Minitaur
Ghost Robotics · licence BSD-2-Clause · source: github.com/bulletphysics/bullet3 @ 7dee3436e
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 1637260d64a2a400 -->
<robot name="quadruped">
<material name="black">
<color rgba="0.3 0.3 0.3 1.0" />
</material>
<link name="base_chassis_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.33 0.1 0.07" />
</geometry>
<material name="black" />
</visual>
<visual>
<origin xyz="0.0 0.1 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.17 0.1 0.05" />
</geometry>
<material name="black" />
</visual>
<visual>
<origin xyz="0.0 -0.1 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.17 0.1 0.05" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.33 0.1 0.07" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.1 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.17 0.1 0.05" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 -0.1 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.17 0.1 0.05" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="3.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<material name="grey">
<color rgba="0.65 0.65 0.75 1.0" />
</material>
<link name="chassis_right">
<visual>
<origin xyz="0.0 0.035 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.34 0.01 0.04" />
</geometry>
<material name="grey" />
</visual>
<visual>
<origin xyz="0.0 -0.035 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.34 0.01 0.04" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.035 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.34 0.01 0.04" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 -0.035 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.34 0.01 0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="chassis_right_center" type="fixed">
<origin xyz="0.0 -0.1 0.0" rpy="-0.0872665 0.0 0.0" />
<parent link="base_chassis_link" />
<child link="chassis_right" />
</joint>
<link name="chassis_left">
<visual>
<origin xyz="0.0 0.035 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.34 0.01 0.04" />
</geometry>
<material name="grey" />
</visual>
<visual>
<origin xyz="0.0 -0.035 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.34 0.01 0.04" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.035 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.34 0.01 0.04" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 -0.035 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.34 0.01 0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="chassis_left_center" type="fixed">
<origin xyz="0.0 0.1 0.0" rpy="0.0872665 0.0 0.0" />
<parent link="base_chassis_link" />
<child link="chassis_left" />
</joint>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0" />
</material>
<link name="motor_front_rightR_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="tmotor3.obj" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.026" radius="0.0434" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.25" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="motor_front_rightR_joint" type="continuous">
<origin xyz="0.21 -0.025 0.0" rpy="1.57075 0.0 0.0" />
<parent link="chassis_right" />
<child link="motor_front_rightR_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="100.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="motor_front_rightL_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="tmotor3.obj" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.026" radius="0.0434" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.25" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="motor_front_rightL_joint" type="continuous">
<origin xyz="0.21 0.04 0.0" rpy="1.57075 0.0 3.141592" />
<parent link="chassis_right" />
<child link="motor_front_rightL_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="100.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="motor_front_leftL_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="tmotor3.obj" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.026" radius="0.0434" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.25" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="motor_front_leftL_joint" type="continuous">
<origin xyz="0.21 0.025 0.0" rpy="1.57075 0.0 3.141592" />
<parent link="chassis_left" />
<child link="motor_front_leftL_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="100.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="motor_front_leftR_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="tmotor3.obj" />
</geometry>
<material name="white" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.25" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="motor_front_leftR_joint" type="continuous">
<origin xyz="0.21 -0.04 0.0" rpy="1.57075 0.0 0.0" />
<parent link="chassis_left" />
<child link="motor_front_leftR_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="100.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="motor_back_rightR_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="tmotor3.obj" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.026" radius="0.0434" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.25" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="motor_back_rightR_joint" type="continuous">
<origin xyz="-0.21 -0.025 0.0" rpy="1.57075 0.0 0.0" />
<parent link="chassis_right" />
<child link="motor_back_rightR_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="100.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="motor_back_rightL_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="tmotor3.obj" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.026" radius="0.0434" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.25" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="motor_back_rightL_joint" type="continuous">
<origin xyz="-0.21 0.04 0.0" rpy="1.57075 0.0 3.141592" />
<parent link="chassis_right" />
<child link="motor_back_rightL_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="100.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="motor_back_leftL_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="tmotor3.obj" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.026" radius="0.0434" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.25" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="motor_back_leftL_joint" type="continuous">
<origin xyz="-0.21 0.025 0.0" rpy="1.57075 0.0 3.141592" />
<parent link="chassis_left" />
<child link="motor_back_leftL_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="100.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="motor_back_leftR_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="tmotor3.obj" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.026" radius="0.0434" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.25" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="motor_back_leftR_joint" type="continuous">
<origin xyz="-0.21 -0.04 0.0" rpy="1.57075 0.0 0.0" />
<parent link="chassis_left" />
<child link="motor_back_leftR_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="100.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="upper_leg_front_rightR_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.11" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.11" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="hip_front_rightR_link" type="fixed">
<origin xyz="0.0 0.06 -0.015" rpy="-1.57075 0.0 0.0" />
<parent link="motor_front_rightR_link" />
<child link="upper_leg_front_rightR_link" />
</joint>
<link name="lower_leg_front_rightR_link">
<visual>
<origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.2" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.2" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="knee_front_rightR_link" type="revolute">
<origin xyz="0.0 0.01 0.055" rpy="0.0 0.0 0.0" />
<parent link="upper_leg_front_rightR_link" />
<child link="lower_leg_front_rightR_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="100.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="upper_leg_front_rightL_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.11" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.11" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="motor_front_rightL_link" type="fixed">
<origin xyz="0.0 0.06 -0.015" rpy="-1.57075 0.0 0.0" />
<parent link="motor_front_rightL_link" />
<child link="upper_leg_front_rightL_link" />
</joint>
<link name="lower_leg_front_rightL_link">
<visual>
<origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.198" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.198" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="knee_front_rightL_link" type="revolute">
<origin xyz="0.0 0.01 0.055" rpy="0.0 0.0 0.0" />
<parent link="upper_leg_front_rightL_link" />
<child link="lower_leg_front_rightL_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="100.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="upper_leg_front_leftR_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.11" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.11" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="hip_front_leftR_link" type="fixed">
<origin xyz="0.0 0.06 -0.015" rpy="-1.57075 0.0 0.0" />
<parent link="motor_front_leftR_link" />
<child link="upper_leg_front_leftR_link" />
</joint>
<link name="lower_leg_front_leftR_link">
<visual>
<origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.2" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.2" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="knee_front_leftR_link" type="revolute">
<origin xyz="0.0 0.01 0.055" rpy="0.0 0.0 0.0" />
<parent link="upper_leg_front_leftR_link" />
<child link="lower_leg_front_leftR_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="100.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="upper_leg_front_leftL_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.11" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.11" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="motor_front_leftL_link" type="fixed">
<origin xyz="0.0 0.06 -0.015" rpy="-1.57075 0.0 0.0" />
<parent link="motor_front_leftL_link" />
<child link="upper_leg_front_leftL_link" />
</joint>
<link name="lower_leg_front_leftL_link">
<visual>
<origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.198" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.198" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="knee_front_leftL_link" type="revolute">
<origin xyz="0.0 0.01 0.055" rpy="0.0 0.0 0.0" />
<parent link="upper_leg_front_leftL_link" />
<child link="lower_leg_front_leftL_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="100.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="upper_leg_back_rightR_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.11" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.11" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="hip_rightR_link" type="fixed">
<origin xyz="0.0 0.06 -0.015" rpy="-1.57075 0.0 0.0" />
<parent link="motor_back_rightR_link" />
<child link="upper_leg_back_rightR_link" />
</joint>
<link name="lower_leg_back_rightR_link">
<visual>
<origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.2032" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.2032" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="knee_back_rightR_link" type="revolute">
<origin xyz="0.0 0.01 0.055" rpy="0.0 0.0 0.0" />
<parent link="upper_leg_back_rightR_link" />
<child link="lower_leg_back_rightR_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="100.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="upper_leg_back_rightL_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.11" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.11" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="motor_back_rightL_link" type="fixed">
<origin xyz="0.0 0.06 -0.015" rpy="-1.57075 0.0 0.0" />
<parent link="motor_back_rightL_link" />
<child link="upper_leg_back_rightL_link" />
</joint>
<link name="lower_leg_back_rightL_link">
<visual>
<origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.2" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.2" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="knee_back_rightL_link" type="revolute">
<origin xyz="0.0 0.01 0.055" rpy="0.0 0.0 0.0" />
<parent link="upper_leg_back_rightL_link" />
<child link="lower_leg_back_rightL_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="100.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="upper_leg_back_leftR_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.11" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.11" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="hip_leftR_link" type="fixed">
<origin xyz="0.0 0.06 -0.015" rpy="-1.57075 0.0 0.0" />
<parent link="motor_back_leftR_link" />
<child link="upper_leg_back_leftR_link" />
</joint>
<link name="lower_leg_back_leftR_link">
<visual>
<origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.2032" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.2032" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="knee_back_leftR_link" type="revolute">
<origin xyz="0.0 0.01 0.055" rpy="0.0 0.0 0.0" />
<parent link="upper_leg_back_leftR_link" />
<child link="lower_leg_back_leftR_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="100.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="upper_leg_back_leftL_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.11" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.11" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="motor_back_leftL_link" type="fixed">
<origin xyz="0.0 0.06 -0.015" rpy="-1.57075 0.0 0.0" />
<parent link="motor_back_leftL_link" />
<child link="upper_leg_back_leftL_link" />
</joint>
<link name="lower_leg_back_leftL_link">
<visual>
<origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.2" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.2" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.05" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="knee_back_leftL_link" type="revolute">
<origin xyz="0.0 0.01 0.055" rpy="0.0 0.0 0.0" />
<parent link="upper_leg_back_leftL_link" />
<child link="lower_leg_back_leftL_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="100.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 1637260d64a2a400 -->
<mujoco model="quadruped">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="black" rgba="0.3 0.3 0.3 1.0" />
<material name="grey" rgba="0.65 0.65 0.75 1.0" />
<material name="white" rgba="1.0 1.0 1.0 1.0" />
<mesh name="tmotor3" file="tmotor3.obj" />
</asset>
<worldbody>
<body name="base_chassis_link">
<inertial pos="0.0 0.0 0.0" mass="3.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="base_chassis_link_vis_0" type="box" size="0.165 0.05 0.035" contype="0" conaffinity="0" group="2" material="black" />
<geom name="base_chassis_link_vis_1" type="box" size="0.085 0.05 0.025" pos="0.0 0.1 0.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="base_chassis_link_vis_2" type="box" size="0.085 0.05 0.025" pos="0.0 -0.1 0.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="base_chassis_link_col_0" type="box" size="0.165 0.05 0.035" group="3" />
<geom name="base_chassis_link_col_1" type="box" size="0.085 0.05 0.025" pos="0.0 0.1 0.0" group="3" />
<geom name="base_chassis_link_col_2" type="box" size="0.085 0.05 0.025" pos="0.0 -0.1 0.0" group="3" />
<body name="chassis_right" pos="0.0 -0.1 0.0" quat="0.9990482207661688 -0.04361940604767936 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="chassis_right_vis_0" type="box" size="0.17 0.005 0.02" pos="0.0 0.035 0.0" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="chassis_right_vis_1" type="box" size="0.17 0.005 0.02" pos="0.0 -0.035 0.0" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="chassis_right_col_0" type="box" size="0.17 0.005 0.02" pos="0.0 0.035 0.0" group="3" />
<geom name="chassis_right_col_1" type="box" size="0.17 0.005 0.02" pos="0.0 -0.035 0.0" group="3" />
<body name="motor_front_rightR_link" pos="0.21 -0.025 0.0" quat="0.7071231599922605 0.7070904020014415 0.0 0.0">
<joint name="motor_front_rightR_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="motor_front_rightR_link_vis_0" type="mesh" mesh="tmotor3" contype="0" conaffinity="0" group="2" material="white" />
<geom name="motor_front_rightR_link_col_0" type="cylinder" size="0.0434 0.013" group="3" />
<body name="upper_leg_front_rightR_link" pos="0.0 0.06 -0.015" quat="0.7071231599922605 -0.7070904020014415 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="upper_leg_front_rightR_link_vis_0" type="box" size="0.005 0.005 0.055" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="upper_leg_front_rightR_link_col_0" type="box" size="0.005 0.005 0.055" group="3" />
<body name="lower_leg_front_rightR_link" pos="0.0 0.01 0.055">
<joint name="knee_front_rightR_link" type="hinge" axis="0.0 1.0 0.0" range="0.0 0.0" />
<inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="lower_leg_front_rightR_link_vis_0" type="box" size="0.005 0.005 0.1" pos="0.0 0.0 0.1" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="lower_leg_front_rightR_link_col_0" type="box" size="0.005 0.005 0.1" pos="0.0 0.0 0.1" group="3" />
</body>
</body>
</body>
<body name="motor_front_rightL_link" pos="0.21 0.04 0.0" quat="2.3108423990939223e-07 2.310735347651717e-07 0.7070904020014037 0.7071231599922227">
<joint name="motor_front_rightL_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="motor_front_rightL_link_vis_0" type="mesh" mesh="tmotor3" contype="0" conaffinity="0" group="2" material="white" />
<geom name="motor_front_rightL_link_col_0" type="cylinder" size="0.0434 0.013" group="3" />
<body name="upper_leg_front_rightL_link" pos="0.0 0.06 -0.015" quat="0.7071231599922605 -0.7070904020014415 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="upper_leg_front_rightL_link_vis_0" type="box" size="0.005 0.005 0.055" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="upper_leg_front_rightL_link_col_0" type="box" size="0.005 0.005 0.055" group="3" />
<body name="lower_leg_front_rightL_link" pos="0.0 0.01 0.055">
<joint name="knee_front_rightL_link" type="hinge" axis="0.0 1.0 0.0" range="0.0 0.0" />
<inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="lower_leg_front_rightL_link_vis_0" type="box" size="0.005 0.005 0.099" pos="0.0 0.0 0.1" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="lower_leg_front_rightL_link_col_0" type="box" size="0.005 0.005 0.099" pos="0.0 0.0 0.1" group="3" />
</body>
</body>
</body>
<body name="motor_back_rightR_link" pos="-0.21 -0.025 0.0" quat="0.7071231599922605 0.7070904020014415 0.0 0.0">
<joint name="motor_back_rightR_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="motor_back_rightR_link_vis_0" type="mesh" mesh="tmotor3" contype="0" conaffinity="0" group="2" material="white" />
<geom name="motor_back_rightR_link_col_0" type="cylinder" size="0.0434 0.013" group="3" />
<body name="upper_leg_back_rightR_link" pos="0.0 0.06 -0.015" quat="0.7071231599922605 -0.7070904020014415 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="upper_leg_back_rightR_link_vis_0" type="box" size="0.005 0.005 0.055" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="upper_leg_back_rightR_link_col_0" type="box" size="0.005 0.005 0.055" group="3" />
<body name="lower_leg_back_rightR_link" pos="0.0 0.01 0.055">
<joint name="knee_back_rightR_link" type="hinge" axis="0.0 1.0 0.0" range="0.0 0.0" />
<inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="lower_leg_back_rightR_link_vis_0" type="box" size="0.005 0.005 0.1016" pos="0.0 0.0 0.1" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="lower_leg_back_rightR_link_col_0" type="box" size="0.005 0.005 0.1016" pos="0.0 0.0 0.1" group="3" />
</body>
</body>
</body>
<body name="motor_back_rightL_link" pos="-0.21 0.04 0.0" quat="2.3108423990939223e-07 2.310735347651717e-07 0.7070904020014037 0.7071231599922227">
<joint name="motor_back_rightL_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="motor_back_rightL_link_vis_0" type="mesh" mesh="tmotor3" contype="0" conaffinity="0" group="2" material="white" />
<geom name="motor_back_rightL_link_col_0" type="cylinder" size="0.0434 0.013" group="3" />
<body name="upper_leg_back_rightL_link" pos="0.0 0.06 -0.015" quat="0.7071231599922605 -0.7070904020014415 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="upper_leg_back_rightL_link_vis_0" type="box" size="0.005 0.005 0.055" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="upper_leg_back_rightL_link_col_0" type="box" size="0.005 0.005 0.055" group="3" />
<body name="lower_leg_back_rightL_link" pos="0.0 0.01 0.055">
<joint name="knee_back_rightL_link" type="hinge" axis="0.0 1.0 0.0" range="0.0 0.0" />
<inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="lower_leg_back_rightL_link_vis_0" type="box" size="0.005 0.005 0.1" pos="0.0 0.0 0.1" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="lower_leg_back_rightL_link_col_0" type="box" size="0.005 0.005 0.1" pos="0.0 0.0 0.1" group="3" />
</body>
</body>
</body>
</body>
<body name="chassis_left" pos="0.0 0.1 0.0" quat="0.9990482207661688 0.04361940604767936 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="chassis_left_vis_0" type="box" size="0.17 0.005 0.02" pos="0.0 0.035 0.0" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="chassis_left_vis_1" type="box" size="0.17 0.005 0.02" pos="0.0 -0.035 0.0" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="chassis_left_col_0" type="box" size="0.17 0.005 0.02" pos="0.0 0.035 0.0" group="3" />
<geom name="chassis_left_col_1" type="box" size="0.17 0.005 0.02" pos="0.0 -0.035 0.0" group="3" />
<body name="motor_front_leftL_link" pos="0.21 0.025 0.0" quat="2.3108423990939223e-07 2.310735347651717e-07 0.7070904020014037 0.7071231599922227">
<joint name="motor_front_leftL_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="motor_front_leftL_link_vis_0" type="mesh" mesh="tmotor3" contype="0" conaffinity="0" group="2" material="white" />
<geom name="motor_front_leftL_link_col_0" type="cylinder" size="0.0434 0.013" group="3" />
<body name="upper_leg_front_leftL_link" pos="0.0 0.06 -0.015" quat="0.7071231599922605 -0.7070904020014415 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="upper_leg_front_leftL_link_vis_0" type="box" size="0.005 0.005 0.055" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="upper_leg_front_leftL_link_col_0" type="box" size="0.005 0.005 0.055" group="3" />
<body name="lower_leg_front_leftL_link" pos="0.0 0.01 0.055">
<joint name="knee_front_leftL_link" type="hinge" axis="0.0 1.0 0.0" range="0.0 0.0" />
<inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="lower_leg_front_leftL_link_vis_0" type="box" size="0.005 0.005 0.099" pos="0.0 0.0 0.1" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="lower_leg_front_leftL_link_col_0" type="box" size="0.005 0.005 0.099" pos="0.0 0.0 0.1" group="3" />
</body>
</body>
</body>
<body name="motor_front_leftR_link" pos="0.21 -0.04 0.0" quat="0.7071231599922605 0.7070904020014415 0.0 0.0">
<joint name="motor_front_leftR_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="motor_front_leftR_link_vis_0" type="mesh" mesh="tmotor3" contype="0" conaffinity="0" group="2" material="white" />
<body name="upper_leg_front_leftR_link" pos="0.0 0.06 -0.015" quat="0.7071231599922605 -0.7070904020014415 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="upper_leg_front_leftR_link_vis_0" type="box" size="0.005 0.005 0.055" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="upper_leg_front_leftR_link_col_0" type="box" size="0.005 0.005 0.055" group="3" />
<body name="lower_leg_front_leftR_link" pos="0.0 0.01 0.055">
<joint name="knee_front_leftR_link" type="hinge" axis="0.0 1.0 0.0" range="0.0 0.0" />
<inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="lower_leg_front_leftR_link_vis_0" type="box" size="0.005 0.005 0.1" pos="0.0 0.0 0.1" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="lower_leg_front_leftR_link_col_0" type="box" size="0.005 0.005 0.1" pos="0.0 0.0 0.1" group="3" />
</body>
</body>
</body>
<body name="motor_back_leftL_link" pos="-0.21 0.025 0.0" quat="2.3108423990939223e-07 2.310735347651717e-07 0.7070904020014037 0.7071231599922227">
<joint name="motor_back_leftL_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="motor_back_leftL_link_vis_0" type="mesh" mesh="tmotor3" contype="0" conaffinity="0" group="2" material="white" />
<geom name="motor_back_leftL_link_col_0" type="cylinder" size="0.0434 0.013" group="3" />
<body name="upper_leg_back_leftL_link" pos="0.0 0.06 -0.015" quat="0.7071231599922605 -0.7070904020014415 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="upper_leg_back_leftL_link_vis_0" type="box" size="0.005 0.005 0.055" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="upper_leg_back_leftL_link_col_0" type="box" size="0.005 0.005 0.055" group="3" />
<body name="lower_leg_back_leftL_link" pos="0.0 0.01 0.055">
<joint name="knee_back_leftL_link" type="hinge" axis="0.0 1.0 0.0" range="0.0 0.0" />
<inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="lower_leg_back_leftL_link_vis_0" type="box" size="0.005 0.005 0.1" pos="0.0 0.0 0.1" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="lower_leg_back_leftL_link_col_0" type="box" size="0.005 0.005 0.1" pos="0.0 0.0 0.1" group="3" />
</body>
</body>
</body>
<body name="motor_back_leftR_link" pos="-0.21 -0.04 0.0" quat="0.7071231599922605 0.7070904020014415 0.0 0.0">
<joint name="motor_back_leftR_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="motor_back_leftR_link_vis_0" type="mesh" mesh="tmotor3" contype="0" conaffinity="0" group="2" material="white" />
<geom name="motor_back_leftR_link_col_0" type="cylinder" size="0.0434 0.013" group="3" />
<body name="upper_leg_back_leftR_link" pos="0.0 0.06 -0.015" quat="0.7071231599922605 -0.7070904020014415 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="upper_leg_back_leftR_link_vis_0" type="box" size="0.005 0.005 0.055" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="upper_leg_back_leftR_link_col_0" type="box" size="0.005 0.005 0.055" group="3" />
<body name="lower_leg_back_leftR_link" pos="0.0 0.01 0.055">
<joint name="knee_back_leftR_link" type="hinge" axis="0.0 1.0 0.0" range="0.0 0.0" />
<inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="lower_leg_back_leftR_link_vis_0" type="box" size="0.005 0.005 0.1016" pos="0.0 0.0 0.1" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="lower_leg_back_leftR_link_col_0" type="box" size="0.005 0.005 0.1016" pos="0.0 0.0 0.1" group="3" />
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base_chassis_link" body2="chassis_right" />
<exclude body1="base_chassis_link" body2="chassis_left" />
<exclude body1="chassis_right" body2="motor_front_rightR_link" />
<exclude body1="chassis_right" body2="motor_front_rightL_link" />
<exclude body1="chassis_left" body2="motor_front_leftL_link" />
<exclude body1="chassis_left" body2="motor_front_leftR_link" />
<exclude body1="chassis_right" body2="motor_back_rightR_link" />
<exclude body1="chassis_right" body2="motor_back_rightL_link" />
<exclude body1="chassis_left" body2="motor_back_leftL_link" />
<exclude body1="chassis_left" body2="motor_back_leftR_link" />
<exclude body1="motor_front_rightR_link" body2="upper_leg_front_rightR_link" />
<exclude body1="upper_leg_front_rightR_link" body2="lower_leg_front_rightR_link" />
<exclude body1="motor_front_rightL_link" body2="upper_leg_front_rightL_link" />
<exclude body1="upper_leg_front_rightL_link" body2="lower_leg_front_rightL_link" />
<exclude body1="motor_front_leftR_link" body2="upper_leg_front_leftR_link" />
<exclude body1="upper_leg_front_leftR_link" body2="lower_leg_front_leftR_link" />
<exclude body1="motor_front_leftL_link" body2="upper_leg_front_leftL_link" />
<exclude body1="upper_leg_front_leftL_link" body2="lower_leg_front_leftL_link" />
<exclude body1="motor_back_rightR_link" body2="upper_leg_back_rightR_link" />
<exclude body1="upper_leg_back_rightR_link" body2="lower_leg_back_rightR_link" />
<exclude body1="motor_back_rightL_link" body2="upper_leg_back_rightL_link" />
<exclude body1="upper_leg_back_rightL_link" body2="lower_leg_back_rightL_link" />
<exclude body1="motor_back_leftR_link" body2="upper_leg_back_leftR_link" />
<exclude body1="upper_leg_back_leftR_link" body2="lower_leg_back_leftR_link" />
<exclude body1="motor_back_leftL_link" body2="upper_leg_back_leftL_link" />
<exclude body1="upper_leg_back_leftL_link" body2="lower_leg_back_leftL_link" />
</contact>
</mujoco>
Import report
Counts
| Links | 27 |
|---|---|
| Joints | 26 |
| Moving joints | 16 |
| Visuals | 31 |
| Collisions | 30 |
| Materials | 3 |
Meshes
Formats: obj.
Asset size: 0.2 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
axis | 10 | fixed joints carry no <axis>; URDF ignores it too |
contact | 8 | <contact> is not part of the URDF subset RobotDescription mirrors |
joint_properties | 26 | <joint_properties> is not part of the URDF subset RobotDescription mirrors |
limit | 10 | fixed joints carry no <limit>; URDF ignores it too |
Forward-kinematics check
Forward kinematics of 27 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 · 4.2e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 16).
Source & licence
| Repository | https://github.com/bulletphysics/bullet3 |
|---|---|
| Commit | 7dee3436e747958e7088dfdcea0e4ae031ce619e |
| Original file | data/quadruped/minitaur.urdf |
| Licence | BSD-2-Clause · the upstream LICENSE file |
| Files | robot.urdf · robot.xml |
Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.