0.0 0.0 0.0" />
<mass value="0.41826782" />
<inertia ixx="0.00058057" ixy="-2.8135e-05" ixz="-4.21e-06" iyy="0.000707775" iyz="1.4934999999999998e-05" izz="0.0007612" />
</inertial>
</link>
<joint name="right_shoulder_pitch_joint" type="revolute">
<origin xyz="-0.0299999999990098 -0.123000000000184 0.276600000000001" rpy="0.0 0.0 0.0" />
<parent link="waist_pitch_link" />
<child link="right_shoulder_pitch_link" />
<axis xyz="-0.0 1.0 -0.0" />
<limit effort="70.0" velocity="24.48" lower="-3.0543" upper="1.0472" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_shoulder_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/right_shoulder_roll_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/right_shoulder_roll_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00017774499999999999 0.000204635 -0.039822184999999996" rpy="0.0 0.0 0.0" />
<mass value="1.980050065" />
<inertia ixx="0.004159025" ixy="-2.4149999999999997e-06" ixz="7.81e-06" iyy="0.004117775000000001" iyz="1.5975000000000002e-05" izz="0.0012202749999999998" />
</inertial>
</link>
<joint name="right_shoulder_roll_joint" type="revolute">
<origin xyz="0.0 -0.0692000055837298 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_shoulder_pitch_link" />
<child link="right_shoulder_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="70.0" velocity="24.48" lower="-1.9199" upper="0.087266" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_shoulder_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/right_shoulder_yaw_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/right_shoulder_yaw_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00078608 -0.0024226200000000003 -0.0594" rpy="0.0 0.0 0.0" />
<mass value="0.487684695" />
<inertia ixx="0.001234515" ixy="1.697e-05" ixz="5.045e-05" iyy="0.001139565" iyz="-5.975e-05" izz="0.0005274" />
</inertial>
</link>
<joint name="right_shoulder_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 -0.1126" rpy="0.0 0.0 0.0" />
<parent link="right_shoulder_roll_link" />
<child link="right_shoulder_yaw_link" />
<axis xyz="-0.0 -0.0 1.0" />
<limit effort="70.0" velocity="24.48" lower="-1.5708" upper="2.5307" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_elbow_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/right_elbow_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/right_elbow_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.005490625 -0.00046824 -0.051280995" rpy="0.0 0.0 0.0" />
<mass value="1.54710466" />
<inertia ixx="0.005924270000000001" ixy="3.36e-06" ixz="-0.000361005" iyy="0.00606145" iyz="3.693e-05" izz="0.00081196" />
</inertial>
</link>
<joint name="right_elbow_joint" type="revolute">
<origin xyz="0.0130000000000001 -5.00000000004108e-05 -0.1183" rpy="0.0 0.0 0.0" />
<parent link="right_shoulder_yaw_link" />
<child link="right_elbow_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="30.0" velocity="26.93" lower="-2.3911" upper="0.5236" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_wrist_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.004" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/right_wrist_yaw_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.004" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_L04_description/meshes/HU_L04_01/right_wrist_yaw_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.002049085 0.001740855 -0.04309845" rpy="0.0 0.0 0.0" />
<mass value="0.6406095700000001" />
<inertia ixx="0.0027453900000000003" ixy="-2.943e-05" ixz="9.189e-05" iyy="0.002842405" iyz="9.2385e-05" izz="0.00037398499999999996" />
</inertial>
</link>
<joint name="right_wrist_yaw_joint" type="revolute">
<origin xyz="-0.00799999999999785 -4.99999999999945e-05 -0.22199999999999" rpy="0.0 0.0 0.0" />
<parent link="right_elbow_link" />
<child link="right_wrist_yaw_link" />
<axis xyz="-0.0 -0.0 1.0" />
<limit effort="15.8" velocity="17.47" lower="-1.5708" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_hand_contact">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
<material name="marker_red" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<joint name="right_hand_contact_joint" type="fixed">
<origin xyz="0.0 0.0 -0.121" rpy="0.0 0.0 0.0" />
<parent link="right_wrist_yaw_link" />
<child link="right_hand_contact" />
</joint>
<link name="right_hand_manip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
<material name="marker_red" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<joint name="right_hand_manip_joint" type="fixed">
<origin xyz="0.0 0.0 -0.121" rpy="0.0 1.5708 0.0" />
<parent link="right_wrist_yaw_link" />
<child link="right_hand_manip" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 289abf8a74953382 -->
<mujoco model="HU_L04_01">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="marker_red" rgba="1.0 0.0 0.0 1.0" />
<mesh name="base_link" file="HU_L04_description/meshes/HU_L04_01/base_link.STL" />
<mesh name="left_hip_pitch_link" file="HU_L04_description/meshes/HU_L04_01/left_hip_pitch_link.STL" />
<mesh name="left_hip_roll_link" file="HU_L04_description/meshes/HU_L04_01/left_hip_roll_link.STL" />
<mesh name="left_hip_yaw_link" file="HU_L04_description/meshes/HU_L04_01/left_hip_yaw_link.STL" />
<mesh name="left_knee_link" file="HU_L04_description/meshes/HU_L04_01/left_knee_link.STL" />
<mesh name="left_knee_link_collision" file="HU_L04_description/meshes/HU_L04_01/left_knee_link_collision.STL" />
<mesh name="left_ankle_pitch_link" file="HU_L04_description/meshes/HU_L04_01/left_ankle_pitch_link.STL" />
<mesh name="left_ankle_roll_link" file="HU_L04_description/meshes/HU_L04_01/left_ankle_roll_link.STL" />
<mesh name="right_hip_pitch_link" file="HU_L04_description/meshes/HU_L04_01/right_hip_pitch_link.STL" />
<mesh name="right_hip_roll_link" file="HU_L04_description/meshes/HU_L04_01/right_hip_roll_link.STL" />
<mesh name="right_hip_yaw_link" file="HU_L04_description/meshes/HU_L04_01/right_hip_yaw_link.STL" />
<mesh name="right_knee_link" file="HU_L04_description/meshes/HU_L04_01/right_knee_link.STL" />
<mesh name="right_knee_link_collision" file="HU_L04_description/meshes/HU_L04_01/right_knee_link_collision.STL" />
<mesh name="right_ankle_pitch_link" file="HU_L04_description/meshes/HU_L04_01/right_ankle_pitch_link.STL" />
<mesh name="right_ankle_roll_link" file="HU_L04_description/meshes/HU_L04_01/right_ankle_roll_link.STL" />
<mesh name="waist_yaw_link" file="HU_L04_description/meshes/HU_L04_01/waist_yaw_link.STL" />
<mesh name="waist_roll_link" file="HU_L04_description/meshes/HU_L04_01/waist_roll_link.STL" />
<mesh name="waist_pitch_link" file="HU_L04_description/meshes/HU_L04_01/waist_pitch_link.STL" />
<mesh name="waist_pitch_link_collision" file="HU_L04_description/meshes/HU_L04_01/waist_pitch_link_collision.STL" />
<mesh name="head_yaw_link" file="HU_L04_description/meshes/HU_L04_01/head_yaw_link.STL" />
<mesh name="head_pitch_link" file="HU_L04_description/meshes/HU_L04_01/head_pitch_link.STL" />
<mesh name="left_shoulder_pitch_link" file="HU_L04_description/meshes/HU_L04_01/left_shoulder_pitch_link.STL" />
<mesh name="left_shoulder_roll_link" file="HU_L04_description/meshes/HU_L04_01/left_shoulder_roll_link.STL" />
<mesh name="left_shoulder_yaw_link" file="HU_L04_description/meshes/HU_L04_01/left_shoulder_yaw_link.STL" />
<mesh name="left_elbow_link" file="HU_L04_description/meshes/HU_L04_01/left_elbow_link.STL" />
<mesh name="left_wrist_yaw_link" file="HU_L04_description/meshes/HU_L04_01/left_wrist_yaw_link.STL" />
<mesh name="right_shoulder_pitch_link" file="HU_L04_description/meshes/HU_L04_01/right_shoulder_pitch_link.STL" />
<mesh name="right_shoulder_roll_link" file="HU_L04_description/meshes/HU_L04_01/right_shoulder_roll_link.STL" />
<mesh name="right_shoulder_yaw_link" file="HU_L04_description/meshes/HU_L04_01/right_shoulder_yaw_link.STL" />
<mesh name="right_elbow_link" file="HU_L04_description/meshes/HU_L04_01/right_elbow_link.STL" />
<mesh name="right_wrist_yaw_link" file="HU_L04_description/meshes/HU_L04_01/right_wrist_yaw_link.STL" />
</asset>
<worldbody>
<body name="base_link">
<inertial pos="0.0036933 0.00027286 0.05504719" mass="6.44924514" fullinertia="0.04095352 0.01340395 0.04083703 1.495e-05 -0.00040094 -2.5e-07" />
<geom name="base_link_vis_0" type="mesh" mesh="base_link" pos="-0.00056266 0.00451 0.0" contype="0" conaffinity="0" group="2" />
<geom name="base_link_col_0" type="mesh" mesh="base_link" pos="-0.00056266 0.00451 0.0" group="3" />
<body name="base_imu" pos="-8.466e-05 -4.6e-05 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
<geom name="base_imu_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="marker_red" />
</body>
<body name="left_hip_pitch_link" pos="0.0 0.10843 0.028124">
<joint name="left_hip_pitch_joint" type="hinge" axis="-0.0 0.8660265528314682 -0.49999800978688286" range="-3.0543 1.5708" />
<inertial pos="0.00245202 0.003863235 -0.083076805" mass="2.563772465" fullinertia="0.00695592 0.006111025 0.00334657 1.6695000000000002e-05 0.000118235 -0.0008046049999999999" />
<geom name="left_hip_pitch_link_vis_0" type="mesh" mesh="left_hip_pitch_link" contype="0" conaffinity="0" group="2" />
<geom name="left_hip_pitch_link_col_0" type="mesh" mesh="left_hip_pitch_link" group="3" />
<body name="left_hip_roll_link" pos="0.0 -0.000928882791991492 -0.0998113463614758">
<joint name="left_hip_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.0472 1.5708" />
<inertial pos="0.002998195 -0.0029406249999999997 -0.042980075" mass="0.96446718" fullinertia="0.00215128 0.0025807599999999997 0.0024414099999999998 -1.8404999999999997e-05 -0.00014623499999999998 -3.01e-06" />
<geom name="left_hip_roll_link_vis_0" type="mesh" mesh="left_hip_roll_link" contype="0" conaffinity="0" group="2" />
<geom name="left_hip_roll_link_col_0" type="mesh" mesh="left_hip_roll_link" group="3" />
<body name="left_hip_yaw_link" pos="-0.000456858436752703 0.0 -0.0764999999999998">
<joint name="left_hip_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.5708 1.5708" />
<inertial pos="-0.000337765 -0.00063904 -0.06737818500000001" mass="2.8471496800000002" fullinertia="0.014760785 0.014635229999999999 0.00562815 -1.263e-05 -0.000411 -0.00027203" />
<geom name="left_hip_yaw_link_vis_0" type="mesh" mesh="left_hip_yaw_link" contype="0" conaffinity="0" group="2" />
<geom name="left_hip_yaw_link_col_0" type="mesh" mesh="left_hip_yaw_link" group="3" />
<body name="left_knee_link" pos="-0.0200001840152544 0.0 -0.184500355579722">
<joint name="left_knee_joint" type="hinge" axis="-0.0 1.0 -0.0" range="-0.087266 2.4435" />
<inertial pos="0.01587861 -0.000749395 -0.109227005" mass="5.062820609999999" fullinertia="0.06210234 0.064925465 0.00639306 -1.732e-05 0.003455995 0.00029199499999999997" />
<geom name="left_knee_link_vis_0" type="mesh" mesh="left_knee_link" contype="0" conaffinity="0" group="2" />
<geom name="left_knee_link_col_0" type="mesh" mesh="left_knee_link_collision" group="3" />
<body name="left_ankle_pitch_link" pos="-7.40514069974343e-05 0.0 -0.417063028945095">
<joint name="left_ankle_pitch_joint" type="hinge" axis="-0.0 1.0 -0.0" range="-1.0123 0.61086" />
<inertial pos="0.0 0.0 0.0" mass="0.03944929" fullinertia="3.46e-06 2.16e-06 3.69e-06 0.0 0.0 0.0" />
<geom name="left_ankle_pitch_link_vis_0" type="mesh" mesh="left_ankle_pitch_link" contype="0" conaffinity="0" group="2" />
<body name="left_ankle_roll_link">
<joint name="left_ankle_roll_joint" type="hinge" axis="1.0 -0.0 -0.0" range="-0.43633 0.43633" />
<inertial pos="0.00952498 0.002470515 -0.037849975" mass="1.205462175" fullinertia="0.001307735 0.005067835 0.005251935 -9.4965e-05 0.000553425 2.8760000000000002e-05" />
<geom name="left_ankle_roll_link_vis_0" type="mesh" mesh="left_ankle_roll_link" contype="0" conaffinity="0" group="2" />
<geom name="left_ankle_roll_link_col_0" type="box" size="0.09 0.0325 0.011" pos="0.018 0.0 -0.056" group="3" />
<geom name="left_ankle_roll_link_col_1" type="sphere" size="0.005" pos="0.11773 -0.0355 -0.068" group="3" />
<geom name="left_ankle_roll_link_col_2" type="sphere" size="0.005" pos="0.11773 0.04208 -0.068" group="3" />
<geom name="left_ankle_roll_link_col_3" type="sphere" size="0.005" pos="-0.07665 0.034 -0.068" group="3" />
<geom name="left_ankle_roll_link_col_4" type="sphere" size="0.005" pos="-0.07665 -0.034 -0.068" group="3" />
<geom name="left_ankle_roll_link_col_5" type="sphere" size="0.005" pos="0.145 0.0 -0.05977" group="3" />
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<geom name="contact_foot_center_L_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="marker_red" />
</body>
<body name="contact_foot_heel_L" pos="-0.09669 0.0 -0.07327">
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<geom name="contact_foot_heel_L_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="marker_red" />
</body>
<body name="contact_foot_tip_L" pos="0.11773 0.0 -0.07327">
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<geom name="contact_foot_tip_L_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="marker_red" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="right_hip_pitch_link" pos="0.0 -0.10843 0.028124">
<joint name="right_hip_pitch_joint" type="hinge" axis="-0.0 0.8660265528314682 0.49999800978688286" range="-3.0543 1.5708" />
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<body name="right_hip_roll_link" pos="0.0 0.000928882791991492 -0.0998113463614758">
<joint name="right_hip_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.5708 1.0472" />
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<joint name="right_hip_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.5708 1.5708" />
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<body name="right_ankle_roll_link">
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<geom name="right_ankle_roll_link_col_4" type="sphere" size="0.005" pos="-0.07665 0.034 -0.068" group="3" />
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<body name="contact_foot_center_R" pos="0.0 0.0 -0.07327">
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<geom name="contact_foot_center_R_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="marker_red" />
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<body name="contact_foot_heel_R" pos="-0.09669 0.0 -0.07327">
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<geom name="contact_foot_heel_R_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="marker_red" />
</body>
<body name="contact_foot_tip_R" pos="0.11773 0.0 -0.07327">
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<geom name="contact_foot_tip_R_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="marker_red" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="waist_yaw_link" pos="0.0 3.40601610519e-06 0.12958">
<joint name="waist_yaw_joint" type="hinge" axis="-0.0 -0.0 1.0" range="-1.5708 1.5708" />
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<geom name="waist_yaw_link_vis_0" type="mesh" mesh="waist_yaw_link" contype="0" conaffinity="0" group="2" />
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<joint name="waist_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.5236 0.5236" />
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<geom name="waist_roll_link_vis_0" type="mesh" mesh="waist_roll_link" contype="0" conaffinity="0" group="2" />
<body name="waist_pitch_link">
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<geom name="waist_pitch_link_vis_0" type="mesh" mesh="waist_pitch_link" contype="0" conaffinity="0" group="2" />
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<geom name="head_yaw_link_vis_0" type="mesh" mesh="head_yaw_link" contype="0" conaffinity="0" group="2" />
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<joint name="head_pitch_joint" type="hinge" axis="-0.0 1.0 -0.0" range="-0.5236 0.5236" />
<inertial pos="0.02597569 -0.0296937 0.08347172" mass="0.75270394" fullinertia="0.00318957 0.00329005 0.0027032 4.38e-06 0.00032073 1.141e-05" />
<geom name="head_pitch_link_vis_0" type="mesh" mesh="head_pitch_link" contype="0" conaffinity="0" group="2" />
<geom name="head_pitch_link_col_0" type="mesh" mesh="head_pitch_link" group="3" />
</body>
</body>
<body name="left_shoulder_pitch_link" pos="-0.0299999999990098 0.123000000000184 0.276600000000001">
<joint name="left_shoulder_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-3.0543 1.0472" />
<inertial pos="-0.001074835 0.035558825 0.00249631" mass="0.41826782" fullinertia="0.00058057 0.000707775 0.0007612 2.8135e-05 -4.21e-06 -1.4934999999999998e-05" />
<geom name="left_shoulder_pitch_link_vis_0" type="mesh" mesh="left_shoulder_pitch_link" contype="0" conaffinity="0" group="2" />
<geom name="left_shoulder_pitch_link_col_0" type="mesh" mesh="left_shoulder_pitch_link" group="3" />
<body name="left_shoulder_roll_link" pos="0.0 0.0692000055837298 0.0">
<joint name="left_shoulder_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.087266 1.9199" />
<inertial pos="-0.00017774499999999999 -0.000204635 -0.039822184999999996" mass="1.980050065" fullinertia="0.004159025 0.004117775000000001 0.0012202749999999998 2.4149999999999997e-06 7.81e-06 -1.5975000000000002e-05" />
<geom name="left_shoulder_roll_link_vis_0" type="mesh" mesh="left_shoulder_roll_link" contype="0" conaffinity="0" group="2" />
<geom name="left_shoulder_roll_link_col_0" type="mesh" mesh="left_shoulder_roll_link" group="3" />
<body name="left_shoulder_yaw_link" pos="0.0 0.0 -0.1126">
<joint name="left_shoulder_yaw_joint" type="hinge" axis="-0.0 -0.0 1.0" range="-2.5307 1.5708" />
<inertial pos="-0.00078608 0.0024226200000000003 -0.0594" mass="0.487684695" fullinertia="0.001234515 0.001139565 0.0005274 -1.697e-05 5.045e-05 5.975e-05" />
<geom name="left_shoulder_yaw_link_vis_0" type="mesh" mesh="left_shoulder_yaw_link" contype="0" conaffinity="0" group="2" />
<geom name="left_shoulder_yaw_link_col_0" type="mesh" mesh="left_shoulder_yaw_link" group="3" />
<body name="left_elbow_link" pos="0.0130000000000001 5.00000000004108e-05 -0.1183">
<joint name="left_elbow_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.3911 0.5236" />
<inertial pos="-0.005490625 0.00046824 -0.051280995" mass="1.54710466" fullinertia="0.005924270000000001 0.00606145 0.00081196 -3.36e-06 -0.000361005 -3.693e-05" />
<geom name="left_elbow_link_vis_0" type="mesh" mesh="left_elbow_link" contype="0" conaffinity="0" group="2" />
<geom name="left_elbow_link_col_0" type="mesh" mesh="left_elbow_link" group="3" />
<body name="left_wrist_yaw_link" pos="-0.00799999999999785 4.99999999999945e-05 -0.22199999999999">
<joint name="left_wrist_yaw_joint" type="hinge" axis="-0.0 -0.0 1.0" range="-1.5708 1.5708" />
<inertial pos="0.002049085 -0.001740855 -0.04309845" mass="0.6406095700000001" fullinertia="0.0027453900000000003 0.002842405 0.00037398499999999996 2.943e-05 9.189e-05 -9.2385e-05" />
<geom name="left_wrist_yaw_link_vis_0" type="mesh" mesh="left_wrist_yaw_link" pos="0.0 0.0 0.004" contype="0" conaffinity="0" group="2" />
<geom name="left_wrist_yaw_link_col_0" type="mesh" mesh="left_wrist_yaw_link" pos="0.0 0.0 0.004" group="3" />
<body name="left_hand_contact" pos="0.0 0.0 -0.121">
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-07 1e-07 1e-07 0.0 0.0 0.0" />
<geom name="left_hand_contact_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="marker_red" />
</body>
<body name="left_hand_manip" pos="0.0 0.0 -0.121" quat="0.7071054825112363 0.0 0.7071080798594735 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-07 1e-07 1e-07 0.0 0.0 0.0" />
<geom name="left_hand_manip_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="marker_red" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="right_shoulder_pitch_link" pos="-0.0299999999990098 -0.123000000000184 0.276600000000001">
<joint name="right_shoulder_pitch_joint" type="hinge" axis="-0.0 1.0 -0.0" range="-3.0543 1.0472" />
<inertial pos="-0.001074835 -0.035558825 0.00249631" mass="0.41826782" fullinertia="0.00058057 0.000707775 0.0007612 -2.8135e-05 -4.21e-06 1.4934999999999998e-05" />
<geom name="right_shoulder_pitch_link_vis_0" type="mesh" mesh="right_shoulder_pitch_link" contype="0" conaffinity="0" group="2" />
<geom name="right_shoulder_pitch_link_col_0" type="mesh" mesh="right_shoulder_pitch_link" group="3" />
<body name="right_shoulder_roll_link" pos="0.0 -0.0692000055837298 0.0">
<joint name="right_shoulder_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.9199 0.087266" />
<inertial pos="-0.00017774499999999999 0.000204635 -0.039822184999999996" mass="1.980050065" fullinertia="0.004159025 0.004117775000000001 0.0012202749999999998 -2.4149999999999997e-06 7.81e-06 1.5975000000000002e-05" />
<geom name="right_shoulder_roll_link_vis_0" type="mesh" mesh="right_shoulder_roll_link" contype="0" conaffinity="0" group="2" />
<geom name="right_shoulder_roll_link_col_0" type="mesh" mesh="right_shoulder_roll_link" group="3" />
<body name="right_shoulder_yaw_link" pos="0.0 0.0 -0.1126">
<joint name="right_shoulder_yaw_joint" type="hinge" axis="-0.0 -0.0 1.0" range="-1.5708 2.5307" />
<inertial pos="-0.00078608 -0.0024226200000000003 -0.0594" mass="0.487684695" fullinertia="0.001234515 0.001139565 0.0005274 1.697e-05 5.045e-05 -5.975e-05" />
<geom name="right_shoulder_yaw_link_vis_0" type="mesh" mesh="right_shoulder_yaw_link" contype="0" conaffinity="0" group="2" />
<geom name="right_shoulder_yaw_link_col_0" type="mesh" mesh="right_shoulder_yaw_link" group="3" />
<body name="right_elbow_link" pos="0.0130000000000001 -5.00000000004108e-05 -0.1183">
<joint name="right_elbow_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.3911 0.5236" />
<inertial pos="-0.005490625 -0.00046824 -0.051280995" mass="1.54710466" fullinertia="0.005924270000000001 0.00606145 0.00081196 3.36e-06 -0.000361005 3.693e-05" />
<geom name="right_elbow_link_vis_0" type="mesh" mesh="right_elbow_link" contype="0" conaffinity="0" group="2" />
<geom name="right_elbow_link_col_0" type="mesh" mesh="right_elbow_link" group="3" />
<body name="right_wrist_yaw_link" pos="-0.00799999999999785 -4.99999999999945e-05 -0.22199999999999">
<joint name="right_wrist_yaw_joint" type="hinge" axis="-0.0 -0.0 1.0" range="-1.5708 1.5708" />
<inertial pos="0.002049085 0.001740855 -0.04309845" mass="0.6406095700000001" fullinertia="0.0027453900000000003 0.002842405 0.00037398499999999996 -2.943e-05 9.189e-05 9.2385e-05" />
<geom name="right_wrist_yaw_link_vis_0" type="mesh" mesh="right_wrist_yaw_link" pos="0.0 0.0 0.004" contype="0" conaffinity="0" group="2" />
<geom name="right_wrist_yaw_link_col_0" type="mesh" mesh="right_wrist_yaw_link" pos="0.0 0.0 0.004" group="3" />
<body name="right_hand_contact" pos="0.0 0.0 -0.121">
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-07 1e-07 1e-07 0.0 0.0 0.0" />
<geom name="right_hand_contact_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="marker_red" />
</body>
<body name="right_hand_manip" pos="0.0 0.0 -0.121" quat="0.7071054825112363 0.0 0.7071080798594735 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-07 1e-07 1e-07 0.0 0.0 0.0" />
<geom name="right_hand_manip_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="marker_red" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base_link" body2="base_imu" />
<exclude body1="base_link" body2="left_hip_pitch_link" />
<exclude body1="left_hip_pitch_link" body2="left_hip_roll_link" />
<exclude body1="left_hip_roll_link" body2="left_hip_yaw_link" />
<exclude body1="left_hip_yaw_link" body2="left_knee_link" />
<exclude body1="left_knee_link" body2="left_ankle_pitch_link" />
<exclude body1="left_ankle_pitch_link" body2="left_ankle_roll_link" />
<exclude body1="left_ankle_roll_link" body2="contact_foot_center_L" />
<exclude body1="left_ankle_roll_link" body2="contact_foot_heel_L" />
<exclude body1="left_ankle_roll_link" body2="contact_foot_tip_L" />
<exclude body1="base_link" body2="right_hip_pitch_link" />
<exclude body1="right_hip_pitch_link" body2="right_hip_roll_link" />
<exclude body1="right_hip_roll_link" body2="right_hip_yaw_link" />
<exclude body1="right_hip_yaw_link" body2="right_knee_link" />
<exclude body1="right_knee_link" body2="right_ankle_pitch_link" />
<exclude body1="right_ankle_pitch_link" body2="right_ankle_roll_link" />
<exclude body1="right_ankle_roll_link" body2="contact_foot_center_R" />
<exclude body1="right_ankle_roll_link" body2="contact_foot_heel_R" />
<exclude body1="right_ankle_roll_link" body2="contact_foot_tip_R" />
<exclude body1="base_link" body2="waist_yaw_link" />
<exclude body1="waist_yaw_link" body2="waist_roll_link" />
<exclude body1="waist_roll_link" body2="waist_pitch_link" />
<exclude body1="waist_pitch_link" body2="head_yaw_link" />
<exclude body1="head_yaw_link" body2="head_pitch_link" />
<exclude body1="waist_pitch_link" body2="left_shoulder_pitch_link" />
<exclude body1="left_shoulder_pitch_link" body2="left_shoulder_roll_link" />
<exclude body1="left_shoulder_roll_link" body2="left_shoulder_yaw_link" />
<exclude body1="left_shoulder_yaw_link" body2="left_elbow_link" />
<exclude body1="left_elbow_link" body2="left_wrist_yaw_link" />
<exclude body1="left_wrist_yaw_link" body2="left_hand_contact" />
<exclude body1="left_wrist_yaw_link" body2="left_hand_manip" />
<exclude body1="waist_pitch_link" body2="right_shoulder_pitch_link" />
<exclude body1="right_shoulder_pitch_link" body2="right_shoulder_roll_link" />
<exclude body1="right_shoulder_roll_link" body2="right_shoulder_yaw_link" />
<exclude body1="right_shoulder_yaw_link" body2="right_elbow_link" />
<exclude body1="right_elbow_link" body2="right_wrist_yaw_link" />
<exclude body1="right_wrist_yaw_link" body2="right_hand_contact" />
<exclude body1="right_wrist_yaw_link" body2="right_hand_manip" />
</contact>
</mujoco>
Import report
Counts
| Links | 39 |
|---|---|
| Joints | 38 |
| Moving joints | 27 |
| Visuals | 39 |
| Collisions | 33 |
| Materials | 1 |
Meshes
Formats: stl.
Asset size: 60.9 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
mujoco | 1 | <mujoco> is not part of the URDF subset RobotDescription mirrors |
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 · 3.7e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 27).
Source & licence
| Repository | https://github.com/limxdynamics/luna-description |
|---|---|
| Commit | 21608d34151fdedfd3c2b6fc03d1e2ba22e503a1 |
| Original file | HU_L04_description/urdf/HU_L04_01.urdf |
| Licence | Apache-2.0 · the upstream LICENSE file |
| Files | robot.urdf · robot.xml |
Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.