Mini Cheetah
MIT · licence BSD · source: github.com/Derek-TH-Wang/mini_cheetah_urdf @ 1988bceb2
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 44c6c729366f8e3a -->
<robot name="mini_cheetah">
<link name="body">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/mini_body.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/mini_body.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="3.3" />
<inertia ixx="0.011253" ixy="0.0" ixz="0.0" iyy="0.036203" iyz="0.0" izz="0.042673" />
</inertial>
</link>
<joint name="torso_to_abduct_fr_j" type="continuous">
<origin xyz="0.19 -0.049 0.0" rpy="0.0 0.0 0.0" />
<parent link="body" />
<child link="abduct_fr" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="abduct_fr">
<visual>
<origin xyz="-0.055 0.0 0.0" rpy="3.141592 0.0 1.5708" />
<geometry>
<mesh filename="meshes/mini_abad.obj" />
</geometry>
</visual>
<collision>
<origin xyz="-0.055 0.0 0.0" rpy="3.141592 0.0 1.5708" />
<geometry>
<mesh filename="meshes/mini_abad.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.036 0.0" />
<mass value="0.54" />
<inertia ixx="0.000312" ixy="5.8e-05" ixz="-4.5e-07" iyy="0.000832" iyz="9.5e-07" izz="0.000249" />
</inertial>
</link>
<joint name="abduct_fr_to_thigh_fr_j" type="continuous">
<origin xyz="0.0 -0.062 0.0" rpy="0.0 0.0 0.0" />
<parent link="abduct_fr" />
<child link="thigh_fr" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="thigh_fr">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -1.5708 0.0" />
<geometry>
<mesh filename="meshes/mini_upper_link.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -1.5708 0.0" />
<geometry>
<mesh filename="meshes/mini_upper_link.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.016 -0.02" />
<mass value="0.634" />
<inertia ixx="0.000264" ixy="0.000245" ixz="-1.3e-05" iyy="0.000306" iyz="0.000204" izz="0.002093" />
</inertial>
</link>
<joint name="thigh_fr_to_knee_fr_j" type="continuous">
<origin xyz="0.0 0.0 -0.209" rpy="0.0 0.0 0.0" />
<parent link="thigh_fr" />
<child link="shank_fr" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="shank_fr">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 3.141592 0.0" />
<geometry>
<mesh filename="meshes/mini_lower_link.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 3.141592 0.0" />
<geometry>
<mesh filename="meshes/mini_lower_link.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.209" />
<mass value="0.064" />
<inertia ixx="0.000245" ixy="0.0" ixz="0.0" iyy="0.000248" iyz="0.0" izz="6e-06" />
</inertial>
</link>
<joint name="torso_to_abduct_fl_j" type="continuous">
<origin xyz="0.19 0.049 0.0" rpy="0.0 0.0 0.0" />
<parent link="body" />
<child link="abduct_fl" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="abduct_fl">
<visual>
<origin xyz="-0.055 0.0 0.0" rpy="0.0 0.0 -1.5708" />
<geometry>
<mesh filename="meshes/mini_abad.obj" />
</geometry>
</visual>
<collision>
<origin xyz="-0.055 0.0 0.0" rpy="0.0 0.0 -1.5708" />
<geometry>
<mesh filename="meshes/mini_abad.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.036 0.0" />
<mass value="0.54" />
<inertia ixx="0.000381" ixy="5.8e-05" ixz="4.5e-07" iyy="0.00056" iyz="9.5e-07" izz="0.000444" />
</inertial>
</link>
<joint name="abduct_fl_to_thigh_fl_j" type="continuous">
<origin xyz="0.0 0.062 0.0" rpy="0.0 0.0 0.0" />
<parent link="abduct_fl" />
<child link="thigh_fl" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="thigh_fl">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -1.5708 0.0" />
<geometry>
<mesh filename="meshes/mini_upper_link.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -1.5708 0.0" />
<geometry>
<mesh filename="meshes/mini_upper_link.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.016 -0.02" />
<mass value="0.634" />
<inertia ixx="0.001983" ixy="0.000245" ixz="1.3e-05" iyy="0.002103" iyz="1.5e-06" izz="0.000408" />
</inertial>
</link>
<joint name="thigh_fl_to_knee_fl_j" type="continuous">
<origin xyz="0.0 0.0 -0.209" rpy="0.0 0.0 0.0" />
<parent link="thigh_fl" />
<child link="shank_fl" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="shank_fl">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 3.141592 0.0" />
<geometry>
<mesh filename="meshes/mini_lower_link.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 3.141592 0.0" />
<geometry>
<mesh filename="meshes/mini_lower_link.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.209" />
<mass value="0.064" />
<inertia ixx="0.000245" ixy="0.0" ixz="0.0" iyy="0.000248" iyz="0.0" izz="6e-06" />
</inertial>
</link>
<joint name="torso_to_abduct_hr_j" type="continuous">
<origin xyz="-0.19 -0.049 0.0" rpy="0.0 0.0 0.0" />
<parent link="body" />
<child link="abduct_hr" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="abduct_hr">
<visual>
<origin xyz="0.055 0.0 0.0" rpy="0.0 0.0 1.5708" />
<geometry>
<mesh filename="meshes/mini_abad.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.055 0.0 0.0" rpy="0.0 0.0 1.5708" />
<geometry>
<mesh filename="meshes/mini_abad.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.036 0.0" />
<mass value="0.54" />
<inertia ixx="0.000312" ixy="5.8e-05" ixz="-4.5e-07" iyy="0.000832" iyz="9.5e-07" izz="0.000249" />
</inertial>
</link>
<joint name="abduct_hr_to_thigh_hr_j" type="continuous">
<origin xyz="0.0 -0.062 0.0" rpy="0.0 0.0 0.0" />
<parent link="abduct_hr" />
<child link="thigh_hr" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="thigh_hr">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -1.5708 0.0" />
<geometry>
<mesh filename="meshes/mini_upper_link.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -1.5708 0.0" />
<geometry>
<mesh filename="meshes/mini_upper_link.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.016 -0.02" />
<mass value="0.634" />
<inertia ixx="0.000264" ixy="0.000245" ixz="-1.3e-05" iyy="0.000306" iyz="0.000204" izz="0.002093" />
</inertial>
</link>
<joint name="thigh_hr_to_knee_hr_j" type="continuous">
<origin xyz="0.0 0.0 -0.209" rpy="0.0 0.0 0.0" />
<parent link="thigh_hr" />
<child link="shank_hr" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="shank_hr">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 3.141592 0.0" />
<geometry>
<mesh filename="meshes/mini_lower_link.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 3.141592 0.0" />
<geometry>
<mesh filename="meshes/mini_lower_link.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.209" />
<mass value="0.064" />
<inertia ixx="0.000245" ixy="0.0" ixz="0.0" iyy="0.000248" iyz="0.0" izz="6e-06" />
</inertial>
</link>
<joint name="torso_to_abduct_hl_j" type="continuous">
<origin xyz="-0.19 0.049 0.0" rpy="0.0 0.0 0.0" />
<parent link="body" />
<child link="abduct_hl" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="abduct_hl">
<visual>
<origin xyz="0.055 0.0 0.0" rpy="3.141592 0.0 -1.5708" />
<geometry>
<mesh filename="meshes/mini_abad.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.055 0.0 0.0" rpy="3.141592 0.0 -1.5708" />
<geometry>
<mesh filename="meshes/mini_abad.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.036 0.0" />
<mass value="0.54" />
<inertia ixx="0.000381" ixy="5.8e-05" ixz="4.5e-07" iyy="0.00056" iyz="9.5e-07" izz="0.000444" />
</inertial>
</link>
<joint name="abduct_hl_to_thigh_hl_j" type="continuous">
<origin xyz="0.0 0.062 0.0" rpy="0.0 0.0 0.0" />
<parent link="abduct_hl" />
<child link="thigh_hl" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="thigh_hl">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -1.5708 0.0" />
<geometry>
<mesh filename="meshes/mini_upper_link.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -1.5708 0.0" />
<geometry>
<mesh filename="meshes/mini_upper_link.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.016 -0.02" />
<mass value="0.634" />
<inertia ixx="0.001983" ixy="0.000245" ixz="1.3e-05" iyy="0.002103" iyz="1.5e-06" izz="0.000408" />
</inertial>
</link>
<joint name="thigh_hl_to_knee_hl_j" type="continuous">
<origin xyz="0.0 0.0 -0.209" rpy="0.0 0.0 0.0" />
<parent link="thigh_hl" />
<child link="shank_hl" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="shank_hl">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 3.141592 0.0" />
<geometry>
<mesh filename="meshes/mini_lower_link.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 3.141592 0.0" />
<geometry>
<mesh filename="meshes/mini_lower_link.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.209" />
<mass value="0.064" />
<inertia ixx="0.000245" ixy="0.0" ixz="0.0" iyy="0.000248" iyz="0.0" izz="6e-06" />
</inertial>
</link>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 44c6c729366f8e3a -->
<mujoco model="mini_cheetah">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="mini_body" file="meshes/mini_body.obj" />
<mesh name="mini_abad" file="meshes/mini_abad.obj" />
<mesh name="mini_upper_link" file="meshes/mini_upper_link.obj" />
<mesh name="mini_lower_link" file="meshes/mini_lower_link.obj" />
</asset>
<worldbody>
<body name="body">
<inertial pos="0.0 0.0 0.0" mass="3.3" fullinertia="0.011253 0.036203 0.042673 0.0 0.0 0.0" />
<geom name="body_vis_0" type="mesh" mesh="mini_body" contype="0" conaffinity="0" group="2" />
<geom name="body_col_0" type="mesh" mesh="mini_body" group="3" />
<body name="abduct_fr" pos="0.19 -0.049 0.0">
<joint name="torso_to_abduct_fr_j" type="hinge" axis="1.0 0.0 0.0" limited="false" />
<inertial pos="0.0 -0.036 0.0" mass="0.54" fullinertia="0.000312 0.000832 0.000249 5.8e-05 -4.5e-07 9.5e-07" />
<geom name="abduct_fr_vis_0" type="mesh" mesh="mini_abad" pos="-0.055 0.0 0.0" quat="2.3107846299880985e-07 0.7071054825111985 0.7071080798594358 2.3107931179895834e-07" contype="0" conaffinity="0" group="2" />
<geom name="abduct_fr_col_0" type="mesh" mesh="mini_abad" pos="-0.055 0.0 0.0" quat="2.3107846299880985e-07 0.7071054825111985 0.7071080798594358 2.3107931179895834e-07" group="3" />
<body name="thigh_fr" pos="0.0 -0.062 0.0">
<joint name="abduct_fr_to_thigh_fr_j" type="hinge" axis="0.0 -1.0 0.0" limited="false" />
<inertial pos="0.0 -0.016 -0.02" mass="0.634" fullinertia="0.000264 0.000306 0.002093 0.000245 -1.3e-05 0.000204" />
<geom name="thigh_fr_vis_0" type="mesh" mesh="mini_upper_link" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0" contype="0" conaffinity="0" group="2" />
<geom name="thigh_fr_col_0" type="mesh" mesh="mini_upper_link" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0" group="3" />
<body name="shank_fr" pos="0.0 0.0 -0.209">
<joint name="thigh_fr_to_knee_fr_j" type="hinge" axis="0.0 -1.0 0.0" limited="false" />
<inertial pos="0.0 0.0 -0.209" mass="0.064" fullinertia="0.000245 0.000248 6e-06 0.0 0.0 0.0" />
<geom name="shank_fr_vis_0" type="mesh" mesh="mini_lower_link" quat="3.2679489653813835e-07 0.0 0.9999999999999466 0.0" contype="0" conaffinity="0" group="2" />
<geom name="shank_fr_col_0" type="mesh" mesh="mini_lower_link" quat="3.2679489653813835e-07 0.0 0.9999999999999466 0.0" group="3" />
</body>
</body>
</body>
<body name="abduct_fl" pos="0.19 0.049 0.0">
<joint name="torso_to_abduct_fl_j" type="hinge" axis="1.0 0.0 0.0" limited="false" />
<inertial pos="0.0 0.036 0.0" mass="0.54" fullinertia="0.000381 0.00056 0.000444 5.8e-05 4.5e-07 9.5e-07" />
<geom name="abduct_fl_vis_0" type="mesh" mesh="mini_abad" pos="-0.055 0.0 0.0" quat="0.7071054825112363 0.0 0.0 -0.7071080798594735" contype="0" conaffinity="0" group="2" />
<geom name="abduct_fl_col_0" type="mesh" mesh="mini_abad" pos="-0.055 0.0 0.0" quat="0.7071054825112363 0.0 0.0 -0.7071080798594735" group="3" />
<body name="thigh_fl" pos="0.0 0.062 0.0">
<joint name="abduct_fl_to_thigh_fl_j" type="hinge" axis="0.0 -1.0 0.0" limited="false" />
<inertial pos="0.0 0.016 -0.02" mass="0.634" fullinertia="0.001983 0.002103 0.000408 0.000245 1.3e-05 1.5e-06" />
<geom name="thigh_fl_vis_0" type="mesh" mesh="mini_upper_link" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0" contype="0" conaffinity="0" group="2" />
<geom name="thigh_fl_col_0" type="mesh" mesh="mini_upper_link" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0" group="3" />
<body name="shank_fl" pos="0.0 0.0 -0.209">
<joint name="thigh_fl_to_knee_fl_j" type="hinge" axis="0.0 -1.0 0.0" limited="false" />
<inertial pos="0.0 0.0 -0.209" mass="0.064" fullinertia="0.000245 0.000248 6e-06 0.0 0.0 0.0" />
<geom name="shank_fl_vis_0" type="mesh" mesh="mini_lower_link" quat="3.2679489653813835e-07 0.0 0.9999999999999466 0.0" contype="0" conaffinity="0" group="2" />
<geom name="shank_fl_col_0" type="mesh" mesh="mini_lower_link" quat="3.2679489653813835e-07 0.0 0.9999999999999466 0.0" group="3" />
</body>
</body>
</body>
<body name="abduct_hr" pos="-0.19 -0.049 0.0">
<joint name="torso_to_abduct_hr_j" type="hinge" axis="1.0 0.0 0.0" limited="false" />
<inertial pos="0.0 -0.036 0.0" mass="0.54" fullinertia="0.000312 0.000832 0.000249 5.8e-05 -4.5e-07 9.5e-07" />
<geom name="abduct_hr_vis_0" type="mesh" mesh="mini_abad" pos="0.055 0.0 0.0" quat="0.7071054825112363 0.0 0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
<geom name="abduct_hr_col_0" type="mesh" mesh="mini_abad" pos="0.055 0.0 0.0" quat="0.7071054825112363 0.0 0.0 0.7071080798594735" group="3" />
<body name="thigh_hr" pos="0.0 -0.062 0.0">
<joint name="abduct_hr_to_thigh_hr_j" type="hinge" axis="0.0 -1.0 0.0" limited="false" />
<inertial pos="0.0 -0.016 -0.02" mass="0.634" fullinertia="0.000264 0.000306 0.002093 0.000245 -1.3e-05 0.000204" />
<geom name="thigh_hr_vis_0" type="mesh" mesh="mini_upper_link" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0" contype="0" conaffinity="0" group="2" />
<geom name="thigh_hr_col_0" type="mesh" mesh="mini_upper_link" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0" group="3" />
<body name="shank_hr" pos="0.0 0.0 -0.209">
<joint name="thigh_hr_to_knee_hr_j" type="hinge" axis="0.0 -1.0 0.0" limited="false" />
<inertial pos="0.0 0.0 -0.209" mass="0.064" fullinertia="0.000245 0.000248 6e-06 0.0 0.0 0.0" />
<geom name="shank_hr_vis_0" type="mesh" mesh="mini_lower_link" quat="3.2679489653813835e-07 0.0 0.9999999999999466 0.0" contype="0" conaffinity="0" group="2" />
<geom name="shank_hr_col_0" type="mesh" mesh="mini_lower_link" quat="3.2679489653813835e-07 0.0 0.9999999999999466 0.0" group="3" />
</body>
</body>
</body>
<body name="abduct_hl" pos="-0.19 0.049 0.0">
<joint name="torso_to_abduct_hl_j" type="hinge" axis="1.0 0.0 0.0" limited="false" />
<inertial pos="0.0 0.036 0.0" mass="0.54" fullinertia="0.000381 0.00056 0.000444 5.8e-05 4.5e-07 9.5e-07" />
<geom name="abduct_hl_vis_0" type="mesh" mesh="mini_abad" pos="0.055 0.0 0.0" quat="2.3107846299880985e-07 0.7071054825111985 -0.7071080798594358 -2.3107931179895834e-07" contype="0" conaffinity="0" group="2" />
<geom name="abduct_hl_col_0" type="mesh" mesh="mini_abad" pos="0.055 0.0 0.0" quat="2.3107846299880985e-07 0.7071054825111985 -0.7071080798594358 -2.3107931179895834e-07" group="3" />
<body name="thigh_hl" pos="0.0 0.062 0.0">
<joint name="abduct_hl_to_thigh_hl_j" type="hinge" axis="0.0 -1.0 0.0" limited="false" />
<inertial pos="0.0 0.016 -0.02" mass="0.634" fullinertia="0.001983 0.002103 0.000408 0.000245 1.3e-05 1.5e-06" />
<geom name="thigh_hl_vis_0" type="mesh" mesh="mini_upper_link" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0" contype="0" conaffinity="0" group="2" />
<geom name="thigh_hl_col_0" type="mesh" mesh="mini_upper_link" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0" group="3" />
<body name="shank_hl" pos="0.0 0.0 -0.209">
<joint name="thigh_hl_to_knee_hl_j" type="hinge" axis="0.0 -1.0 0.0" limited="false" />
<inertial pos="0.0 0.0 -0.209" mass="0.064" fullinertia="0.000245 0.000248 6e-06 0.0 0.0 0.0" />
<geom name="shank_hl_vis_0" type="mesh" mesh="mini_lower_link" quat="3.2679489653813835e-07 0.0 0.9999999999999466 0.0" contype="0" conaffinity="0" group="2" />
<geom name="shank_hl_col_0" type="mesh" mesh="mini_lower_link" quat="3.2679489653813835e-07 0.0 0.9999999999999466 0.0" group="3" />
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="body" body2="abduct_fr" />
<exclude body1="abduct_fr" body2="thigh_fr" />
<exclude body1="thigh_fr" body2="shank_fr" />
<exclude body1="body" body2="abduct_fl" />
<exclude body1="abduct_fl" body2="thigh_fl" />
<exclude body1="thigh_fl" body2="shank_fl" />
<exclude body1="body" body2="abduct_hr" />
<exclude body1="abduct_hr" body2="thigh_hr" />
<exclude body1="thigh_hr" body2="shank_hr" />
<exclude body1="body" body2="abduct_hl" />
<exclude body1="abduct_hl" body2="thigh_hl" />
<exclude body1="thigh_hl" body2="shank_hl" />
</contact>
</mujoco>
Import report
Counts
| Links | 13 |
|---|---|
| Joints | 12 |
| Moving joints | 12 |
| Visuals | 13 |
| Collisions | 13 |
| Materials | 0 |
Meshes
Formats: obj.
Asset size: 3.9 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
limit | 12 | no <limit>; RobotDescription always writes one, so effort = velocity = 0 |
Forward-kinematics check
Forward kinematics of 13 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 · 2.3e-16 rad.
MuJoCo
robot.xml did not compile in MuJoCo: Error: inertia must satisfy A + B >= C; use 'balanceinertia' to fix
Source & licence
| Repository | https://github.com/Derek-TH-Wang/mini_cheetah_urdf |
|---|---|
| Commit | 1988bceb26e81f28594a16e7d5e6abe5cbb27ace |
| Original file | urdf/mini_cheetah.urdf |
| Licence | BSD · 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.