Oli
LimX Dynamics · licence Apache-2.0 · source: github.com/limxdynamics/humanoid-description @ 97b217405
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 38afdfbc23dded1d -->
<robot name="HU_D04_01">
<link name="base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/base_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.002916 -8e-06 0.041359" rpy="0.0 0.0 0.0" />
<mass value="5.904962" />
<inertia ixx="0.038209" ixy="4e-06" ixz="0.001989" iyy="0.013916" iyz="-8e-06" izz="0.040472" />
</inertial>
</link>
<link name="left_hip_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/left_hip_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0019 0.001536 -0.086008" rpy="0.0 0.0 0.0" />
<mass value="2.255011" />
<inertia ixx="0.003233" ixy="2e-06" ixz="-1.3e-05" iyy="0.003816" iyz="3.5e-05" izz="0.002888" />
</inertial>
</link>
<joint name="left_hip_pitch_joint" type="revolute">
<origin xyz="0.017007 0.1283 0.0081917" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="left_hip_pitch_link" />
<axis xyz="0.0 0.90631 -0.42262" />
<limit effort="140.0" velocity="5.0" lower="-2.618" upper="2.618" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_hip_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/left_hip_roll_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00075 1e-05 -0.118609" rpy="0.0 0.0 0.0" />
<mass value="2.121806" />
<inertia ixx="0.004035" ixy="3e-06" ixz="-0.000137" iyy="0.004267" iyz="1e-06" izz="0.002342" />
</inertial>
</link>
<joint name="left_hip_roll_joint" type="revolute">
<origin xyz="-0.01 0.0016596 -0.0920417" rpy="0.0 0.0 0.0" />
<parent link="left_hip_pitch_link" />
<child link="left_hip_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="140.0" velocity="5.0" lower="-0.8727" upper="2.094" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_hip_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/left_hip_yaw_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.006364 0.000963 -0.143266" rpy="0.0 0.0 0.0" />
<mass value="2.994098" />
<inertia ixx="0.024104" ixy="9e-06" ixz="-0.001176" iyy="0.024609" iyz="0.000111" izz="0.004856" />
</inertial>
</link>
<joint name="left_hip_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 -0.1774" rpy="0.0 0.0 0.0" />
<parent link="left_hip_roll_link" />
<child link="left_hip_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="140.0" velocity="5.0" lower="-2.618" upper="2.618" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_knee_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/left_knee_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.008034 0.005502 -0.139341" rpy="0.0 0.0 0.0" />
<mass value="3.004275" />
<inertia ixx="0.026945" ixy="9.1e-05" ixz="8.3e-05" iyy="0.026541" iyz="-0.00215" izz="0.003135" />
</inertial>
</link>
<joint name="left_knee_joint" type="revolute">
<origin xyz="0.0 0.0 -0.1976" rpy="0.0 0.0 0.0" />
<parent link="left_hip_yaw_link" />
<child link="left_knee_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="140.0" velocity="5.0" lower="-0.087" upper="2.583" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_ankle_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/left_ankle_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.001077" rpy="0.0 0.0 0.0" />
<mass value="0.042944" />
<inertia ixx="4e-06" ixy="0.0" ixz="0.0" iyy="2e-06" iyz="0.0" izz="4e-06" />
</inertial>
</link>
<joint name="left_ankle_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 -0.385" rpy="0.0 0.0 0.0" />
<parent link="left_knee_link" />
<child link="left_ankle_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="42.0" velocity="13.6" lower="-1.012" upper="0.611" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_ankle_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/left_ankle_roll_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.018 0.0 -0.0535" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.25 0.094 0.02" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00972 0.0 -0.035233" rpy="0.0 0.0 0.0" />
<mass value="1.206425" />
<inertia ixx="0.000924" ixy="0.0" ixz="0.000471" iyy="0.00476" iyz="0.0" izz="0.004924" />
</inertial>
</link>
<joint name="left_ankle_roll_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_ankle_pitch_link" />
<child link="left_ankle_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="42.0" velocity="13.6" lower="-0.436" upper="0.436" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="contact_foot_center_joint_L" type="fixed">
<origin xyz="0.0 0.0 -0.0625" rpy="0.0 0.0 0.0" />
<parent link="left_ankle_roll_link" />
<child link="contact_foot_center_L" />
</joint>
<link name="contact_foot_center_L">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<joint name="contact_foot_heel_joint_L" type="fixed">
<origin xyz="-0.106 0.0 -0.0625" rpy="0.0 0.0 0.0" />
<parent link="left_ankle_roll_link" />
<child link="contact_foot_heel_L" />
</joint>
<link name="contact_foot_heel_L">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<joint name="contact_foot_tip_joint_L" type="fixed">
<origin xyz="0.154 0.0 -0.0625" rpy="0.0 0.0 0.0" />
<parent link="left_ankle_roll_link" />
<child link="contact_foot_tip_L" />
</joint>
<link name="contact_foot_tip_L">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<link name="right_hip_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/right_hip_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0019 -0.001536 -0.086008" rpy="0.0 0.0 0.0" />
<mass value="2.253993" />
<inertia ixx="0.003231" ixy="-1.8e-05" ixz="-1.2e-05" iyy="0.003814" iyz="-2e-06" izz="0.002888" />
</inertial>
</link>
<joint name="right_hip_pitch_joint" type="revolute">
<origin xyz="0.017007 -0.1283 0.0081917" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="right_hip_pitch_link" />
<axis xyz="0.0 0.90631 0.42262" />
<limit effort="140.0" velocity="5.0" lower="-2.618" upper="2.618" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_hip_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/right_hip_roll_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.000764 1e-05 -0.118627" rpy="0.0 0.0 0.0" />
<mass value="2.121322" />
<inertia ixx="0.004031" ixy="3e-06" ixz="-0.000139" iyy="0.004262" iyz="1e-06" izz="0.00234" />
</inertial>
</link>
<joint name="right_hip_roll_joint" type="revolute">
<origin xyz="-0.01 -0.0016596 -0.0920417" rpy="0.0 0.0 0.0" />
<parent link="right_hip_pitch_link" />
<child link="right_hip_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="140.0" velocity="5.0" lower="-2.094" upper="0.8727" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_hip_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/right_hip_yaw_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.006367 -0.000835 -0.143269" rpy="0.0 0.0 0.0" />
<mass value="2.994098" />
<inertia ixx="0.024106" ixy="-8e-06" ixz="-0.001175" iyy="0.02461" iyz="-0.000165" izz="0.004856" />
</inertial>
</link>
<joint name="right_hip_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 -0.1774" rpy="0.0 0.0 0.0" />
<parent link="right_hip_roll_link" />
<child link="right_hip_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="140.0" velocity="5.0" lower="-2.618" upper="2.618" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_knee_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/right_knee_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.007541 -0.00542 -0.140219" rpy="0.0 0.0 0.0" />
<mass value="2.944928" />
<inertia ixx="0.026634" ixy="-9.1e-05" ixz="0.000115" iyy="0.026187" iyz="0.002135" izz="0.00303" />
</inertial>
</link>
<joint name="right_knee_joint" type="revolute">
<origin xyz="0.0 0.0 -0.1976" rpy="0.0 0.0 0.0" />
<parent link="right_hip_yaw_link" />
<child link="right_knee_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="140.0" velocity="5.0" lower="-0.087" upper="2.583" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_ankle_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/right_ankle_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.001077" rpy="0.0 0.0 0.0" />
<mass value="0.042944" />
<inertia ixx="4e-06" ixy="0.0" ixz="0.0" iyy="2e-06" iyz="0.0" izz="4e-06" />
</inertial>
</link>
<joint name="right_ankle_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 -0.385" rpy="0.0 0.0 0.0" />
<parent link="right_knee_link" />
<child link="right_ankle_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="42.0" velocity="13.6" lower="-1.012" upper="0.611" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_ankle_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/right_ankle_roll_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.018 0.0 -0.0535" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.25 0.094 0.02" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00972 0.0 -0.035233" rpy="0.0 0.0 0.0" />
<mass value="1.206425" />
<inertia ixx="0.000924" ixy="0.0" ixz="0.000471" iyy="0.00476" iyz="0.0" izz="0.004924" />
</inertial>
</link>
<joint name="right_ankle_roll_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_ankle_pitch_link" />
<child link="right_ankle_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="42.0" velocity="13.6" lower="-0.436" upper="0.436" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="contact_foot_center_joint_R" type="fixed">
<origin xyz="0.0 0.0 -0.0625" rpy="0.0 0.0 0.0" />
<parent link="right_ankle_roll_link" />
<child link="contact_foot_center_R" />
</joint>
<link name="contact_foot_center_R">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<joint name="contact_foot_heel_joint_R" type="fixed">
<origin xyz="-0.106 0.0 -0.0625" rpy="0.0 0.0 0.0" />
<parent link="right_ankle_roll_link" />
<child link="contact_foot_heel_R" />
</joint>
<link name="contact_foot_heel_R">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<joint name="contact_foot_tip_joint_R" type="fixed">
<origin xyz="0.154 0.0 -0.0625" rpy="0.0 0.0 0.0" />
<parent link="right_ankle_roll_link" />
<child link="contact_foot_tip_R" />
</joint>
<link name="contact_foot_tip_R">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<link name="waist_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/waist_yaw_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.019885 -0.000163 0.029632" rpy="0.0 0.0 0.0" />
<mass value="0.654749" />
<inertia ixx="0.000616" ixy="-5e-06" ixz="-2.1e-05" iyy="0.001108" iyz="1e-06" izz="0.001156" />
</inertial>
</link>
<joint name="waist_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 0.10239" 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="42.0" velocity="13.6" lower="-2.618" upper="2.618" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="waist_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/waist_roll_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 -0.000149" rpy="0.0 0.0 0.0" />
<mass value="0.291501" />
<inertia ixx="0.00016" ixy="0.0" ixz="0.0" iyy="3.6e-05" iyz="0.0" izz="0.000164" />
</inertial>
</link>
<joint name="waist_roll_joint" type="revolute">
<origin xyz="0.0 0.0 0.057" rpy="0.0 0.0 0.0" />
<parent link="waist_yaw_link" />
<child link="waist_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="42.0" velocity="13.6" lower="-0.524" upper="0.524" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="waist_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/waist_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.006815 3.8e-05 0.196229" rpy="0.0 0.0 0.0" />
<mass value="11.882244" />
<inertia ixx="0.169231" ixy="6.5e-05" ixz="0.000953" iyy="0.136241" iyz="-5.7e-05" izz="0.104458" />
</inertial>
</link>
<joint name="waist_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="waist_roll_link" />
<child link="waist_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="42.0" velocity="13.6" lower="-0.524" upper="0.785" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_shoulder_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/left_shoulder_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.003151 0.031104 -2.2e-05" rpy="0.0 0.0 0.0" />
<mass value="0.244765" />
<inertia ixx="0.000253" ixy="-2.3e-05" ixz="0.0" iyy="0.000367" iyz="0.0" izz="0.000429" />
</inertial>
</link>
<joint name="left_shoulder_pitch_joint" type="revolute">
<origin xyz="0.0 0.1589 0.2822" rpy="0.0 0.0 0.0" />
<parent link="waist_pitch_link" />
<child link="left_shoulder_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="42.0" velocity="19.6" lower="-2.792" upper="2.792" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_shoulder_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/left_shoulder_roll_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.003525 8.8e-05 -0.046695" rpy="0.0 0.0 0.0" />
<mass value="1.740745" />
<inertia ixx="0.004948" ixy="0.0" ixz="-0.000258" iyy="0.004931" iyz="2e-06" izz="0.001384" />
</inertial>
</link>
<joint name="left_shoulder_roll_joint" type="revolute">
<origin xyz="0.0 0.055 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_shoulder_pitch_link" />
<child link="left_shoulder_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="42.0" velocity="19.6" lower="-0.087" upper="3.229" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_shoulder_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/left_shoulder_yaw_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.010067 0.003571 -0.065207" rpy="0.0 0.0 0.0" />
<mass value="0.307657" />
<inertia ixx="0.000874" ixy="-8e-06" ixz="-1.9e-05" iyy="0.000738" iyz="3.4e-05" izz="0.000405" />
</inertial>
</link>
<joint name="left_shoulder_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 -0.1306" rpy="0.0 0.0 0.0" />
<parent link="left_shoulder_roll_link" />
<child link="left_shoulder_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="42.0" velocity="19.6" lower="-3.403" upper="1.571" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_elbow_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/left_elbow_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="5.7e-05 0.004497 -0.027441" rpy="0.0 0.0 0.0" />
<mass value="1.275459" />
<inertia ixx="0.002852" ixy="-3e-06" ixz="1.7e-05" iyy="0.002876" iyz="-0.000129" izz="0.000888" />
</inertial>
</link>
<joint name="left_elbow_joint" type="revolute">
<origin xyz="0.0 0.0 -0.1157" rpy="0.0 0.0 0.0" />
<parent link="left_shoulder_yaw_link" />
<child link="left_elbow_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="42.0" velocity="19.6" lower="-2.443" upper="1.571" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_wrist_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/left_wrist_yaw_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.00242 0.000421 -0.01484" rpy="0.0 0.0 0.0" />
<mass value="0.132906" />
<inertia ixx="0.000145" ixy="0.0" ixz="0.0" iyy="8.6e-05" iyz="1e-06" izz="0.000142" />
</inertial>
</link>
<joint name="left_wrist_yaw_joint" type="revolute">
<origin xyz="0.0 0.001 -0.1188" rpy="0.0 0.0 0.0" />
<parent link="left_elbow_link" />
<child link="left_wrist_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="19.0" velocity="13.0" lower="-2.356" upper="0.785" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_wrist_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/left_wrist_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.001436 0.001303 -0.032233" rpy="0.0 0.0 0.0" />
<mass value="0.658602" />
<inertia ixx="0.000952" ixy="1e-06" ixz="2.8e-05" iyy="0.000963" iyz="-2.4e-05" izz="0.000296" />
</inertial>
</link>
<joint name="left_wrist_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 -0.0342" rpy="0.0 0.0 0.0" />
<parent link="left_wrist_yaw_link" />
<child link="left_wrist_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="19.0" velocity="13.0" lower="-1.571" upper="1.571" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_wrist_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/left_wrist_roll_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.004695 -0.002046 -0.088776" rpy="0.0 0.0 0.0" />
<mass value="0.581445" />
<inertia ixx="0.002124" ixy="2.9e-05" ixz="6e-05" iyy="0.002273" iyz="-8.4e-05" izz="0.000445" />
</inertial>
</link>
<joint name="left_wrist_roll_joint" type="revolute">
<origin xyz="0.0 0.0 -0.065" rpy="0.0 0.0 0.0" />
<parent link="left_wrist_pitch_link" />
<child link="left_wrist_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="19.0" velocity="13.0" lower="-1.571" upper="1.571" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="left_hand_contact_joint" type="fixed">
<origin xyz="0.0 0.0 -0.058" rpy="0.0 0.0 0.0" />
<parent link="left_wrist_roll_link" />
<child link="left_hand_contact" />
</joint>
<link name="left_hand_contact">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<joint name="left_hand_manip_joint" type="fixed">
<origin xyz="0.0 0.0 -0.058" rpy="0.0 1.5708 0.0" />
<parent link="left_wrist_roll_link" />
<child link="left_hand_manip" />
</joint>
<link name="left_hand_manip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<link name="right_shoulder_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/right_shoulder_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.003151 -0.031104 -2.2e-05" rpy="0.0 0.0 0.0" />
<mass value="0.244765" />
<inertia ixx="0.000253" ixy="2.3e-05" ixz="0.0" iyy="0.000367" iyz="0.0" izz="0.000429" />
</inertial>
</link>
<joint name="right_shoulder_pitch_joint" type="revolute">
<origin xyz="0.0 -0.1589 0.2822" rpy="0.0 0.0 0.0" />
<parent link="waist_pitch_link" />
<child link="right_shoulder_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="42.0" velocity="19.6" lower="-2.792" upper="2.792" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_shoulder_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/right_shoulder_roll_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.003553 8e-05 -0.046159" rpy="0.0 0.0 0.0" />
<mass value="1.727406" />
<inertia ixx="0.00488" ixy="2e-06" ixz="-0.000255" iyy="0.004864" iyz="1e-06" izz="0.001378" />
</inertial>
</link>
<joint name="right_shoulder_roll_joint" type="revolute">
<origin xyz="0.0 -0.055 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_shoulder_pitch_link" />
<child link="right_shoulder_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="42.0" velocity="19.6" lower="-3.229" upper="0.087" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_shoulder_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/right_shoulder_yaw_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.009999 -0.003523 -0.06579" rpy="0.0 0.0 0.0" />
<mass value="0.306436" />
<inertia ixx="0.000871" ixy="9e-06" ixz="-1.9e-05" iyy="0.000736" iyz="-3.8e-05" izz="0.000405" />
</inertial>
</link>
<joint name="right_shoulder_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 -0.1306" rpy="0.0 0.0 0.0" />
<parent link="right_shoulder_roll_link" />
<child link="right_shoulder_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="42.0" velocity="19.6" lower="-1.571" upper="3.403" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_elbow_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/right_elbow_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="5.7e-05 -0.004497 -0.027441" rpy="0.0 0.0 0.0" />
<mass value="1.275459" />
<inertia ixx="0.002852" ixy="3e-06" ixz="1.7e-05" iyy="0.002876" iyz="0.000129" izz="0.000888" />
</inertial>
</link>
<joint name="right_elbow_joint" type="revolute">
<origin xyz="0.0 0.0 -0.1157" rpy="0.0 0.0 0.0" />
<parent link="right_shoulder_yaw_link" />
<child link="right_elbow_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="42.0" velocity="19.6" lower="-2.443" upper="1.571" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_wrist_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/right_wrist_yaw_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.00242 -0.000421 -0.01484" rpy="0.0 0.0 0.0" />
<mass value="0.132906" />
<inertia ixx="0.000145" ixy="0.0" ixz="0.0" iyy="8.6e-05" iyz="-1e-06" izz="0.000142" />
</inertial>
</link>
<joint name="right_wrist_yaw_joint" type="revolute">
<origin xyz="0.0 -0.001 -0.1188" rpy="0.0 0.0 0.0" />
<parent link="right_elbow_link" />
<child link="right_wrist_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="19.0" velocity="13.0" lower="-0.785" upper="2.356" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_wrist_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/right_wrist_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.001436 -0.001303 -0.032233" rpy="0.0 0.0 0.0" />
<mass value="0.658602" />
<inertia ixx="0.000952" ixy="-1e-06" ixz="2.8e-05" iyy="0.000963" iyz="2.4e-05" izz="0.000296" />
</inertial>
</link>
<joint name="right_wrist_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 -0.0342" rpy="0.0 0.0 0.0" />
<parent link="right_wrist_yaw_link" />
<child link="right_wrist_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="19.0" velocity="13.0" lower="-1.571" upper="1.571" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_wrist_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/right_wrist_roll_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.004695 0.002046 -0.088776" rpy="0.0 0.0 0.0" />
<mass value="0.581445" />
<inertia ixx="0.002124" ixy="-2.9e-05" ixz="6e-05" iyy="0.002273" iyz="8.4e-05" izz="0.000445" />
</inertial>
</link>
<joint name="right_wrist_roll_joint" type="revolute">
<origin xyz="0.0 0.0 -0.065" rpy="0.0 0.0 0.0" />
<parent link="right_wrist_pitch_link" />
<child link="right_wrist_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="19.0" velocity="13.0" lower="-1.571" upper="1.571" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="right_hand_contact_joint" type="fixed">
<origin xyz="0.0 0.0 -0.058" rpy="0.0 0.0 0.0" />
<parent link="right_wrist_roll_link" />
<child link="right_hand_contact" />
</joint>
<link name="right_hand_contact">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<joint name="right_hand_manip_joint" type="fixed">
<origin xyz="0.0 0.0 -0.058" rpy="0.0 1.5708 0.0" />
<parent link="right_wrist_roll_link" />
<child link="right_hand_manip" />
</joint>
<link name="right_hand_manip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
</inertial>
</link>
<link name="head_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/neck_yaw_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="-7e-05 0.002132 0.037884" rpy="0.0 0.0 0.0" />
<mass value="0.35819" />
<inertia ixx="0.000163" ixy="0.0" ixz="2e-06" iyy="0.000162" iyz="2e-06" izz="0.000146" />
</inertial>
</link>
<joint name="head_yaw_joint" type="revolute">
<origin xyz="-0.013 0.0 0.3882" rpy="0.0 0.0 0.0" />
<parent link="waist_pitch_link" />
<child link="head_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="19.0" velocity="13.0" lower="-0.785" upper="0.785" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="head_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://HU_D04_description/meshes/HU_D04_01/neck_pitch_link.STL" />
</geometry>
</visual>
<inertial>
<origin xyz="0.010255 -0.000319 0.069397" rpy="0.0 0.0 0.0" />
<mass value="0.776041" />
<inertia ixx="0.00265" ixy="-2e-06" ixz="0.000195" iyy="0.002337" iyz="0.0" izz="0.003495" />
</inertial>
</link>
<joint name="head_pitch_joint" type="revolute">
<origin xyz="0.0 0.0 0.0395" rpy="0.0 0.0 0.0" />
<parent link="head_yaw_link" />
<child link="head_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="19.0" velocity="13.0" lower="-0.524" upper="0.785" />
<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 38afdfbc23dded1d -->
<mujoco model="HU_D04_01">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="base_link" file="HU_D04_description/meshes/HU_D04_01/base_link.STL" />
<mesh name="left_hip_pitch_link" file="HU_D04_description/meshes/HU_D04_01/left_hip_pitch_link.STL" />
<mesh name="left_hip_roll_link" file="HU_D04_description/meshes/HU_D04_01/left_hip_roll_link.STL" />
<mesh name="left_hip_yaw_link" file="HU_D04_description/meshes/HU_D04_01/left_hip_yaw_link.STL" />
<mesh name="left_knee_link" file="HU_D04_description/meshes/HU_D04_01/left_knee_link.STL" />
<mesh name="left_ankle_pitch_link" file="HU_D04_description/meshes/HU_D04_01/left_ankle_pitch_link.STL" />
<mesh name="left_ankle_roll_link" file="HU_D04_description/meshes/HU_D04_01/left_ankle_roll_link.STL" />
<mesh name="right_hip_pitch_link" file="HU_D04_description/meshes/HU_D04_01/right_hip_pitch_link.STL" />
<mesh name="right_hip_roll_link" file="HU_D04_description/meshes/HU_D04_01/right_hip_roll_link.STL" />
<mesh name="right_hip_yaw_link" file="HU_D04_description/meshes/HU_D04_01/right_hip_yaw_link.STL" />
<mesh name="right_knee_link" file="HU_D04_description/meshes/HU_D04_01/right_knee_link.STL" />
<mesh name="right_ankle_pitch_link" file="HU_D04_description/meshes/HU_D04_01/right_ankle_pitch_link.STL" />
<mesh name="right_ankle_roll_link" file="HU_D04_description/meshes/HU_D04_01/right_ankle_roll_link.STL" />
<mesh name="waist_yaw_link" file="HU_D04_description/meshes/HU_D04_01/waist_yaw_link.STL" />
<mesh name="waist_roll_link" file="HU_D04_description/meshes/HU_D04_01/waist_roll_link.STL" />
<mesh name="waist_pitch_link" file="HU_D04_description/meshes/HU_D04_01/waist_pitch_link.STL" />
<mesh name="left_shoulder_pitch_link" file="HU_D04_description/meshes/HU_D04_01/left_shoulder_pitch_link.STL" />
<mesh name="left_shoulder_roll_link" file="HU_D04_description/meshes/HU_D04_01/left_shoulder_roll_link.STL" />
<mesh name="left_shoulder_yaw_link" file="HU_D04_description/meshes/HU_D04_01/left_shoulder_yaw_link.STL" />
<mesh name="left_elbow_link" file="HU_D04_description/meshes/HU_D04_01/left_elbow_link.STL" />
<mesh name="left_wrist_yaw_link" file="HU_D04_description/meshes/HU_D04_01/left_wrist_yaw_link.STL" />
<mesh name="left_wrist_pitch_link" file="HU_D04_description/meshes/HU_D04_01/left_wrist_pitch_link.STL" />
<mesh name="left_wrist_roll_link" file="HU_D04_description/meshes/HU_D04_01/left_wrist_roll_link.STL" />
<mesh name="right_shoulder_pitch_link" file="HU_D04_description/meshes/HU_D04_01/right_shoulder_pitch_link.STL" />
<mesh name="right_shoulder_roll_link" file="HU_D04_description/meshes/HU_D04_01/right_shoulder_roll_link.STL" />
<mesh name="right_shoulder_yaw_link" file="HU_D04_description/meshes/HU_D04_01/right_shoulder_yaw_link.STL" />
<mesh name="right_elbow_link" file="HU_D04_description/meshes/HU_D04_01/right_elbow_link.STL" />
<mesh name="right_wrist_yaw_link" file="HU_D04_description/meshes/HU_D04_01/right_wrist_yaw_link.STL" />
<mesh name="right_wrist_pitch_link" file="HU_D04_description/meshes/HU_D04_01/right_wrist_pitch_link.STL" />
<mesh name="right_wrist_roll_link" file="HU_D04_description/meshes/HU_D04_01/right_wrist_roll_link.STL" />
<mesh name="neck_yaw_link" file="HU_D04_description/meshes/HU_D04_01/neck_yaw_link.STL" />
<mesh name="neck_pitch_link" file="HU_D04_description/meshes/HU_D04_01/neck_pitch_link.STL" />
</asset>
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</body>
</body>
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<geom name="right_wrist_pitch_link_vis_0" type="mesh" mesh="right_wrist_pitch_link" contype="0" conaffinity="0" group="2" />
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<joint name="right_wrist_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.571 1.571" />
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<geom name="right_wrist_roll_link_vis_0" type="mesh" mesh="right_wrist_roll_link" contype="0" conaffinity="0" group="2" />
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<contact>
<exclude body1="base_link" body2="left_hip_pitch_link" />
<exclude body1="left_hip_pitch_link" body2="left_hip_roll_link" />
<exclude body1="left_hip_roll_link" body2="left_hip_yaw_link" />
<exclude body1="left_hip_yaw_link" body2="left_knee_link" />
<exclude body1="left_knee_link" body2="left_ankle_pitch_link" />
<exclude body1="left_ankle_pitch_link" body2="left_ankle_roll_link" />
<exclude body1="left_ankle_roll_link" body2="contact_foot_center_L" />
<exclude body1="left_ankle_roll_link" body2="contact_foot_heel_L" />
<exclude body1="left_ankle_roll_link" body2="contact_foot_tip_L" />
<exclude body1="base_link" body2="right_hip_pitch_link" />
<exclude body1="right_hip_pitch_link" body2="right_hip_roll_link" />
<exclude body1="right_hip_roll_link" body2="right_hip_yaw_link" />
<exclude body1="right_hip_yaw_link" body2="right_knee_link" />
<exclude body1="right_knee_link" body2="right_ankle_pitch_link" />
<exclude body1="right_ankle_pitch_link" body2="right_ankle_roll_link" />
<exclude body1="right_ankle_roll_link" body2="contact_foot_center_R" />
<exclude body1="right_ankle_roll_link" body2="contact_foot_heel_R" />
<exclude body1="right_ankle_roll_link" body2="contact_foot_tip_R" />
<exclude body1="base_link" body2="waist_yaw_link" />
<exclude body1="waist_yaw_link" body2="waist_roll_link" />
<exclude body1="waist_roll_link" body2="waist_pitch_link" />
<exclude body1="waist_pitch_link" body2="left_shoulder_pitch_link" />
<exclude body1="left_shoulder_pitch_link" body2="left_shoulder_roll_link" />
<exclude body1="left_shoulder_roll_link" body2="left_shoulder_yaw_link" />
<exclude body1="left_shoulder_yaw_link" body2="left_elbow_link" />
<exclude body1="left_elbow_link" body2="left_wrist_yaw_link" />
<exclude body1="left_wrist_yaw_link" body2="left_wrist_pitch_link" />
<exclude body1="left_wrist_pitch_link" body2="left_wrist_roll_link" />
<exclude body1="left_wrist_roll_link" body2="left_hand_contact" />
<exclude body1="left_wrist_roll_link" body2="left_hand_manip" />
<exclude body1="waist_pitch_link" body2="right_shoulder_pitch_link" />
<exclude body1="right_shoulder_pitch_link" body2="right_shoulder_roll_link" />
<exclude body1="right_shoulder_roll_link" body2="right_shoulder_yaw_link" />
<exclude body1="right_shoulder_yaw_link" body2="right_elbow_link" />
<exclude body1="right_elbow_link" body2="right_wrist_yaw_link" />
<exclude body1="right_wrist_yaw_link" body2="right_wrist_pitch_link" />
<exclude body1="right_wrist_pitch_link" body2="right_wrist_roll_link" />
<exclude body1="right_wrist_roll_link" body2="right_hand_contact" />
<exclude body1="right_wrist_roll_link" body2="right_hand_manip" />
<exclude body1="waist_pitch_link" body2="head_yaw_link" />
<exclude body1="head_yaw_link" body2="head_pitch_link" />
</contact>
</mujoco>
Import report
Counts
| Links | 42 |
|---|---|
| Joints | 41 |
| Moving joints | 31 |
| Visuals | 42 |
| Collisions | 2 |
| Materials | 0 |
Meshes
Formats: stl.
Asset size: 18.0 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
material | 42 | anonymous material (empty name) cannot be referenced; its colour is not kept |
Forward-kinematics check
Forward kinematics of 42 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 · 5.0e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 31).
Source & licence
| Repository | https://github.com/limxdynamics/humanoid-description |
|---|---|
| Commit | 97b2174054103f9f7085ec1e3533972e4d0f2a50 |
| Original file | HU_D04_description/urdf/HU_D04_01.urdf |
| Licence | Apache-2.0 · the upstream LICENSE file |
| Files | robot.urdf · robot.xml |
Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.