N1
Fourier · licence Apache-2.0 · source: github.com/FFTAI/Wiki-GRx-Models @ f8e683f00
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 15e401c3952f8b17 -->
<robot name="N1">
<link name="base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/base_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.05" rpy="1.57 0.0 0.0" />
<geometry>
<cylinder length="0.135" radius="0.065" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00025493 1.049e-05 -0.05502" rpy="0.0 0.0 0.0" />
<mass value="3.18" />
<inertia ixx="0.011139" ixy="-1.3e-07" ixz="-2.455e-05" iyy="0.007619" iyz="-9.79e-06" izz="0.0089904" />
</inertial>
</link>
<link name="left_thigh_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_thigh_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.017114 0.035514 0.00025368" rpy="0.0 0.0 0.0" />
<mass value="1.31" />
<inertia ixx="0.0020997" ixy="0.0008376" ixz="-2.51e-06" iyy="0.0024416" iyz="-3.69e-06" izz="0.0035344" />
</inertial>
</link>
<joint name="left_hip_pitch_joint" type="revolute">
<origin xyz="0.0 0.050453 -0.067365" rpy="-0.2618 0.0 0.0" />
<parent link="base_link" />
<child link="left_thigh_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="95.0" velocity="12.356" lower="-2.617" upper="2.617" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_thigh_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_thigh_roll_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.57 0.0" />
<geometry>
<cylinder length="0.12" radius="0.0415" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0029103 -4.92e-06 -0.020023" rpy="0.0 0.0 0.0" />
<mass value="1.35" />
<inertia ixx="0.0018894" ixy="-2.66e-06" ixz="7.439e-05" iyy="0.0018265" iyz="-3.23e-06" izz="0.0013075" />
</inertial>
</link>
<joint name="left_hip_roll_joint" type="revolute">
<origin xyz="0.0 0.072 0.0" rpy="0.2618 0.0 0.0" />
<parent link="left_thigh_pitch_link" />
<child link="left_thigh_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="54.0" velocity="14.738" lower="-0.261" upper="1.57" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_thigh_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_thigh_yaw_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.08" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.19" radius="0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0021441 -0.010608 -0.086616" rpy="0.0 0.0 0.0" />
<mass value="3.37" />
<inertia ixx="0.01475" ixy="-8.532e-05" ixz="0.00058666" iyy="0.014824" iyz="-0.00082274" izz="0.005307" />
</inertial>
</link>
<joint name="left_hip_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 -0.0815" rpy="0.0 0.0 0.0" />
<parent link="left_thigh_roll_link" />
<child link="left_thigh_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="54.0" velocity="14.738" lower="-2.617" upper="2.617" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_shank_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_shank_pitch_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.12" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.2" radius="0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0027736 0.0049964 -0.13547" rpy="0.0 0.0 0.0" />
<mass value="2.21" />
<inertia ixx="0.013529" ixy="2.941e-05" ixz="-0.0001756" iyy="0.013565" iyz="-0.00024128" izz="0.0016244" />
</inertial>
</link>
<joint name="left_knee_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 -0.2075" rpy="0.0 0.0 0.0" />
<parent link="left_thigh_yaw_link" />
<child link="left_shank_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="95.0" velocity="12.356" lower="-0.0872" upper="2.356" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_foot_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_foot_roll_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0018625 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.113" />
<inertia ixx="2.49e-05" ixy="0.0" ixz="0.0" iyy="1.175e-05" iyz="0.0" izz="2.927e-05" />
</inertial>
</link>
<joint name="left_ankle_roll_joint" type="revolute">
<origin xyz="0.0 0.0 -0.28" rpy="0.0 0.0 0.0" />
<parent link="left_shank_pitch_link" />
<child link="left_foot_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="30.0" velocity="16.747" lower="-0.436" upper="0.436" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_foot_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_foot_pitch_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_foot_pitch_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.031083 -0.00011033 -0.031859" rpy="0.0 0.0 0.0" />
<mass value="0.528" />
<inertia ixx="0.00025372" ixy="6.21e-06" ixz="9.43e-06" iyy="0.0016804" iyz="-6.8e-07" izz="0.0018324" />
</inertial>
</link>
<joint name="left_ankle_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_foot_roll_link" />
<child link="left_foot_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="30.0" velocity="16.747" lower="-0.785" upper="0.785" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_thigh_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_thigh_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.017114 -0.035515 0.0002533" rpy="0.0 0.0 0.0" />
<mass value="1.31" />
<inertia ixx="0.0020997" ixy="-0.00083756" ixz="-2.59e-06" iyy="0.0024416" iyz="3.65e-06" izz="0.0035342" />
</inertial>
</link>
<joint name="right_hip_pitch_joint" type="revolute">
<origin xyz="0.0 -0.050453 -0.067365" rpy="0.2618 0.0 0.0" />
<parent link="base_link" />
<child link="right_thigh_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="95.0" velocity="12.356" lower="-2.617" upper="2.617" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_thigh_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_thigh_roll_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.57 0.0" />
<geometry>
<cylinder length="0.12" radius="0.0415" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0029092 1.208e-05 -0.020023" rpy="0.0 0.0 0.0" />
<mass value="1.35" />
<inertia ixx="0.0018893" ixy="-3.06e-06" ixz="7.448e-05" iyy="0.0018266" iyz="-2.33e-06" izz="0.0013075" />
</inertial>
</link>
<joint name="right_hip_roll_joint" type="revolute">
<origin xyz="0.0 -0.072 0.0" rpy="-0.2618 0.0 0.0" />
<parent link="right_thigh_pitch_link" />
<child link="right_thigh_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="54.0" velocity="14.738" lower="-1.57" upper="0.261" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_thigh_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_thigh_yaw_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.08" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.19" radius="0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="0.002043 0.010083 -0.086622" rpy="0.0 0.0 0.0" />
<mass value="3.37" />
<inertia ixx="0.014825" ixy="4.648e-05" ixz="0.00059303" iyy="0.014882" iyz="0.00079496" izz="0.005312" />
</inertial>
</link>
<joint name="right_hip_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 -0.0815" rpy="0.0 0.0 0.0" />
<parent link="right_thigh_roll_link" />
<child link="right_thigh_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="54.0" velocity="14.738" lower="-2.617" upper="2.617" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_shank_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_shank_pitch_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.12" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.2" radius="0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0026916 -0.004784 -0.13593" rpy="0.0 0.0 0.0" />
<mass value="2.21" />
<inertia ixx="0.013356" ixy="-2.679e-05" ixz="-0.00016834" iyy="0.013383" iyz="0.00022613" izz="0.0016428" />
</inertial>
</link>
<joint name="right_knee_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 -0.2075" rpy="0.0 0.0 0.0" />
<parent link="right_thigh_yaw_link" />
<child link="right_shank_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="95.0" velocity="12.356" lower="-0.0872" upper="2.356" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_foot_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_foot_roll_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 -0.0018793 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.113" />
<inertia ixx="2.497e-05" ixy="0.0" ixz="0.0" iyy="1.175e-05" iyz="0.0" izz="2.933e-05" />
</inertial>
</link>
<joint name="right_ankle_roll_joint" type="revolute">
<origin xyz="0.0 0.0 -0.28" rpy="0.0 0.0 0.0" />
<parent link="right_shank_pitch_link" />
<child link="right_foot_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="30.0" velocity="16.747" lower="-0.436" upper="0.436" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_foot_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_foot_pitch_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_foot_pitch_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.031082 0.0001577 -0.031593" rpy="0.0 0.0 0.0" />
<mass value="0.528" />
<inertia ixx="0.00025371" ixy="-6.64e-06" ixz="9.42e-06" iyy="0.0016803" iyz="-1.1e-07" izz="0.0018324" />
</inertial>
</link>
<joint name="right_ankle_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_foot_roll_link" />
<child link="right_foot_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="30.0" velocity="16.747" lower="-0.785" upper="0.785" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="imu_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/imu_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.0071125 0.0 0.00072936" rpy="0.0 0.0 0.0" />
<mass value="0.038" />
<inertia ixx="8.69e-06" ixy="0.0" ixz="5e-07" iyy="2.012e-05" iyz="0.0" izz="2.336e-05" />
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<origin xyz="0.0 0.0 -0.1472" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="imu_link" />
</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="../meshes/waist_yaw_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.04" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.055" radius="0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00025493 1.049e-05 -0.05502" rpy="0.0 0.0 0.0" />
<mass value="3.18" />
<inertia ixx="0.011139" ixy="-1.3e-07" ixz="-2.455e-05" iyy="0.007619" iyz="-9.79e-06" izz="0.0089904" />
</inertial>
</link>
<joint name="waist_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 0.0256" 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="54.0" velocity="14.738" lower="-2.617" upper="2.617" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="torso_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/torso_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.06" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.22" radius="0.1" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.0 0.19" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.08" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0070827 0.00038627 -0.041747" rpy="0.0 0.0 0.0" />
<mass value="7.99" />
<inertia ixx="0.081895" ixy="4.891e-05" ixz="-0.00016303" iyy="0.070788" iyz="0.00029003" izz="0.035401" />
</inertial>
</link>
<joint name="torso_joint" type="fixed">
<origin xyz="0.0 0.0 0.2598" rpy="0.0 0.0 0.0" />
<parent link="waist_yaw_link" />
<child link="torso_link" />
</joint>
<link name="camera_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/camera_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.011772 0.0016608 2.48e-06" rpy="0.0 0.0 0.0" />
<mass value="0.0382" />
<inertia ixx="2.466e-05" ixy="1.7e-07" ixz="1e-08" iyy="3.66e-06" iyz="1e-08" izz="2.483e-05" />
</inertial>
</link>
<joint name="camera_joint" type="fixed">
<origin xyz="0.071343 -0.0048077 0.17959" rpy="0.0 0.5236 -0.067287" />
<parent link="torso_link" />
<child link="camera_link" />
</joint>
<link name="left_upper_arm_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_upper_arm_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.00045952 0.060859 7.73e-05" rpy="0.0 0.0 0.0" />
<mass value="0.885" />
<inertia ixx="0.00083561" ixy="1.518e-05" ixz="2.12e-06" iyy="0.00051968" iyz="-9.9e-07" izz="0.00081414" />
</inertial>
</link>
<joint name="left_shoulder_pitch_joint" type="revolute">
<origin xyz="0.0 0.09765 0.0" rpy="0.0 0.0 0.0" />
<parent link="torso_link" />
<child link="left_upper_arm_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="54.0" velocity="14.738" lower="-2.966" upper="2.966" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_upper_arm_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_upper_arm_roll_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.032" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0049529 0.00053148 -0.043369" rpy="0.0 0.0 0.0" />
<mass value="0.716" />
<inertia ixx="0.0017864" ixy="9.2e-07" ixz="-0.00015431" iyy="0.001897" iyz="-4.13e-06" izz="0.00048987" />
</inertial>
</link>
<joint name="left_shoulder_roll_joint" type="revolute">
<origin xyz="0.0 0.078 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_upper_arm_pitch_link" />
<child link="left_upper_arm_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="30.0" velocity="16.747" lower="-0.174" upper="2.792" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_upper_arm_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_upper_arm_yaw_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.12" radius="0.032" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.00057869 -0.060729" rpy="0.0 0.0 0.0" />
<mass value="0.913" />
<inertia ixx="0.0028954" ixy="-1.94e-06" ixz="-5.05e-06" iyy="0.0029133" iyz="-3.918e-05" izz="0.00060525" />
</inertial>
</link>
<joint name="left_shoulder_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 -0.1005" rpy="0.0 0.0 0.0" />
<parent link="left_upper_arm_roll_link" />
<child link="left_upper_arm_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="30.0" velocity="16.747" lower="-1.832" upper="1.832" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_lower_arm_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_lower_arm_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.00053164 0.0049499 -0.04337" rpy="0.0 0.0 0.0" />
<mass value="0.716" />
<inertia ixx="0.0018966" ixy="-9.2e-07" ixz="4.05e-06" iyy="0.0017861" iyz="-0.00015416" izz="0.00048976" />
</inertial>
</link>
<joint name="left_elbow_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 -0.1095" rpy="0.0 -1.5708 0.0" />
<parent link="left_upper_arm_yaw_link" />
<child link="left_lower_arm_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="30.0" velocity="16.747" lower="-0.349" upper="1.658" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_hand_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_hand_yaw_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.12" radius="0.032" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0020835 6.386e-05 -0.013715" rpy="0.0 0.0 0.0" />
<mass value="0.44" />
<inertia ixx="0.00043354" ixy="9.3e-07" ixz="7.3e-07" iyy="0.0004076" iyz="-3.5e-07" izz="0.00027007" />
</inertial>
</link>
<joint name="left_wrist_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 -0.1005" rpy="0.0 0.0 0.0" />
<parent link="left_lower_arm_pitch_link" />
<child link="left_hand_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="30.0" velocity="16.747" lower="-1.832" upper="1.832" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_end_effector_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/left_end_effector_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.02751" />
</geometry>
</collision>
<inertial>
<origin xyz="0.003465 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0994" />
<inertia ixx="3.741e-05" ixy="0.0" ixz="0.0" iyy="3.741e-05" iyz="0.0" izz="4.538e-05" />
</inertial>
</link>
<joint name="left_end_effector_joint" type="fixed">
<origin xyz="0.0 0.0 -0.1045" rpy="0.0 0.0 0.0" />
<parent link="left_hand_yaw_link" />
<child link="left_end_effector_link" />
</joint>
<link name="right_upper_arm_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_upper_arm_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.00045952 -0.060859 -7.73e-05" rpy="0.0 0.0 0.0" />
<mass value="0.885" />
<inertia ixx="0.00083561" ixy="-1.518e-05" ixz="-2.12e-06" iyy="0.00051968" iyz="-9.9e-07" izz="0.00081414" />
</inertial>
</link>
<joint name="right_shoulder_pitch_joint" type="revolute">
<origin xyz="0.0 -0.09765 0.0" rpy="0.0 0.0 0.0" />
<parent link="torso_link" />
<child link="right_upper_arm_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="54.0" velocity="14.738" lower="-2.966" upper="2.966" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_upper_arm_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_upper_arm_roll_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.032" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0049504 -0.0005218 -0.043377" rpy="0.0 0.0 0.0" />
<mass value="0.716" />
<inertia ixx="0.0017858" ixy="-9.2e-07" ixz="-0.00015415" iyy="0.0018963" iyz="3.9e-06" izz="0.00048949" />
</inertial>
</link>
<joint name="right_shoulder_roll_joint" type="revolute">
<origin xyz="0.0 -0.078 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_upper_arm_pitch_link" />
<child link="right_upper_arm_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="30.0" velocity="16.747" lower="-2.792" upper="0.174" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_upper_arm_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_upper_arm_yaw_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.12" radius="0.032" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.00055669 -0.060729" rpy="0.0 0.0 0.0" />
<mass value="0.913" />
<inertia ixx="0.0028945" ixy="-5.07e-06" ixz="3.43e-06" iyy="0.0029142" iyz="3.939e-05" izz="0.00060529" />
</inertial>
</link>
<joint name="right_shoulder_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 -0.1005" rpy="0.0 0.0 0.0" />
<parent link="right_upper_arm_roll_link" />
<child link="right_upper_arm_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="30.0" velocity="16.747" lower="-1.832" upper="1.832" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_lower_arm_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_lower_arm_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.0005218 -0.0049504 -0.043377" rpy="0.0 0.0 0.0" />
<mass value="0.716" />
<inertia ixx="0.0018963" ixy="9.2e-07" ixz="3.9e-06" iyy="0.0017858" iyz="0.00015415" izz="0.00048949" />
</inertial>
</link>
<joint name="right_elbow_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 -0.1095" rpy="0.0 -1.5708 0.0" />
<parent link="right_upper_arm_yaw_link" />
<child link="right_lower_arm_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="30.0" velocity="16.747" lower="-0.349" upper="1.658" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_hand_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_hand_yaw_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.12" radius="0.032" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00020719 -1.94e-05 -0.013715" rpy="0.0 0.0 0.0" />
<mass value="0.44" />
<inertia ixx="0.00043227" ixy="1.81e-06" ixz="1.25e-06" iyy="0.00040887" iyz="-8.8e-07" izz="0.00027007" />
</inertial>
</link>
<joint name="right_wrist_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 -0.1005" rpy="0.0 0.0 0.0" />
<parent link="right_lower_arm_pitch_link" />
<child link="right_hand_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="30.0" velocity="16.747" lower="-1.832" upper="1.832" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_end_effector_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/right_end_effector_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.02751" />
</geometry>
</collision>
<inertial>
<origin xyz="0.003465 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0994" />
<inertia ixx="3.741e-05" ixy="0.0" ixz="0.0" iyy="3.741e-05" iyz="0.0" izz="4.538e-05" />
</inertial>
</link>
<joint name="right_end_effector_joint" type="fixed">
<origin xyz="0.0 0.0 -0.1045" rpy="0.0 0.0 0.0" />
<parent link="right_hand_yaw_link" />
<child link="right_end_effector_link" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 15e401c3952f8b17 -->
<mujoco model="N1">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="base_link" file="../meshes/base_link.STL" />
<mesh name="left_thigh_pitch_link" file="../meshes/left_thigh_pitch_link.STL" />
<mesh name="left_thigh_roll_link" file="../meshes/left_thigh_roll_link.STL" />
<mesh name="left_thigh_yaw_link" file="../meshes/left_thigh_yaw_link.STL" />
<mesh name="left_shank_pitch_link" file="../meshes/left_shank_pitch_link.STL" />
<mesh name="left_foot_roll_link" file="../meshes/left_foot_roll_link.STL" />
<mesh name="left_foot_pitch_link" file="../meshes/left_foot_pitch_link.STL" />
<mesh name="right_thigh_pitch_link" file="../meshes/right_thigh_pitch_link.STL" />
<mesh name="right_thigh_roll_link" file="../meshes/right_thigh_roll_link.STL" />
<mesh name="right_thigh_yaw_link" file="../meshes/right_thigh_yaw_link.STL" />
<mesh name="right_shank_pitch_link" file="../meshes/right_shank_pitch_link.STL" />
<mesh name="right_foot_roll_link" file="../meshes/right_foot_roll_link.STL" />
<mesh name="right_foot_pitch_link" file="../meshes/right_foot_pitch_link.STL" />
<mesh name="imu_link" file="../meshes/imu_link.STL" />
<mesh name="waist_yaw_link" file="../meshes/waist_yaw_link.STL" />
<mesh name="torso_link" file="../meshes/torso_link.STL" />
<mesh name="camera_link" file="../meshes/camera_link.STL" />
<mesh name="left_upper_arm_pitch_link" file="../meshes/left_upper_arm_pitch_link.STL" />
<mesh name="left_upper_arm_roll_link" file="../meshes/left_upper_arm_roll_link.STL" />
<mesh name="left_upper_arm_yaw_link" file="../meshes/left_upper_arm_yaw_link.STL" />
<mesh name="left_lower_arm_pitch_link" file="../meshes/left_lower_arm_pitch_link.STL" />
<mesh name="left_hand_yaw_link" file="../meshes/left_hand_yaw_link.STL" />
<mesh name="left_end_effector_link" file="../meshes/left_end_effector_link.STL" />
<mesh name="right_upper_arm_pitch_link" file="../meshes/right_upper_arm_pitch_link.STL" />
<mesh name="right_upper_arm_roll_link" file="../meshes/right_upper_arm_roll_link.STL" />
<mesh name="right_upper_arm_yaw_link" file="../meshes/right_upper_arm_yaw_link.STL" />
<mesh name="right_lower_arm_pitch_link" file="../meshes/right_lower_arm_pitch_link.STL" />
<mesh name="right_hand_yaw_link" file="../meshes/right_hand_yaw_link.STL" />
<mesh name="right_end_effector_link" file="../meshes/right_end_effector_link.STL" />
</asset>
<worldbody>
<body name="base_link">
<inertial pos="0.00025493 1.049e-05 -0.05502" mass="3.18" fullinertia="0.011139 0.007619 0.0089904 -1.3e-07 -2.455e-05 -9.79e-06" />
<geom name="base_link_vis_0" type="mesh" mesh="base_link" contype="0" conaffinity="0" group="2" />
<geom name="base_link_col_0" type="cylinder" size="0.065 0.0675" pos="0.0 0.0 -0.05" quat="0.7073882691671998 0.706825181105366 0.0 0.0" group="3" />
<body name="left_thigh_pitch_link" pos="0.0 0.050453 -0.067365" quat="0.991444821419641 -0.1305264957017392 0.0 0.0">
<joint name="left_hip_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.617 2.617" />
<inertial pos="-0.017114 0.035514 0.00025368" mass="1.31" fullinertia="0.0020997 0.0024416 0.0035344 0.0008376 -2.51e-06 -3.69e-06" />
<geom name="left_thigh_pitch_link_vis_0" type="mesh" mesh="left_thigh_pitch_link" contype="0" conaffinity="0" group="2" />
<body name="left_thigh_roll_link" pos="0.0 0.072 0.0" quat="0.991444821419641 0.1305264957017392 0.0 0.0">
<joint name="left_hip_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.261 1.57" />
<inertial pos="-0.0029103 -4.92e-06 -0.020023" mass="1.35" fullinertia="0.0018894 0.0018265 0.0013075 -2.66e-06 7.439e-05 -3.23e-06" />
<geom name="left_thigh_roll_link_vis_0" type="mesh" mesh="left_thigh_roll_link" contype="0" conaffinity="0" group="2" />
<geom name="left_thigh_roll_link_col_0" type="cylinder" size="0.0415 0.06" quat="0.7073882691671998 0.0 0.706825181105366 0.0" group="3" />
<body name="left_thigh_yaw_link" pos="0.0 0.0 -0.0815">
<joint name="left_hip_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.617 2.617" />
<inertial pos="0.0021441 -0.010608 -0.086616" mass="3.37" fullinertia="0.01475 0.014824 0.005307 -8.532e-05 0.00058666 -0.00082274" />
<geom name="left_thigh_yaw_link_vis_0" type="mesh" mesh="left_thigh_yaw_link" contype="0" conaffinity="0" group="2" />
<geom name="left_thigh_yaw_link_col_0" type="cylinder" size="0.06 0.095" pos="0.0 0.0 -0.08" group="3" />
<body name="left_shank_pitch_link" pos="0.0 0.0 -0.2075">
<joint name="left_knee_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.0872 2.356" />
<inertial pos="0.0027736 0.0049964 -0.13547" mass="2.21" fullinertia="0.013529 0.013565 0.0016244 2.941e-05 -0.0001756 -0.00024128" />
<geom name="left_shank_pitch_link_vis_0" type="mesh" mesh="left_shank_pitch_link" contype="0" conaffinity="0" group="2" />
<geom name="left_shank_pitch_link_col_0" type="cylinder" size="0.04 0.1" pos="0.0 0.0 -0.12" group="3" />
<body name="left_foot_roll_link" pos="0.0 0.0 -0.28">
<joint name="left_ankle_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.436 0.436" />
<inertial pos="0.0 0.0018625 0.0" mass="0.113" fullinertia="2.49e-05 1.175e-05 2.927e-05 0.0 0.0 0.0" />
<geom name="left_foot_roll_link_vis_0" type="mesh" mesh="left_foot_roll_link" contype="0" conaffinity="0" group="2" />
<body name="left_foot_pitch_link">
<joint name="left_ankle_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.785 0.785" />
<inertial pos="0.031083 -0.00011033 -0.031859" mass="0.528" fullinertia="0.00025372 0.0016804 0.0018324 6.21e-06 9.43e-06 -6.8e-07" />
<geom name="left_foot_pitch_link_vis_0" type="mesh" mesh="left_foot_pitch_link" contype="0" conaffinity="0" group="2" />
<geom name="left_foot_pitch_link_col_0" type="mesh" mesh="left_foot_pitch_link" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="right_thigh_pitch_link" pos="0.0 -0.050453 -0.067365" quat="0.991444821419641 0.1305264957017392 0.0 0.0">
<joint name="right_hip_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.617 2.617" />
<inertial pos="-0.017114 -0.035515 0.0002533" mass="1.31" fullinertia="0.0020997 0.0024416 0.0035342 -0.00083756 -2.59e-06 3.65e-06" />
<geom name="right_thigh_pitch_link_vis_0" type="mesh" mesh="right_thigh_pitch_link" contype="0" conaffinity="0" group="2" />
<body name="right_thigh_roll_link" pos="0.0 -0.072 0.0" quat="0.991444821419641 -0.1305264957017392 0.0 0.0">
<joint name="right_hip_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.57 0.261" />
<inertial pos="-0.0029092 1.208e-05 -0.020023" mass="1.35" fullinertia="0.0018893 0.0018266 0.0013075 -3.06e-06 7.448e-05 -2.33e-06" />
<geom name="right_thigh_roll_link_vis_0" type="mesh" mesh="right_thigh_roll_link" contype="0" conaffinity="0" group="2" />
<geom name="right_thigh_roll_link_col_0" type="cylinder" size="0.0415 0.06" quat="0.7073882691671998 0.0 0.706825181105366 0.0" group="3" />
<body name="right_thigh_yaw_link" pos="0.0 0.0 -0.0815">
<joint name="right_hip_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.617 2.617" />
<inertial pos="0.002043 0.010083 -0.086622" mass="3.37" fullinertia="0.014825 0.014882 0.005312 4.648e-05 0.00059303 0.00079496" />
<geom name="right_thigh_yaw_link_vis_0" type="mesh" mesh="right_thigh_yaw_link" contype="0" conaffinity="0" group="2" />
<geom name="right_thigh_yaw_link_col_0" type="cylinder" size="0.06 0.095" pos="0.0 0.0 -0.08" group="3" />
<body name="right_shank_pitch_link" pos="0.0 0.0 -0.2075">
<joint name="right_knee_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.0872 2.356" />
<inertial pos="0.0026916 -0.004784 -0.13593" mass="2.21" fullinertia="0.013356 0.013383 0.0016428 -2.679e-05 -0.00016834 0.00022613" />
<geom name="right_shank_pitch_link_vis_0" type="mesh" mesh="right_shank_pitch_link" contype="0" conaffinity="0" group="2" />
<geom name="right_shank_pitch_link_col_0" type="cylinder" size="0.04 0.1" pos="0.0 0.0 -0.12" group="3" />
<body name="right_foot_roll_link" pos="0.0 0.0 -0.28">
<joint name="right_ankle_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.436 0.436" />
<inertial pos="0.0 -0.0018793 0.0" mass="0.113" fullinertia="2.497e-05 1.175e-05 2.933e-05 0.0 0.0 0.0" />
<geom name="right_foot_roll_link_vis_0" type="mesh" mesh="right_foot_roll_link" contype="0" conaffinity="0" group="2" />
<body name="right_foot_pitch_link">
<joint name="right_ankle_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.785 0.785" />
<inertial pos="0.031082 0.0001577 -0.031593" mass="0.528" fullinertia="0.00025371 0.0016803 0.0018324 -6.64e-06 9.42e-06 -1.1e-07" />
<geom name="right_foot_pitch_link_vis_0" type="mesh" mesh="right_foot_pitch_link" contype="0" conaffinity="0" group="2" />
<geom name="right_foot_pitch_link_col_0" type="mesh" mesh="right_foot_pitch_link" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="imu_link" pos="0.0 0.0 -0.1472">
<inertial pos="-0.0071125 0.0 0.00072936" mass="0.038" fullinertia="8.69e-06 2.012e-05 2.336e-05 0.0 5e-07 0.0" />
<geom name="imu_link_vis_0" type="mesh" mesh="imu_link" contype="0" conaffinity="0" group="2" />
</body>
<body name="waist_yaw_link" pos="0.0 0.0 0.0256">
<joint name="waist_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.617 2.617" />
<inertial pos="0.00025493 1.049e-05 -0.05502" mass="3.18" fullinertia="0.011139 0.007619 0.0089904 -1.3e-07 -2.455e-05 -9.79e-06" />
<geom name="waist_yaw_link_vis_0" type="mesh" mesh="waist_yaw_link" contype="0" conaffinity="0" group="2" />
<geom name="waist_yaw_link_col_0" type="cylinder" size="0.06 0.0275" pos="0.0 0.0 0.04" group="3" />
<body name="torso_link" pos="0.0 0.0 0.2598">
<inertial pos="0.0070827 0.00038627 -0.041747" mass="7.99" fullinertia="0.081895 0.070788 0.035401 4.891e-05 -0.00016303 0.00029003" />
<geom name="torso_link_vis_0" type="mesh" mesh="torso_link" contype="0" conaffinity="0" group="2" />
<geom name="torso_link_col_0" type="cylinder" size="0.1 0.11" pos="0.0 0.0 -0.06" group="3" />
<geom name="torso_link_col_1" type="sphere" size="0.08" pos="0.0 0.0 0.19" group="3" />
<body name="camera_link" pos="0.071343 -0.0048077 0.17959" quat="0.9653790609687551 0.008705955864825579 0.2586731732147929 -0.03249099005192128">
<inertial pos="0.011772 0.0016608 2.48e-06" mass="0.0382" fullinertia="2.466e-05 3.66e-06 2.483e-05 1.7e-07 1e-08 1e-08" />
<geom name="camera_link_vis_0" type="mesh" mesh="camera_link" contype="0" conaffinity="0" group="2" />
</body>
<body name="left_upper_arm_pitch_link" pos="0.0 0.09765 0.0">
<joint name="left_shoulder_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.966 2.966" />
<inertial pos="-0.00045952 0.060859 7.73e-05" mass="0.885" fullinertia="0.00083561 0.00051968 0.00081414 1.518e-05 2.12e-06 -9.9e-07" />
<geom name="left_upper_arm_pitch_link_vis_0" type="mesh" mesh="left_upper_arm_pitch_link" contype="0" conaffinity="0" group="2" />
<body name="left_upper_arm_roll_link" pos="0.0 0.078 0.0">
<joint name="left_shoulder_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.174 2.792" />
<inertial pos="0.0049529 0.00053148 -0.043369" mass="0.716" fullinertia="0.0017864 0.001897 0.00048987 9.2e-07 -0.00015431 -4.13e-06" />
<geom name="left_upper_arm_roll_link_vis_0" type="mesh" mesh="left_upper_arm_roll_link" contype="0" conaffinity="0" group="2" />
<geom name="left_upper_arm_roll_link_col_0" type="sphere" size="0.032" group="3" />
<body name="left_upper_arm_yaw_link" pos="0.0 0.0 -0.1005">
<joint name="left_shoulder_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.832 1.832" />
<inertial pos="0.0 -0.00057869 -0.060729" mass="0.913" fullinertia="0.0028954 0.0029133 0.00060525 -1.94e-06 -5.05e-06 -3.918e-05" />
<geom name="left_upper_arm_yaw_link_vis_0" type="mesh" mesh="left_upper_arm_yaw_link" contype="0" conaffinity="0" group="2" />
<geom name="left_upper_arm_yaw_link_col_0" type="cylinder" size="0.032 0.06" group="3" />
<body name="left_lower_arm_pitch_link" pos="0.0 0.0 -0.1095" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0">
<joint name="left_elbow_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.349 1.658" />
<inertial pos="-0.00053164 0.0049499 -0.04337" mass="0.716" fullinertia="0.0018966 0.0017861 0.00048976 -9.2e-07 4.05e-06 -0.00015416" />
<geom name="left_lower_arm_pitch_link_vis_0" type="mesh" mesh="left_lower_arm_pitch_link" contype="0" conaffinity="0" group="2" />
<body name="left_hand_yaw_link" pos="0.0 0.0 -0.1005">
<joint name="left_wrist_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.832 1.832" />
<inertial pos="-0.0020835 6.386e-05 -0.013715" mass="0.44" fullinertia="0.00043354 0.0004076 0.00027007 9.3e-07 7.3e-07 -3.5e-07" />
<geom name="left_hand_yaw_link_vis_0" type="mesh" mesh="left_hand_yaw_link" contype="0" conaffinity="0" group="2" />
<geom name="left_hand_yaw_link_col_0" type="cylinder" size="0.032 0.06" group="3" />
<body name="left_end_effector_link" pos="0.0 0.0 -0.1045">
<inertial pos="0.003465 0.0 0.0" mass="0.0994" fullinertia="3.741e-05 3.741e-05 4.538e-05 0.0 0.0 0.0" />
<geom name="left_end_effector_link_vis_0" type="mesh" mesh="left_end_effector_link" contype="0" conaffinity="0" group="2" />
<geom name="left_end_effector_link_col_0" type="sphere" size="0.02751" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="right_upper_arm_pitch_link" pos="0.0 -0.09765 0.0">
<joint name="right_shoulder_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.966 2.966" />
<inertial pos="-0.00045952 -0.060859 -7.73e-05" mass="0.885" fullinertia="0.00083561 0.00051968 0.00081414 -1.518e-05 -2.12e-06 -9.9e-07" />
<geom name="right_upper_arm_pitch_link_vis_0" type="mesh" mesh="right_upper_arm_pitch_link" contype="0" conaffinity="0" group="2" />
<body name="right_upper_arm_roll_link" pos="0.0 -0.078 0.0">
<joint name="right_shoulder_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-2.792 0.174" />
<inertial pos="0.0049504 -0.0005218 -0.043377" mass="0.716" fullinertia="0.0017858 0.0018963 0.00048949 -9.2e-07 -0.00015415 3.9e-06" />
<geom name="right_upper_arm_roll_link_vis_0" type="mesh" mesh="right_upper_arm_roll_link" contype="0" conaffinity="0" group="2" />
<geom name="right_upper_arm_roll_link_col_0" type="sphere" size="0.032" group="3" />
<body name="right_upper_arm_yaw_link" pos="0.0 0.0 -0.1005">
<joint name="right_shoulder_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.832 1.832" />
<inertial pos="0.0 0.00055669 -0.060729" mass="0.913" fullinertia="0.0028945 0.0029142 0.00060529 -5.07e-06 3.43e-06 3.939e-05" />
<geom name="right_upper_arm_yaw_link_vis_0" type="mesh" mesh="right_upper_arm_yaw_link" contype="0" conaffinity="0" group="2" />
<geom name="right_upper_arm_yaw_link_col_0" type="cylinder" size="0.032 0.06" group="3" />
<body name="right_lower_arm_pitch_link" pos="0.0 0.0 -0.1095" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0">
<joint name="right_elbow_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.349 1.658" />
<inertial pos="-0.0005218 -0.0049504 -0.043377" mass="0.716" fullinertia="0.0018963 0.0017858 0.00048949 9.2e-07 3.9e-06 0.00015415" />
<geom name="right_lower_arm_pitch_link_vis_0" type="mesh" mesh="right_lower_arm_pitch_link" contype="0" conaffinity="0" group="2" />
<body name="right_hand_yaw_link" pos="0.0 0.0 -0.1005">
<joint name="right_wrist_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.832 1.832" />
<inertial pos="-0.00020719 -1.94e-05 -0.013715" mass="0.44" fullinertia="0.00043227 0.00040887 0.00027007 1.81e-06 1.25e-06 -8.8e-07" />
<geom name="right_hand_yaw_link_vis_0" type="mesh" mesh="right_hand_yaw_link" contype="0" conaffinity="0" group="2" />
<geom name="right_hand_yaw_link_col_0" type="cylinder" size="0.032 0.06" group="3" />
<body name="right_end_effector_link" pos="0.0 0.0 -0.1045">
<inertial pos="0.003465 0.0 0.0" mass="0.0994" fullinertia="3.741e-05 3.741e-05 4.538e-05 0.0 0.0 0.0" />
<geom name="right_end_effector_link_vis_0" type="mesh" mesh="right_end_effector_link" contype="0" conaffinity="0" group="2" />
<geom name="right_end_effector_link_col_0" type="sphere" size="0.02751" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base_link" body2="left_thigh_pitch_link" />
<exclude body1="left_thigh_pitch_link" body2="left_thigh_roll_link" />
<exclude body1="left_thigh_roll_link" body2="left_thigh_yaw_link" />
<exclude body1="left_thigh_yaw_link" body2="left_shank_pitch_link" />
<exclude body1="left_shank_pitch_link" body2="left_foot_roll_link" />
<exclude body1="left_foot_roll_link" body2="left_foot_pitch_link" />
<exclude body1="base_link" body2="right_thigh_pitch_link" />
<exclude body1="right_thigh_pitch_link" body2="right_thigh_roll_link" />
<exclude body1="right_thigh_roll_link" body2="right_thigh_yaw_link" />
<exclude body1="right_thigh_yaw_link" body2="right_shank_pitch_link" />
<exclude body1="right_shank_pitch_link" body2="right_foot_roll_link" />
<exclude body1="right_foot_roll_link" body2="right_foot_pitch_link" />
<exclude body1="base_link" body2="imu_link" />
<exclude body1="base_link" body2="waist_yaw_link" />
<exclude body1="waist_yaw_link" body2="torso_link" />
<exclude body1="torso_link" body2="camera_link" />
<exclude body1="torso_link" body2="left_upper_arm_pitch_link" />
<exclude body1="left_upper_arm_pitch_link" body2="left_upper_arm_roll_link" />
<exclude body1="left_upper_arm_roll_link" body2="left_upper_arm_yaw_link" />
<exclude body1="left_upper_arm_yaw_link" body2="left_lower_arm_pitch_link" />
<exclude body1="left_lower_arm_pitch_link" body2="left_hand_yaw_link" />
<exclude body1="left_hand_yaw_link" body2="left_end_effector_link" />
<exclude body1="torso_link" body2="right_upper_arm_pitch_link" />
<exclude body1="right_upper_arm_pitch_link" body2="right_upper_arm_roll_link" />
<exclude body1="right_upper_arm_roll_link" body2="right_upper_arm_yaw_link" />
<exclude body1="right_upper_arm_yaw_link" body2="right_lower_arm_pitch_link" />
<exclude body1="right_lower_arm_pitch_link" body2="right_hand_yaw_link" />
<exclude body1="right_hand_yaw_link" body2="right_end_effector_link" />
</contact>
</mujoco>
Import report
Counts
| Links | 29 |
|---|---|
| Joints | 28 |
| Moving joints | 23 |
| Visuals | 29 |
| Collisions | 20 |
| Materials | 0 |
Meshes
Formats: stl.
Asset size: 18.8 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
axis | 5 | fixed joints carry no <axis>; URDF ignores it too |
material | 29 | anonymous material (empty name) cannot be referenced; its colour is not kept |
Forward-kinematics check
Forward kinematics of 29 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 · 3.8e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 23).
Source & licence
| Repository | https://github.com/FFTAI/Wiki-GRx-Models |
|---|---|
| Commit | f8e683f00d1d99deb882deb9dfce6030095b466a |
| Original file | N1/urdf/N1_raw.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.