NEXTAGE
Kawada Robotics · licence BSD · source: github.com/tork-a/rtmros_nextage @ ac270fb96
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 b84de32ba28f2368 -->
<robot name="NextageOpen">
<link name="WAIST">
<visual>
<origin xyz="0.0 0.0 0.97" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/WAIST_Link_mesh.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.97" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/WAIST_Link_mesh.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<mass value="1000.0" />
<inertia ixx="20.0" ixy="0.0" ixz="0.0" iyy="20.0" iyz="0.0" izz="20.0" />
</inertial>
</link>
<link name="CHEST_JOINT0_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/CHEST_JOINT0_Link_mesh.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/CHEST_JOINT0_Link_mesh.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<mass value="3.0" />
<inertia ixx="0.0639575" ixy="-0.00022833" ixz="0.00011172" iyy="0.0310845" iyz="6.48e-05" izz="0.0501107" />
</inertial>
</link>
<link name="HEAD_JOINT0_Link">
<visual>
<origin xyz="0.0 0.0 0.5695" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/HEAD_JOINT0_Link_mesh.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.5695" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/HEAD_JOINT0_Link_mesh.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-2.292e-05 0.00547848 -0.00784016" rpy="0.0 -0.0 0.0" />
<mass value="0.317929" />
<inertia ixx="0.00027682" ixy="3e-08" ixz="-3.3e-07" iyy="0.00013009" iyz="-1.092e-05" izz="0.00020954" />
</inertial>
</link>
<link name="HEAD_JOINT1_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/HEAD_JOINT1_Link_mesh.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/HEAD_JOINT1_Link_mesh.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.0808593" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<link name="LARM_JOINT0_Link">
<visual>
<origin xyz="0.0 0.145 0.370296" rpy="-0.261799 0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT0_Link_mesh.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.145 0.370296" rpy="-0.261799 0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT0_Link_mesh.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00226388 -0.00521383 0.0156081" rpy="0.0 -0.0 0.0" />
<mass value="1.32626" />
<inertia ixx="0.00207537" ixy="0.00011276" ixz="8.927e-05" iyy="0.00240295" iyz="-4.57e-05" izz="0.00141912" />
</inertial>
</link>
<link name="LARM_JOINT1_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT1_Link_mesh.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT1_Link_mesh.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-5.236e-05 0.0583134 -0.107061" rpy="0.0 -0.0 0.0" />
<mass value="1.14898" />
<inertia ixx="0.0154168" ixy="9.95417e-07" ixz="3.38147e-06" iyy="0.0147117" iyz="0.00213719" izz="0.0012658" />
</inertial>
</link>
<link name="LARM_JOINT2_Link">
<visual>
<origin xyz="0.0 0.095 -0.25" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT2_Link_mesh.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.095 -0.25" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT2_Link_mesh.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-2.254e-05 0.00167107 -0.0715116" rpy="0.0 -0.0 0.0" />
<mass value="0.577518" />
<inertia ixx="0.00143966" ixy="-3e-07" ixz="1.2e-06" iyy="0.00141763" iyz="-7.596e-05" izz="0.0001972" />
</inertial>
</link>
<link name="LARM_JOINT3_Link">
<visual>
<origin xyz="-0.03 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT3_Link_mesh.dae" />
</geometry>
</visual>
<collision>
<origin xyz="-0.03 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT3_Link_mesh.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-1.788e-05 -0.00395812 -0.20273" rpy="0.0 -0.0 0.0" />
<mass value="0.457418" />
<inertia ixx="0.00069205" ixy="3e-08" ixz="5.2e-07" iyy="0.00068903" iyz="-1.915e-05" izz="0.00013509" />
</inertial>
</link>
<link name="LARM_JOINT4_Link">
<visual>
<origin xyz="0.0 0.0 -0.235" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT4_Link_mesh.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.235" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT4_Link_mesh.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00243131 0.00379733 -0.0577036" rpy="0.0 -0.0 0.0" />
<mass value="0.418434" />
<inertia ixx="0.00052016" ixy="1.69e-06" ixz="7.9e-06" iyy="0.00050569" iyz="-5.377e-05" izz="0.00014004" />
</inertial>
</link>
<link name="LARM_JOINT5_Link">
<visual>
<origin xyz="-0.047 0.0 -0.09" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT5_Link_mesh.dae" />
</geometry>
</visual>
<collision>
<origin xyz="-0.047 0.0 -0.09" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT5_Link_mesh.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.048476 -3.2e-06 -0.0388988" rpy="0.0 -0.0 0.0" />
<mass value="1.05156" />
<inertia ixx="0.00194072" ixy="1.1e-07" ixz="-0.00042482" iyy="0.00209392" iyz="1.2e-07" izz="0.00035788" />
</inertial>
</link>
<link name="RARM_JOINT0_Link">
<visual>
<origin xyz="0.0 -0.145 0.370296" rpy="0.261799 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/RARM_JOINT0_Link_mesh.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.145 0.370296" rpy="0.261799 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/RARM_JOINT0_Link_mesh.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00226388 0.00521383 0.0156081" rpy="0.0 -0.0 0.0" />
<mass value="1.32626" />
<inertia ixx="0.00207537" ixy="-0.00011276" ixz="8.927e-05" iyy="0.00240295" iyz="4.57e-05" izz="0.00141912" />
</inertial>
</link>
<link name="RARM_JOINT1_Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/RARM_JOINT1_Link_mesh.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/RARM_JOINT1_Link_mesh.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-5.236e-05 -0.0583134 -0.107061" rpy="0.0 -0.0 0.0" />
<mass value="1.14898" />
<inertia ixx="0.0154168" ixy="-9.95417e-07" ixz="3.38147e-06" iyy="0.0147117" iyz="-0.00213719" izz="0.0012658" />
</inertial>
</link>
<link name="RARM_JOINT2_Link">
<visual>
<origin xyz="0.0 -0.095 -0.25" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/RARM_JOINT2_Link_mesh.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.095 -0.25" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/RARM_JOINT2_Link_mesh.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-2.254e-05 -0.00167107 -0.0715116" rpy="0.0 -0.0 0.0" />
<mass value="0.577518" />
<inertia ixx="0.00143966" ixy="3e-07" ixz="1.2e-06" iyy="0.00141763" iyz="7.596e-05" izz="0.0001972" />
</inertial>
</link>
<link name="RARM_JOINT3_Link">
<visual>
<origin xyz="-0.03 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/RARM_JOINT3_Link_mesh.dae" />
</geometry>
</visual>
<collision>
<origin xyz="-0.03 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/RARM_JOINT3_Link_mesh.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-1.788e-05 0.00395812 -0.20273" rpy="0.0 -0.0 0.0" />
<mass value="0.457418" />
<inertia ixx="0.00069205" ixy="-3e-08" ixz="5.2e-07" iyy="0.00068903" iyz="1.915e-05" izz="0.00013509" />
</inertial>
</link>
<link name="RARM_JOINT4_Link">
<visual>
<origin xyz="0.0 0.0 -0.235" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/RARM_JOINT4_Link_mesh.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.235" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/RARM_JOINT4_Link_mesh.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00243131 -0.00379733 -0.0577036" rpy="0.0 -0.0 0.0" />
<mass value="0.418434" />
<inertia ixx="0.00052016" ixy="-1.69e-06" ixz="7.9e-06" iyy="0.00050569" iyz="5.377e-05" izz="0.00014004" />
</inertial>
</link>
<link name="RARM_JOINT5_Link">
<visual>
<origin xyz="-0.047 0.0 -0.09" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/RARM_JOINT5_Link_mesh.dae" />
</geometry>
</visual>
<collision>
<origin xyz="-0.047 0.0 -0.09" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://nextage_description/urdf/meshes/RARM_JOINT5_Link_mesh.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.048476 3.2e-06 -0.0388988" rpy="0.0 -0.0 0.0" />
<mass value="1.05156" />
<inertia ixx="0.00194072" ixy="-1.1e-07" ixz="-0.00042482" iyy="0.00209392" iyz="-1.2e-07" izz="0.00035788" />
</inertial>
</link>
<joint name="CHEST_JOINT0" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<parent link="WAIST" />
<child link="CHEST_JOINT0_Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="0.5" lower="-2.84489" upper="2.84489" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="HEAD_JOINT0" type="revolute">
<origin xyz="0.0 0.0 0.5695" rpy="0.0 -0.0 0.0" />
<parent link="CHEST_JOINT0_Link" />
<child link="HEAD_JOINT0_Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="0.5" lower="-1.22173" upper="1.22173" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="HEAD_JOINT1" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<parent link="HEAD_JOINT0_Link" />
<child link="HEAD_JOINT1_Link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="0.5" lower="-0.349066" upper="1.22173" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LARM_JOINT0" type="revolute">
<origin xyz="0.0 0.145 0.370296" rpy="-0.261799 0.0 0.0" />
<parent link="CHEST_JOINT0_Link" />
<child link="LARM_JOINT0_Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="150.0" velocity="0.5" lower="-1.53589" upper="1.53589" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LARM_JOINT1" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<parent link="LARM_JOINT0_Link" />
<child link="LARM_JOINT1_Link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="200.0" velocity="0.5" lower="-2.44346" upper="1.0472" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LARM_JOINT2" type="revolute">
<origin xyz="0.0 0.095 -0.25" rpy="0.0 -0.0 0.0" />
<parent link="LARM_JOINT1_Link" />
<child link="LARM_JOINT2_Link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="0.5" lower="-2.75762" upper="0.0" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LARM_JOINT3" type="revolute">
<origin xyz="-0.03 0.0 0.0" rpy="0.0 -0.0 0.0" />
<parent link="LARM_JOINT2_Link" />
<child link="LARM_JOINT3_Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="0.5" lower="-1.8326" upper="2.87979" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LARM_JOINT4" type="revolute">
<origin xyz="0.0 0.0 -0.235" rpy="0.0 -0.0 0.0" />
<parent link="LARM_JOINT3_Link" />
<child link="LARM_JOINT4_Link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="0.5" lower="-1.74533" upper="1.74533" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="LARM_JOINT5" type="revolute">
<origin xyz="-0.047 0.0 -0.09" rpy="0.0 -0.0 0.0" />
<parent link="LARM_JOINT4_Link" />
<child link="LARM_JOINT5_Link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="0.5" lower="-2.84489" upper="2.84489" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RARM_JOINT0" type="revolute">
<origin xyz="0.0 -0.145 0.370296" rpy="0.261799 -0.0 0.0" />
<parent link="CHEST_JOINT0_Link" />
<child link="RARM_JOINT0_Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="150.0" velocity="0.5" lower="-1.53589" upper="1.53589" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RARM_JOINT1" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
<parent link="RARM_JOINT0_Link" />
<child link="RARM_JOINT1_Link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="200.0" velocity="0.5" lower="-2.44346" upper="1.0472" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RARM_JOINT2" type="revolute">
<origin xyz="0.0 -0.095 -0.25" rpy="0.0 -0.0 0.0" />
<parent link="RARM_JOINT1_Link" />
<child link="RARM_JOINT2_Link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="0.5" lower="-2.75762" upper="0.0" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RARM_JOINT3" type="revolute">
<origin xyz="-0.03 0.0 0.0" rpy="0.0 -0.0 0.0" />
<parent link="RARM_JOINT2_Link" />
<child link="RARM_JOINT3_Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="0.5" lower="-2.87979" upper="1.8326" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RARM_JOINT4" type="revolute">
<origin xyz="0.0 0.0 -0.235" rpy="0.0 -0.0 0.0" />
<parent link="RARM_JOINT3_Link" />
<child link="RARM_JOINT4_Link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="0.5" lower="-1.74533" upper="1.74533" />
<dynamics damping="0.2" friction="0.0" />
</joint>
<joint name="RARM_JOINT5" type="revolute">
<origin xyz="-0.047 0.0 -0.09" rpy="0.0 -0.0 0.0" />
<parent link="RARM_JOINT4_Link" />
<child link="RARM_JOINT5_Link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="0.5" lower="-2.84489" upper="2.84489" />
<dynamics damping="0.2" friction="0.0" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content b84de32ba28f2368 -->
<mujoco model="NextageOpen">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="WAIST_Link_mesh" file="nextage_description/urdf/meshes/WAIST_Link_mesh.dae" />
<mesh name="CHEST_JOINT0_Link_mesh" file="nextage_description/urdf/meshes/CHEST_JOINT0_Link_mesh.dae" />
<mesh name="HEAD_JOINT0_Link_mesh" file="nextage_description/urdf/meshes/HEAD_JOINT0_Link_mesh.dae" />
<mesh name="HEAD_JOINT1_Link_mesh" file="nextage_description/urdf/meshes/HEAD_JOINT1_Link_mesh.dae" />
<mesh name="LARM_JOINT0_Link_mesh" file="nextage_description/urdf/meshes/LARM_JOINT0_Link_mesh.dae" />
<mesh name="LARM_JOINT1_Link_mesh" file="nextage_description/urdf/meshes/LARM_JOINT1_Link_mesh.dae" />
<mesh name="LARM_JOINT2_Link_mesh" file="nextage_description/urdf/meshes/LARM_JOINT2_Link_mesh.dae" />
<mesh name="LARM_JOINT3_Link_mesh" file="nextage_description/urdf/meshes/LARM_JOINT3_Link_mesh.dae" />
<mesh name="LARM_JOINT4_Link_mesh" file="nextage_description/urdf/meshes/LARM_JOINT4_Link_mesh.dae" />
<mesh name="LARM_JOINT5_Link_mesh" file="nextage_description/urdf/meshes/LARM_JOINT5_Link_mesh.dae" />
<mesh name="RARM_JOINT0_Link_mesh" file="nextage_description/urdf/meshes/RARM_JOINT0_Link_mesh.dae" />
<mesh name="RARM_JOINT1_Link_mesh" file="nextage_description/urdf/meshes/RARM_JOINT1_Link_mesh.dae" />
<mesh name="RARM_JOINT2_Link_mesh" file="nextage_description/urdf/meshes/RARM_JOINT2_Link_mesh.dae" />
<mesh name="RARM_JOINT3_Link_mesh" file="nextage_description/urdf/meshes/RARM_JOINT3_Link_mesh.dae" />
<mesh name="RARM_JOINT4_Link_mesh" file="nextage_description/urdf/meshes/RARM_JOINT4_Link_mesh.dae" />
<mesh name="RARM_JOINT5_Link_mesh" file="nextage_description/urdf/meshes/RARM_JOINT5_Link_mesh.dae" />
</asset>
<worldbody>
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<inertial pos="0.0 0.0 0.0" mass="1000.0" fullinertia="20.0 20.0 20.0 0.0 0.0 0.0" />
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<geom name="WAIST_col_0" type="mesh" mesh="WAIST_Link_mesh" pos="0.0 0.0 0.97" group="3" />
<body name="CHEST_JOINT0_Link">
<joint name="CHEST_JOINT0" type="hinge" axis="0.0 0.0 1.0" range="-2.84489 2.84489" damping="0.2" />
<inertial pos="0.0 0.0 0.0" mass="3.0" fullinertia="0.0639575 0.0310845 0.0501107 -0.00022833 0.00011172 6.48e-05" />
<geom name="CHEST_JOINT0_Link_vis_0" type="mesh" mesh="CHEST_JOINT0_Link_mesh" contype="0" conaffinity="0" group="2" />
<geom name="CHEST_JOINT0_Link_col_0" type="mesh" mesh="CHEST_JOINT0_Link_mesh" group="3" />
<body name="HEAD_JOINT0_Link" pos="0.0 0.0 0.5695">
<joint name="HEAD_JOINT0" type="hinge" axis="0.0 0.0 1.0" range="-1.22173 1.22173" damping="0.2" />
<inertial pos="-2.292e-05 0.00547848 -0.00784016" mass="0.317929" fullinertia="0.00027682 0.00013009 0.00020954 3e-08 -3.3e-07 -1.092e-05" />
<geom name="HEAD_JOINT0_Link_vis_0" type="mesh" mesh="HEAD_JOINT0_Link_mesh" pos="0.0 0.0 0.5695" contype="0" conaffinity="0" group="2" />
<geom name="HEAD_JOINT0_Link_col_0" type="mesh" mesh="HEAD_JOINT0_Link_mesh" pos="0.0 0.0 0.5695" group="3" />
<body name="HEAD_JOINT1_Link">
<joint name="HEAD_JOINT1" type="hinge" axis="0.0 1.0 0.0" range="-0.349066 1.22173" damping="0.2" />
<inertial pos="0.0 0.0 0.0" mass="0.0808593" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<geom name="HEAD_JOINT1_Link_vis_0" type="mesh" mesh="HEAD_JOINT1_Link_mesh" contype="0" conaffinity="0" group="2" />
<geom name="HEAD_JOINT1_Link_col_0" type="mesh" mesh="HEAD_JOINT1_Link_mesh" group="3" />
</body>
</body>
<body name="LARM_JOINT0_Link" pos="0.0 0.145 0.370296" quat="0.991444886682765 -0.13052599997931216 0.0 0.0">
<joint name="LARM_JOINT0" type="hinge" axis="0.0 0.0 1.0" range="-1.53589 1.53589" damping="0.2" />
<inertial pos="-0.00226388 -0.00521383 0.0156081" mass="1.32626" fullinertia="0.00207537 0.00240295 0.00141912 0.00011276 8.927e-05 -4.57e-05" />
<geom name="LARM_JOINT0_Link_vis_0" type="mesh" mesh="LARM_JOINT0_Link_mesh" pos="0.0 0.145 0.370296" quat="0.991444886682765 -0.13052599997931216 0.0 0.0" contype="0" conaffinity="0" group="2" />
<geom name="LARM_JOINT0_Link_col_0" type="mesh" mesh="LARM_JOINT0_Link_mesh" pos="0.0 0.145 0.370296" quat="0.991444886682765 -0.13052599997931216 0.0 0.0" group="3" />
<body name="LARM_JOINT1_Link">
<joint name="LARM_JOINT1" type="hinge" axis="0.0 1.0 0.0" range="-2.44346 1.0472" damping="0.2" />
<inertial pos="-5.236e-05 0.0583134 -0.107061" mass="1.14898" fullinertia="0.0154168 0.0147117 0.0012658 9.95417e-07 3.38147e-06 0.00213719" />
<geom name="LARM_JOINT1_Link_vis_0" type="mesh" mesh="LARM_JOINT1_Link_mesh" contype="0" conaffinity="0" group="2" />
<geom name="LARM_JOINT1_Link_col_0" type="mesh" mesh="LARM_JOINT1_Link_mesh" group="3" />
<body name="LARM_JOINT2_Link" pos="0.0 0.095 -0.25">
<joint name="LARM_JOINT2" type="hinge" axis="0.0 1.0 0.0" range="-2.75762 0.0" damping="0.2" />
<inertial pos="-2.254e-05 0.00167107 -0.0715116" mass="0.577518" fullinertia="0.00143966 0.00141763 0.0001972 -3e-07 1.2e-06 -7.596e-05" />
<geom name="LARM_JOINT2_Link_vis_0" type="mesh" mesh="LARM_JOINT2_Link_mesh" pos="0.0 0.095 -0.25" contype="0" conaffinity="0" group="2" />
<geom name="LARM_JOINT2_Link_col_0" type="mesh" mesh="LARM_JOINT2_Link_mesh" pos="0.0 0.095 -0.25" group="3" />
<body name="LARM_JOINT3_Link" pos="-0.03 0.0 0.0">
<joint name="LARM_JOINT3" type="hinge" axis="0.0 0.0 1.0" range="-1.8326 2.87979" damping="0.2" />
<inertial pos="-1.788e-05 -0.00395812 -0.20273" mass="0.457418" fullinertia="0.00069205 0.00068903 0.00013509 3e-08 5.2e-07 -1.915e-05" />
<geom name="LARM_JOINT3_Link_vis_0" type="mesh" mesh="LARM_JOINT3_Link_mesh" pos="-0.03 0.0 0.0" contype="0" conaffinity="0" group="2" />
<geom name="LARM_JOINT3_Link_col_0" type="mesh" mesh="LARM_JOINT3_Link_mesh" pos="-0.03 0.0 0.0" group="3" />
<body name="LARM_JOINT4_Link" pos="0.0 0.0 -0.235">
<joint name="LARM_JOINT4" type="hinge" axis="0.0 1.0 0.0" range="-1.74533 1.74533" damping="0.2" />
<inertial pos="0.00243131 0.00379733 -0.0577036" mass="0.418434" fullinertia="0.00052016 0.00050569 0.00014004 1.69e-06 7.9e-06 -5.377e-05" />
<geom name="LARM_JOINT4_Link_vis_0" type="mesh" mesh="LARM_JOINT4_Link_mesh" pos="0.0 0.0 -0.235" contype="0" conaffinity="0" group="2" />
<geom name="LARM_JOINT4_Link_col_0" type="mesh" mesh="LARM_JOINT4_Link_mesh" pos="0.0 0.0 -0.235" group="3" />
<body name="LARM_JOINT5_Link" pos="-0.047 0.0 -0.09">
<joint name="LARM_JOINT5" type="hinge" axis="1.0 0.0 0.0" range="-2.84489 2.84489" damping="0.2" />
<inertial pos="-0.048476 -3.2e-06 -0.0388988" mass="1.05156" fullinertia="0.00194072 0.00209392 0.00035788 1.1e-07 -0.00042482 1.2e-07" />
<geom name="LARM_JOINT5_Link_vis_0" type="mesh" mesh="LARM_JOINT5_Link_mesh" pos="-0.047 0.0 -0.09" contype="0" conaffinity="0" group="2" />
<geom name="LARM_JOINT5_Link_col_0" type="mesh" mesh="LARM_JOINT5_Link_mesh" pos="-0.047 0.0 -0.09" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="RARM_JOINT0_Link" pos="0.0 -0.145 0.370296" quat="0.991444886682765 0.13052599997931216 0.0 0.0">
<joint name="RARM_JOINT0" type="hinge" axis="0.0 0.0 1.0" range="-1.53589 1.53589" damping="0.2" />
<inertial pos="-0.00226388 0.00521383 0.0156081" mass="1.32626" fullinertia="0.00207537 0.00240295 0.00141912 -0.00011276 8.927e-05 4.57e-05" />
<geom name="RARM_JOINT0_Link_vis_0" type="mesh" mesh="RARM_JOINT0_Link_mesh" pos="0.0 -0.145 0.370296" quat="0.991444886682765 0.13052599997931216 0.0 0.0" contype="0" conaffinity="0" group="2" />
<geom name="RARM_JOINT0_Link_col_0" type="mesh" mesh="RARM_JOINT0_Link_mesh" pos="0.0 -0.145 0.370296" quat="0.991444886682765 0.13052599997931216 0.0 0.0" group="3" />
<body name="RARM_JOINT1_Link">
<joint name="RARM_JOINT1" type="hinge" axis="0.0 1.0 0.0" range="-2.44346 1.0472" damping="0.2" />
<inertial pos="-5.236e-05 -0.0583134 -0.107061" mass="1.14898" fullinertia="0.0154168 0.0147117 0.0012658 -9.95417e-07 3.38147e-06 -0.00213719" />
<geom name="RARM_JOINT1_Link_vis_0" type="mesh" mesh="RARM_JOINT1_Link_mesh" contype="0" conaffinity="0" group="2" />
<geom name="RARM_JOINT1_Link_col_0" type="mesh" mesh="RARM_JOINT1_Link_mesh" group="3" />
<body name="RARM_JOINT2_Link" pos="0.0 -0.095 -0.25">
<joint name="RARM_JOINT2" type="hinge" axis="0.0 1.0 0.0" range="-2.75762 0.0" damping="0.2" />
<inertial pos="-2.254e-05 -0.00167107 -0.0715116" mass="0.577518" fullinertia="0.00143966 0.00141763 0.0001972 3e-07 1.2e-06 7.596e-05" />
<geom name="RARM_JOINT2_Link_vis_0" type="mesh" mesh="RARM_JOINT2_Link_mesh" pos="0.0 -0.095 -0.25" contype="0" conaffinity="0" group="2" />
<geom name="RARM_JOINT2_Link_col_0" type="mesh" mesh="RARM_JOINT2_Link_mesh" pos="0.0 -0.095 -0.25" group="3" />
<body name="RARM_JOINT3_Link" pos="-0.03 0.0 0.0">
<joint name="RARM_JOINT3" type="hinge" axis="0.0 0.0 1.0" range="-2.87979 1.8326" damping="0.2" />
<inertial pos="-1.788e-05 0.00395812 -0.20273" mass="0.457418" fullinertia="0.00069205 0.00068903 0.00013509 -3e-08 5.2e-07 1.915e-05" />
<geom name="RARM_JOINT3_Link_vis_0" type="mesh" mesh="RARM_JOINT3_Link_mesh" pos="-0.03 0.0 0.0" contype="0" conaffinity="0" group="2" />
<geom name="RARM_JOINT3_Link_col_0" type="mesh" mesh="RARM_JOINT3_Link_mesh" pos="-0.03 0.0 0.0" group="3" />
<body name="RARM_JOINT4_Link" pos="0.0 0.0 -0.235">
<joint name="RARM_JOINT4" type="hinge" axis="0.0 1.0 0.0" range="-1.74533 1.74533" damping="0.2" />
<inertial pos="0.00243131 -0.00379733 -0.0577036" mass="0.418434" fullinertia="0.00052016 0.00050569 0.00014004 -1.69e-06 7.9e-06 5.377e-05" />
<geom name="RARM_JOINT4_Link_vis_0" type="mesh" mesh="RARM_JOINT4_Link_mesh" pos="0.0 0.0 -0.235" contype="0" conaffinity="0" group="2" />
<geom name="RARM_JOINT4_Link_col_0" type="mesh" mesh="RARM_JOINT4_Link_mesh" pos="0.0 0.0 -0.235" group="3" />
<body name="RARM_JOINT5_Link" pos="-0.047 0.0 -0.09">
<joint name="RARM_JOINT5" type="hinge" axis="1.0 0.0 0.0" range="-2.84489 2.84489" damping="0.2" />
<inertial pos="-0.048476 3.2e-06 -0.0388988" mass="1.05156" fullinertia="0.00194072 0.00209392 0.00035788 -1.1e-07 -0.00042482 -1.2e-07" />
<geom name="RARM_JOINT5_Link_vis_0" type="mesh" mesh="RARM_JOINT5_Link_mesh" pos="-0.047 0.0 -0.09" contype="0" conaffinity="0" group="2" />
<geom name="RARM_JOINT5_Link_col_0" type="mesh" mesh="RARM_JOINT5_Link_mesh" pos="-0.047 0.0 -0.09" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="WAIST" body2="CHEST_JOINT0_Link" />
<exclude body1="CHEST_JOINT0_Link" body2="HEAD_JOINT0_Link" />
<exclude body1="HEAD_JOINT0_Link" body2="HEAD_JOINT1_Link" />
<exclude body1="CHEST_JOINT0_Link" body2="LARM_JOINT0_Link" />
<exclude body1="LARM_JOINT0_Link" body2="LARM_JOINT1_Link" />
<exclude body1="LARM_JOINT1_Link" body2="LARM_JOINT2_Link" />
<exclude body1="LARM_JOINT2_Link" body2="LARM_JOINT3_Link" />
<exclude body1="LARM_JOINT3_Link" body2="LARM_JOINT4_Link" />
<exclude body1="LARM_JOINT4_Link" body2="LARM_JOINT5_Link" />
<exclude body1="CHEST_JOINT0_Link" body2="RARM_JOINT0_Link" />
<exclude body1="RARM_JOINT0_Link" body2="RARM_JOINT1_Link" />
<exclude body1="RARM_JOINT1_Link" body2="RARM_JOINT2_Link" />
<exclude body1="RARM_JOINT2_Link" body2="RARM_JOINT3_Link" />
<exclude body1="RARM_JOINT3_Link" body2="RARM_JOINT4_Link" />
<exclude body1="RARM_JOINT4_Link" body2="RARM_JOINT5_Link" />
</contact>
</mujoco>
Import report
Counts
| Links | 16 |
|---|---|
| Joints | 15 |
| Moving joints | 15 |
| Visuals | 16 |
| Collisions | 16 |
| Materials | 0 |
Meshes
Formats: dae.
Asset size: 2.6 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
gazebo | 1 | Gazebo simulator extensions are not part of the description |
{http://www.ros.org/wiki/xacro}gazebo_nx_link | 16 | <{http://www.ros.org/wiki/xacro}gazebo_nx_link> is not part of the URDF subset RobotDescription mirrors |
{http://www.ros.org/wiki/xacro}include | 1 | <{http://www.ros.org/wiki/xacro}include> is not part of the URDF subset RobotDescription mirrors |
{http://www.ros.org/wiki/xacro}macro | 2 | <{http://www.ros.org/wiki/xacro}macro> is not part of the URDF subset RobotDescription mirrors |
{http://www.ros.org/wiki/xacro}transmission_nx_joint | 15 | <{http://www.ros.org/wiki/xacro}transmission_nx_joint> is not part of the URDF subset RobotDescription mirrors |
Forward-kinematics check
Forward kinematics of 16 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 · 3.6e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 15).
Source & licence
| Repository | https://github.com/tork-a/rtmros_nextage |
|---|---|
| Commit | ac270fb969fa54abeb6863f9b388a9e20c1f14e0 |
| Original file | nextage_description/urdf/NextageOpen.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.