Pepper
SoftBank Robotics · licence BSD-2-Clause · source: github.com/jrl-umi3218/pepper_description @ cd9715bb5
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 c1cca93813b0ff54 -->
<robot name="pepper">
<link name="base_link" />
<joint name="HeadYaw" type="revolute">
<origin xyz="-0.038 0.0 0.3089" rpy="0.0 0.0 0.0" />
<parent link="torso" />
<child link="Neck" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="5.428" velocity="7.33998" lower="-2.08567" upper="2.08567" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Neck">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/HeadYaw.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/HeadYaw_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00207 0.0 -0.02636" rpy="0.0 0.0 0.0" />
<mass value="0.27391" />
<inertia ixx="0.000343501" ixy="0.0" ixz="-1.88563e-05" iyy="0.000493898" iyz="2.09863e-06" izz="0.000215252" />
</inertial>
</link>
<joint name="HeadPitch" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="Neck" />
<child link="Head" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="2.666" velocity="9.22756" lower="-0.706858" upper="0.43" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Head">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/HeadPitch.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/HeadPitch_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00312 0.0 0.11152" rpy="0.0 0.0 0.0" />
<mass value="1.51893" />
<inertia ixx="0.00597209" ixy="0.0" ixz="0.000125138" iyy="0.0059054" iyz="4.3428e-07" izz="0.00570374" />
</inertial>
</link>
<joint name="HipRoll" type="revolute">
<origin xyz="0.0 0.0 0.079" rpy="0.0 0.0 0.0" />
<parent link="Hip" />
<child link="torso" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="10.1884" velocity="2.27032" lower="-0.514872" upper="0.514872" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Hip">
<visual>
<origin xyz="0.0 0.0 0.079" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/HipRoll.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.079" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/HipRoll_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00032 0.0 -0.06039" rpy="0.0 0.0 0.0" />
<mass value="1.02338" />
<inertia ixx="0.00502422" ixy="0.0" ixz="-2.54911e-05" iyy="0.00640971" iyz="0.000159449" izz="0.00441082" />
</inertial>
</link>
<joint name="HipPitch" type="revolute">
<origin xyz="0.0 0.0 0.268" rpy="0.0 0.0 0.0" />
<parent link="Pelvis" />
<child link="Hip" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="19.787" velocity="2.93276" lower="-1.03847" upper="1.03847" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Pelvis">
<visual>
<origin xyz="0.0 0.0 0.268" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/HipPitch.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.268" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/HipPitch_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00237 0.0 -0.09654" rpy="0.0 0.0 0.0" />
<mass value="2.45917" />
<inertia ixx="0.034351" ixy="0.0" ixz="0.000223034" iyy="0.0303122" iyz="-8.37542e-05" izz="0.0143771" />
</inertial>
</link>
<joint name="KneePitch" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="Tibia" />
<child link="Pelvis" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="27.702" velocity="2.93276" lower="-0.514872" upper="0.514872" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="Tibia">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/KneePitch.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/KneePitch_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00220451 0.0 -0.185729" rpy="0.0 0.0 0.0" />
<mass value="11.6015" />
<inertia ixx="0.129229" ixy="-0.000401943" ixz="0.00048556" iyy="0.122839" iyz="-1.01666e-08" izz="0.108168" />
</inertial>
</link>
<link name="torso">
<visual>
<origin xyz="2e-05 0.0 0.139" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/Torso.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="2e-05 0.0 0.139" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/Torso_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00322 0.0 -0.01029" rpy="0.0 0.0 0.0" />
<mass value="3.99533" />
<inertia ixx="0.0452761" ixy="0.0" ixz="0.00499091" iyy="0.0432702" iyz="-0.000266886" izz="0.0258881" />
</inertial>
</link>
<joint name="LShoulderPitch" type="revolute">
<origin xyz="-0.057 0.14974 0.22582" rpy="0.0 0.0 0.0" />
<parent link="torso" />
<child link="LShoulder" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="5.428" velocity="7.33998" lower="-2.08567" upper="2.08567" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LShoulder">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LShoulderPitch.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LShoulderPitch_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00018 -0.01856 0.00099" rpy="0.0 0.0 0.0" />
<mass value="0.3125" />
<inertia ixx="0.000361198" ixy="-1.98347e-06" ixz="6.35907e-07" iyy="0.000137229" iyz="-5.68878e-06" izz="0.000399194" />
</inertial>
</link>
<joint name="LShoulderRoll" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LShoulder" />
<child link="LBicep" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="2.666" velocity="9.22756" lower="0.00872665" upper="1.56207" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LBicep">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LShoulderRoll.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LShoulderRoll_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.08151 0.01284 -0.01017" rpy="0.0 0.0 0.0" />
<mass value="0.50527" />
<inertia ixx="0.000500872" ixy="-3.55918e-05" ixz="8.51263e-05" iyy="0.00126284" iyz="9.06813e-06" izz="0.00115718" />
</inertial>
</link>
<joint name="LElbowYaw" type="revolute">
<origin xyz="0.1812 0.015 0.00013" rpy="0.0 -0.157079 0.0" />
<parent link="LBicep" />
<child link="LElbow" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="5.428" velocity="7.33998" lower="-2.08567" upper="2.08567" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LElbow">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LElbowYaw.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LElbowYaw_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.02297 -0.00019 0.00119" rpy="0.0 0.0 0.0" />
<mass value="0.27495" />
<inertia ixx="0.000122971" ixy="9.86024e-07" ixz="-2.55838e-05" iyy="0.000331766" iyz="-1.98925e-06" izz="0.000303047" />
</inertial>
</link>
<joint name="LElbowRoll" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LElbow" />
<child link="LForeArm" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="2.666" velocity="9.22756" lower="-1.56207" upper="-0.00872665" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LForeArm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LElbowRoll.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LElbowRoll_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0593 0.00271 -0.01014" rpy="0.0 0.0 0.0" />
<mass value="0.16579" />
<inertia ixx="0.00156513" ixy="1.47517e-05" ixz="-6.05746e-05" iyy="0.00173219" iyz="-1.7619e-07" izz="0.000273081" />
</inertial>
</link>
<joint name="LWristYaw" type="revolute">
<origin xyz="0.15 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LForeArm" />
<child link="l_wrist" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.2014" velocity="17.3835" lower="-1.82387" upper="1.82387" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_wrist">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LWristYaw.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LWristYaw_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.03536 -0.00072 -0.00207" rpy="0.0 0.0 0.0" />
<mass value="0.27555" />
<inertia ixx="0.000151643" ixy="1.06629e-05" ixz="2.89509e-06" iyy="0.000431099" iyz="-3.13715e-06" izz="0.000456172" />
</inertial>
</link>
<joint name="LHand" type="revolute">
<origin xyz="0.025 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="l_wrist" />
<child link="l_gripper" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.144" velocity="12.56" lower="0.0" upper="1.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_gripper">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RShoulderPitch" type="revolute">
<origin xyz="-0.057 -0.14974 0.22582" rpy="0.0 0.0 0.0" />
<parent link="torso" />
<child link="RShoulder" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="5.428" velocity="7.33998" lower="-2.08567" upper="2.08567" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RShoulder">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RShoulderPitch.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RShoulderPitch_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00018 0.01856 0.00099" rpy="0.0 0.0 0.0" />
<mass value="0.3125" />
<inertia ixx="0.000361198" ixy="1.98347e-06" ixz="6.35907e-07" iyy="0.000137229" iyz="5.68878e-06" izz="0.000399194" />
</inertial>
</link>
<joint name="RShoulderRoll" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="RShoulder" />
<child link="RBicep" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="2.666" velocity="9.22756" lower="-1.56207" upper="-0.00872665" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RBicep">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RShoulderRoll.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RShoulderRoll_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.08151 -0.01284 -0.01017" rpy="0.0 0.0 0.0" />
<mass value="0.50527" />
<inertia ixx="0.000500872" ixy="3.55918e-05" ixz="8.51263e-05" iyy="0.00126284" iyz="-9.06813e-06" izz="0.00115718" />
</inertial>
</link>
<joint name="RElbowYaw" type="revolute">
<origin xyz="0.1812 -0.015 0.00013" rpy="0.0 -0.157079 0.0" />
<parent link="RBicep" />
<child link="RElbow" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="5.428" velocity="7.33998" lower="-2.08567" upper="2.08567" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RElbow">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RElbowYaw.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RElbowYaw_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.02297 0.00019 0.00119" rpy="0.0 0.0 0.0" />
<mass value="0.27495" />
<inertia ixx="0.000122971" ixy="-9.86024e-07" ixz="-2.55838e-05" iyy="0.000331766" iyz="1.98925e-06" izz="0.000303047" />
</inertial>
</link>
<joint name="RElbowRoll" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="RElbow" />
<child link="RForeArm" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="2.666" velocity="9.22756" lower="0.00872665" upper="1.56207" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RForeArm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RElbowRoll.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RElbowRoll_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0593 -0.00271 -0.01014" rpy="0.0 0.0 0.0" />
<mass value="0.16579" />
<inertia ixx="0.00156513" ixy="-1.47517e-05" ixz="-6.05746e-05" iyy="0.00173219" iyz="1.7619e-07" izz="0.000273081" />
</inertial>
</link>
<joint name="RWristYaw" type="revolute">
<origin xyz="0.15 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="RForeArm" />
<child link="r_wrist" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.2014" velocity="17.3835" lower="-1.82387" upper="1.82387" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_wrist">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RWristYaw.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RWristYaw_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.03536 0.00072 -0.00207" rpy="0.0 0.0 0.0" />
<mass value="0.27555" />
<inertia ixx="0.000151643" ixy="-1.06629e-05" ixz="2.89509e-06" iyy="0.000431099" iyz="3.13715e-06" izz="0.000456172" />
</inertial>
</link>
<joint name="RHand" type="revolute">
<origin xyz="0.025 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_wrist" />
<child link="r_gripper" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.144" velocity="12.56" lower="0.0" upper="1.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_gripper">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<link name="RFinger41_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger41.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger41_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFinger41" type="continuous">
<origin xyz="0.074 -0.0309 0.0" rpy="1.74402 1.04064 -0.0683394" />
<parent link="r_wrist" />
<child link="RFinger41_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LFinger42_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger42.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger42_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFinger42" type="continuous">
<origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
<parent link="LFinger41_link" />
<child link="LFinger42_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RFinger12_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger12.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger12_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFinger12" type="continuous">
<origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
<parent link="RFinger11_link" />
<child link="RFinger12_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LFinger33_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger33.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger33_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFinger33" type="continuous">
<origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
<parent link="LFinger32_link" />
<child link="LFinger33_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RFinger31_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger31.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger31_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFinger31" type="continuous">
<origin xyz="0.0833 -0.0123 0.004" rpy="1.67523 1.04483 0.029316" />
<parent link="r_wrist" />
<child link="RFinger31_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LFinger21_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger21.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger21_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFinger21" type="continuous">
<origin xyz="0.0873 -0.0073 0.006" rpy="1.5708 1.0472 -0.061086" />
<parent link="l_wrist" />
<child link="LFinger21_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RFinger32_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger32.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger32_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFinger32" type="continuous">
<origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
<parent link="RFinger31_link" />
<child link="RFinger32_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LFinger13_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger13.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger13_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFinger13" type="continuous">
<origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
<parent link="LFinger12_link" />
<child link="LFinger13_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LFinger32_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger32.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger32_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFinger32" type="continuous">
<origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
<parent link="LFinger31_link" />
<child link="LFinger32_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LFinger11_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger11.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger11_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFinger11" type="continuous">
<origin xyz="0.0821 -0.0268 0.004" rpy="1.74402 1.04064 -0.0334335" />
<parent link="l_wrist" />
<child link="LFinger11_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RFinger22_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger22.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger22_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFinger22" type="continuous">
<origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
<parent link="RFinger21_link" />
<child link="RFinger22_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RFinger13_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger13.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger13_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFinger13" type="continuous">
<origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
<parent link="RFinger12_link" />
<child link="RFinger13_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LFinger22_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger22.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger22_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFinger22" type="continuous">
<origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
<parent link="LFinger21_link" />
<child link="LFinger22_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RFinger21_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger21.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger21_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFinger21" type="continuous">
<origin xyz="0.0873 0.0073 0.006" rpy="1.5708 1.0472 0.061086" />
<parent link="r_wrist" />
<child link="RFinger21_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LFinger41_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger41.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger41_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFinger41" type="continuous">
<origin xyz="0.074 0.0309 0.0" rpy="1.39757 1.04064 0.0683394" />
<parent link="l_wrist" />
<child link="LFinger41_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LFinger12_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger12.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger12_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFinger12" type="continuous">
<origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
<parent link="LFinger11_link" />
<child link="LFinger12_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RFinger23_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger23.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger23_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFinger23" type="continuous">
<origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
<parent link="RFinger22_link" />
<child link="RFinger23_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RFinger11_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger11.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger11_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFinger11" type="continuous">
<origin xyz="0.0821 0.0268 0.004" rpy="1.39757 1.04064 0.0334335" />
<parent link="r_wrist" />
<child link="RFinger11_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LFinger23_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger23.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger23_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFinger23" type="continuous">
<origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
<parent link="LFinger22_link" />
<child link="LFinger23_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LFinger43_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger43.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger43_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFinger43" type="continuous">
<origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
<parent link="LFinger42_link" />
<child link="LFinger43_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RFinger43_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger43.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger43_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFinger43" type="continuous">
<origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
<parent link="RFinger42_link" />
<child link="RFinger43_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RFinger42_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger42.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger42_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFinger42" type="continuous">
<origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
<parent link="RFinger41_link" />
<child link="RFinger42_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LFinger31_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger31.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LFinger31_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFinger31" type="continuous">
<origin xyz="0.0833 0.0123 0.004" rpy="1.46636 1.04483 -0.029314" />
<parent link="l_wrist" />
<child link="LFinger31_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RFinger33_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger33.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RFinger33_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFinger33" type="continuous">
<origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
<parent link="RFinger32_link" />
<child link="RFinger33_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LThumb1_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LThumb1.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LThumb1_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LThumb1" type="continuous">
<origin xyz="0.0482 -0.0357 -0.0199" rpy="-1.95836 0.60626 0.533978" />
<parent link="l_wrist" />
<child link="LThumb1_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RThumb2_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RThumb2.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RThumb2_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RThumb2" type="continuous">
<origin xyz="0.022 0.0 0.0" rpy="0.0 0.0 -1.0472" />
<parent link="RThumb1_link" />
<child link="RThumb2_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RThumb1_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RThumb1.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/RThumb1_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RThumb1" type="continuous">
<origin xyz="0.0482 0.0357 -0.0199" rpy="-1.18323 0.60626 -0.533978" />
<parent link="r_wrist" />
<child link="RThumb1_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LThumb2_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LThumb2.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/LThumb2_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LThumb2" type="continuous">
<origin xyz="0.022 0.0 0.0" rpy="0.0 0.0 -1.0472" />
<parent link="LThumb1_link" />
<child link="LThumb2_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="WheelFL_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/WheelFL.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/WheelFL_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1.58028" />
<inertia ixx="0.00299756" ixy="6.3068e-07" ixz="5.56903e-06" iyy="0.00303229" iyz="-9.0408e-07" izz="0.00296585" />
</inertial>
</link>
<joint name="WheelFL" type="fixed">
<origin xyz="0.09 0.155 -0.264" rpy="0.0 0.0 1.07517" />
<parent link="Tibia" />
<child link="WheelFL_link" />
</joint>
<link name="WheelB_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/WheelB.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/WheelB_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1.58028" />
<inertia ixx="0.00299756" ixy="6.3068e-07" ixz="5.56903e-06" iyy="0.00303229" iyz="-9.0408e-07" izz="0.00296585" />
</inertial>
</link>
<joint name="WheelB" type="fixed">
<origin xyz="-0.17 0.0 -0.264" rpy="0.0 0.0 -3.14159" />
<parent link="Tibia" />
<child link="WheelB_link" />
</joint>
<link name="WheelFR_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/WheelFR.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/WheelFR_0.10.stl" scale="0.1 0.1 0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1.58028" />
<inertia ixx="0.00299756" ixy="6.3068e-07" ixz="5.56903e-06" iyy="0.00303229" iyz="-9.0408e-07" izz="0.00296585" />
</inertial>
</link>
<joint name="WheelFR" type="fixed">
<origin xyz="0.09 -0.155 -0.264" rpy="0.0 0.0 -1.07517" />
<parent link="Tibia" />
<child link="WheelFR_link" />
</joint>
<joint name="fixed_base" type="fixed">
<origin xyz="0.0 0.0 0.334" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="Tibia" />
</joint>
<link name="CameraTop_frame" />
<joint name="CameraTop_sensor_fixedjoint" type="fixed">
<origin xyz="0.08601 0.0 0.16284" rpy="0.0 0.0 0.0" />
<parent link="Head" />
<child link="CameraTop_frame" />
</joint>
<link name="CameraTop_optical_frame" />
<joint name="CameraTop_optical_frame_fixedjoint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
<parent link="CameraTop_frame" />
<child link="CameraTop_optical_frame" />
</joint>
<link name="RealSense_screw_frame">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/d435.dae" />
</geometry>
</visual>
</link>
<joint name="RealSense_fixedjoint" type="fixed">
<origin xyz="0.0 0.0 0.017" rpy="0.0 0.0 0.0" />
<parent link="CameraTop_frame" />
<child link="RealSense_screw_frame" />
</joint>
<link name="RealSence_color_frame" />
<joint name="RealSense_color_fixedjoint" type="fixed">
<origin xyz="0.0 0.0325 0.0125" rpy="0.0 0.0 0.0" />
<parent link="RealSense_screw_frame" />
<child link="RealSence_color_frame" />
</joint>
<link name="RealSence_color_optical_frame" />
<joint name="RealSense_color_optical_frame_fixedjoint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.570796 0.0 -1.570796" />
<parent link="RealSence_color_frame" />
<child link="RealSence_color_optical_frame" />
</joint>
<link name="RealSence_depth_frame" />
<joint name="RealSense_depth_fixedjoint" type="fixed">
<origin xyz="0.0 0.0175 0.0125" rpy="0.0 0.0 0.0" />
<parent link="RealSense_screw_frame" />
<child link="RealSence_depth_frame" />
</joint>
<link name="RealSence_depth_optical_frame" />
<joint name="RealSense_depth_optical_frame_fixedjoint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.570796 0.0 -1.570796" />
<parent link="RealSence_depth_frame" />
<child link="RealSence_depth_optical_frame" />
</joint>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
<material name="dark_grey">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<material name="grey">
<color rgba="0.6 0.6 0.6 1.0" />
</material>
<material name="white">
<color rgba="0.9 0.9 0.9 1.0" />
</material>
<link name="camera_body">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/camera_body.stl" />
</geometry>
<material name="white" />
</visual>
</link>
<link name="camera_base">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/camera_base.stl" />
</geometry>
<material name="grey" />
</visual>
</link>
<link name="camera_visor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/camera_visor.stl" />
</geometry>
<material name="black" />
</visual>
</link>
<joint name="camera_base_to_body" type="fixed">
<origin xyz="-0.0757 0.0 0.008" rpy="0.0 0.0 0.0" />
<parent link="camera_base" />
<child link="camera_body" />
</joint>
<joint name="camera_base_to_visor" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="camera_base" />
<child link="camera_visor" />
</joint>
<joint name="camera_realsense_to_azure" type="fixed">
<origin xyz="0.015 0.0005 0.045" rpy="0.0 0.0 0.0" />
<parent link="RealSense_screw_frame" />
<child link="camera_base" />
</joint>
<link name="kinect_depth_optical_frame" />
<joint name="kinect_depth_fixedjoint" type="fixed">
<origin xyz="0.0 0.0 0.0018" rpy="-1.675 0.0 -1.57" />
<parent link="camera_base" />
<child link="kinect_depth_optical_frame" />
</joint>
<link name="kinect_imu_frame" />
<joint name="kinect_imu_fixedjoint" type="fixed">
<origin xyz="-0.051074 -0.0033404 0.0027" rpy="3.14 0.0 3.14" />
<parent link="camera_base" />
<child link="kinect_imu_frame" />
</joint>
<link name="t265">
<visual>
<origin xyz="0.0 0.0 0.01225" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://pepper_description/meshes/t265.stl" />
</geometry>
<material name="grey" />
</visual>
</link>
<joint name="d435_to_t265" type="fixed">
<origin xyz="0.0 0.0 0.064" rpy="0.0 0.0 0.0" />
<parent link="RealSense_screw_frame" />
<child link="t265" />
</joint>
<link name="t265_pose" />
<joint name="t265_pose_frame_joint" type="fixed">
<origin xyz="0.00625 0.0 0.01225" rpy="0.0 0.0 0.0" />
<parent link="t265" />
<child link="t265_pose" />
</joint>
<link name="tablet" />
<joint name="tablet_fixedjoint" type="fixed">
<origin xyz="0.0839249 0.0 0.2" rpy="0.0 -0.523599 0.0" />
<parent link="torso" />
<child link="tablet" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content c1cca93813b0ff54 -->
<mujoco model="pepper">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="black" rgba="0.0 0.0 0.0 1.0" />
<material name="dark_grey" rgba="0.1 0.1 0.1 1.0" />
<material name="grey" rgba="0.6 0.6 0.6 1.0" />
<material name="white" rgba="0.9 0.9 0.9 1.0" />
<mesh name="HeadYaw_0p1_0p1_0p1" file="pepper_description/meshes/HeadYaw.dae" scale="0.1 0.1 0.1" />
<mesh name="HeadYaw_0p10_0p1_0p1_0p1" file="pepper_description/meshes/HeadYaw_0.10.stl" scale="0.1 0.1 0.1" />
<mesh name="HeadPitch_0p1_0p1_0p1" file="pepper_description/meshes/HeadPitch.dae" scale="0.1 0.1 0.1" />
<mesh name="HeadPitch_0p10_0p1_0p1_0p1" file="pepper_description/meshes/HeadPitch_0.10.stl" scale="0.1 0.1 0.1" />
<mesh name="HipRoll_0p1_0p1_0p1" file="pepper_description/meshes/HipRoll.dae" scale="0.1 0.1 0.1" />
<mesh name="HipRoll_0p10_0p1_0p1_0p1" file="pepper_description/meshes/HipRoll_0.10.stl" scale="0.1 0.1 0.1" />
<mesh name="HipPitch_0p1_0p1_0p1" file="pepper_description/meshes/HipPitch.dae" scale="0.1 0.1 0.1" />
<mesh name="HipPitch_0p10_0p1_0p1_0p1" file="pepper_description/meshes/HipPitch_0.10.stl" scale="0.1 0.1 0.1" />
<mesh name="KneePitch_0p1_0p1_0p1" file="pepper_description/meshes/KneePitch.dae" scale="0.1 0.1 0.1" />
<mesh name="KneePitch_0p10_0p1_0p1_0p1" file="pepper_description/meshes/KneePitch_0.10.stl" scale="0.1 0.1 0.1" />
<mesh name="Torso_0p1_0p1_0p1" file="pepper_description/meshes/Torso.dae" scale="0.1 0.1 0.1" />
<mesh name="Torso_0p10_0p1_0p1_0p1" file="pepper_description/meshes/Torso_0.10.stl" scale="0.1 0.1 0.1" />
<mesh name="LShoulderPitch_0p1_0p1_0p1" file="pepper_description/meshes/LShoulderPitch.dae" scale="0.1 0.1 0.1" />
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<mesh name="LShoulderRoll_0p1_0p1_0p1" file="pepper_description/meshes/LShoulderRoll.dae" scale="0.1 0.1 0.1" />
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<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
</body>
<body name="LFinger21_link" pos="0.0873 -0.0073 0.006" quat="0.6012883225680202 0.6228844213474988 0.33468778875240207 -0.3720906271944451">
<joint name="LFinger21" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="LFinger21_link_vis_0" type="mesh" mesh="LFinger21_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
<geom name="LFinger21_link_col_0" type="mesh" mesh="LFinger21_0p10_0p1_0p1_0p1" group="3" />
<body name="LFinger22_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
<joint name="LFinger22" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="LFinger22_link_vis_0" type="mesh" mesh="LFinger22_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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<body name="LFinger23_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
<joint name="LFinger23" type="hinge" axis="0.0 0.0 1.0" limited="false" />
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<geom name="LFinger23_link_vis_0" type="mesh" mesh="LFinger23_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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<body name="LFinger11_link" pos="0.0821 -0.0268 0.004" quat="0.5517154895438643 0.6695542027042644 0.30866700430634453 -0.3899126423841348">
<joint name="LFinger11" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="LFinger11_link_vis_0" type="mesh" mesh="LFinger11_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
<geom name="LFinger11_link_col_0" type="mesh" mesh="LFinger11_0p10_0p1_0p1_0p1" group="3" />
<body name="LFinger12_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
<joint name="LFinger12" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="LFinger12_link_vis_0" type="mesh" mesh="LFinger12_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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<body name="LFinger13_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
<joint name="LFinger13" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="LFinger13_link_vis_0" type="mesh" mesh="LFinger13_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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<body name="LFinger41_link" pos="0.074 0.0309 0.0" quat="0.6748398295356534 0.5448257881495541 0.39948222711874604 -0.29693436186429145">
<joint name="LFinger41" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="LFinger41_link_vis_0" type="mesh" mesh="LFinger41_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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<body name="LFinger42_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
<joint name="LFinger42" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="LFinger42_link_vis_0" type="mesh" mesh="LFinger42_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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<body name="LFinger43_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
<joint name="LFinger43" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="LFinger43_link_vis_0" type="mesh" mesh="LFinger43_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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<body name="LFinger31_link" pos="0.0833 0.0123 0.004" quat="0.6389760937251748 0.5853427914433085 0.3622228213571678 -0.34333365090116835">
<joint name="LFinger31" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="LFinger31_link_vis_0" type="mesh" mesh="LFinger31_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
<geom name="LFinger31_link_col_0" type="mesh" mesh="LFinger31_0p10_0p1_0p1_0p1" group="3" />
<body name="LFinger32_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
<joint name="LFinger32" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="LFinger32_link_vis_0" type="mesh" mesh="LFinger32_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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<body name="LFinger33_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
<joint name="LFinger33" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="LFinger33_link_vis_0" type="mesh" mesh="LFinger33_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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</body>
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<body name="LThumb1_link" pos="0.0482 -0.0357 -0.0199" quat="0.44804726249021787 -0.8080503748361272 -0.04842275532994672 0.37942519561630605">
<joint name="LThumb1" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="LThumb1_link_vis_0" type="mesh" mesh="LThumb1_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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<body name="LThumb2_link" pos="0.022 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
<joint name="LThumb2" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="LThumb2_link_vis_0" type="mesh" mesh="LThumb2_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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</body>
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<body name="RShoulder" pos="-0.057 -0.14974 0.22582">
<joint name="RShoulderPitch" type="hinge" axis="0.0 1.0 0.0" range="-2.08567 2.08567" />
<inertial pos="0.00018 0.01856 0.00099" mass="0.3125" fullinertia="0.000361198 0.000137229 0.000399194 1.98347e-06 6.35907e-07 5.68878e-06" />
<geom name="RShoulder_vis_0" type="mesh" mesh="RShoulderPitch_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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<body name="RBicep">
<joint name="RShoulderRoll" type="hinge" axis="0.0 0.0 1.0" range="-1.56207 -0.00872665" />
<inertial pos="0.08151 -0.01284 -0.01017" mass="0.50527" fullinertia="0.000500872 0.00126284 0.00115718 3.55918e-05 8.51263e-05 -9.06813e-06" />
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<joint name="RElbowYaw" type="hinge" axis="1.0 0.0 0.0" range="-2.08567 2.08567" />
<inertial pos="-0.02297 0.00019 0.00119" mass="0.27495" fullinertia="0.000122971 0.000331766 0.000303047 -9.86024e-07 -2.55838e-05 1.98925e-06" />
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<body name="RForeArm">
<joint name="RElbowRoll" type="hinge" axis="0.0 0.0 1.0" range="0.00872665 1.56207" />
<inertial pos="0.0593 -0.00271 -0.01014" mass="0.16579" fullinertia="0.00156513 0.00173219 0.000273081 -1.47517e-05 -6.05746e-05 1.7619e-07" />
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<body name="r_wrist" pos="0.15 0.0 0.0">
<joint name="RWristYaw" type="hinge" axis="1.0 0.0 0.0" range="-1.82387 1.82387" />
<inertial pos="0.03536 0.00072 -0.00207" mass="0.27555" fullinertia="0.000151643 0.000431099 0.000456172 -1.06629e-05 2.89509e-06 3.13715e-06" />
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<body name="r_gripper" pos="0.025 0.0 0.0">
<joint name="RHand" type="hinge" axis="1.0 0.0 0.0" range="0.0 1.0" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
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<body name="RFinger41_link" pos="0.074 -0.0309 0.0" quat="0.5448266835231165 0.6748391066629841 0.29693489189501027 -0.3994818331473985">
<joint name="RFinger41" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="RFinger41_link_vis_0" type="mesh" mesh="RFinger41_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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<body name="RFinger42_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
<joint name="RFinger42" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="RFinger42_link_vis_0" type="mesh" mesh="RFinger42_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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<body name="RFinger43_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
<joint name="RFinger43" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="RFinger43_link_vis_0" type="mesh" mesh="RFinger43_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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</body>
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<body name="RFinger31_link" pos="0.0833 -0.0123 0.004" quat="0.5853440014550866 0.6389749737603331 0.3433347704714023 -0.3622217804796929">
<joint name="RFinger31" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="RFinger31_link_vis_0" type="mesh" mesh="RFinger31_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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<joint name="RFinger32" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="RFinger32_link_vis_0" type="mesh" mesh="RFinger32_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="RFinger33_link_vis_0" type="mesh" mesh="RFinger33_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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<body name="RFinger21_link" pos="0.0873 0.0073 0.006" quat="0.6228822126879615 0.6012906105461991 0.3720893978150412 -0.33468915551533485">
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<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="RFinger21_link_vis_0" type="mesh" mesh="RFinger21_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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<body name="RFinger22_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
<joint name="RFinger22" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="RFinger22_link_vis_0" type="mesh" mesh="RFinger22_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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<body name="RFinger23_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
<joint name="RFinger23" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="RFinger23_link_vis_0" type="mesh" mesh="RFinger23_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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<body name="RFinger11_link" pos="0.0821 0.0268 0.004" quat="0.6695549347169709 0.5517146011822794 0.38991305192159764 -0.30866648697196886">
<joint name="RFinger11" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="RFinger11_link_vis_0" type="mesh" mesh="RFinger11_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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<body name="RFinger12_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
<joint name="RFinger12" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="RFinger12_link_vis_0" type="mesh" mesh="RFinger12_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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<body name="RFinger13_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
<joint name="RFinger13" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="RFinger13_link_vis_0" type="mesh" mesh="RFinger13_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
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</body>
</body>
<body name="RThumb1_link" pos="0.0482 0.0357 -0.0199" quat="0.8080509693022373 -0.4480461903727101 0.37942513136890743 -0.04842325874931727">
<joint name="RThumb1" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="RThumb1_link_vis_0" type="mesh" mesh="RThumb1_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
<geom name="RThumb1_link_col_0" type="mesh" mesh="RThumb1_0p10_0p1_0p1_0p1" group="3" />
<body name="RThumb2_link" pos="0.022 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
<joint name="RThumb2" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="RThumb2_link_vis_0" type="mesh" mesh="RThumb2_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
<geom name="RThumb2_link_col_0" type="mesh" mesh="RThumb2_0p10_0p1_0p1_0p1" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="tablet" pos="0.0839249 0.0 0.2" quat="0.9659257972493452 0.0 -0.25881915348021844 0.0" />
</body>
</body>
</body>
<body name="WheelFL_link" pos="0.09 0.155 -0.264" quat="0.8589478174029562 0.0 0.0 0.5120631279234015">
<inertial pos="0.0 0.0 0.0" mass="1.58028" fullinertia="0.00299756 0.00303229 0.00296585 6.3068e-07 5.56903e-06 -9.0408e-07" />
<geom name="WheelFL_link_vis_0" type="mesh" mesh="WheelFL_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
<geom name="WheelFL_link_col_0" type="mesh" mesh="WheelFL_0p10_0p1_0p1_0p1" group="3" />
</body>
<body name="WheelB_link" pos="-0.17 0.0 -0.264" quat="1.3267948966775328e-06 0.0 0.0 -0.9999999999991198">
<inertial pos="0.0 0.0 0.0" mass="1.58028" fullinertia="0.00299756 0.00303229 0.00296585 6.3068e-07 5.56903e-06 -9.0408e-07" />
<geom name="WheelB_link_vis_0" type="mesh" mesh="WheelB_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
<geom name="WheelB_link_col_0" type="mesh" mesh="WheelB_0p10_0p1_0p1_0p1" group="3" />
</body>
<body name="WheelFR_link" pos="0.09 -0.155 -0.264" quat="0.8589478174029562 0.0 0.0 -0.5120631279234015">
<inertial pos="0.0 0.0 0.0" mass="1.58028" fullinertia="0.00299756 0.00303229 0.00296585 6.3068e-07 5.56903e-06 -9.0408e-07" />
<geom name="WheelFR_link_vis_0" type="mesh" mesh="WheelFR_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
<geom name="WheelFR_link_col_0" type="mesh" mesh="WheelFR_0p10_0p1_0p1_0p1" group="3" />
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="torso" body2="Neck" />
<exclude body1="Neck" body2="Head" />
<exclude body1="Hip" body2="torso" />
<exclude body1="Pelvis" body2="Hip" />
<exclude body1="Tibia" body2="Pelvis" />
<exclude body1="torso" body2="LShoulder" />
<exclude body1="LShoulder" body2="LBicep" />
<exclude body1="LBicep" body2="LElbow" />
<exclude body1="LElbow" body2="LForeArm" />
<exclude body1="LForeArm" body2="l_wrist" />
<exclude body1="l_wrist" body2="l_gripper" />
<exclude body1="torso" body2="RShoulder" />
<exclude body1="RShoulder" body2="RBicep" />
<exclude body1="RBicep" body2="RElbow" />
<exclude body1="RElbow" body2="RForeArm" />
<exclude body1="RForeArm" body2="r_wrist" />
<exclude body1="r_wrist" body2="r_gripper" />
<exclude body1="r_wrist" body2="RFinger41_link" />
<exclude body1="LFinger41_link" body2="LFinger42_link" />
<exclude body1="RFinger11_link" body2="RFinger12_link" />
<exclude body1="LFinger32_link" body2="LFinger33_link" />
<exclude body1="r_wrist" body2="RFinger31_link" />
<exclude body1="l_wrist" body2="LFinger21_link" />
<exclude body1="RFinger31_link" body2="RFinger32_link" />
<exclude body1="LFinger12_link" body2="LFinger13_link" />
<exclude body1="LFinger31_link" body2="LFinger32_link" />
<exclude body1="l_wrist" body2="LFinger11_link" />
<exclude body1="RFinger21_link" body2="RFinger22_link" />
<exclude body1="RFinger12_link" body2="RFinger13_link" />
<exclude body1="LFinger21_link" body2="LFinger22_link" />
<exclude body1="r_wrist" body2="RFinger21_link" />
<exclude body1="l_wrist" body2="LFinger41_link" />
<exclude body1="LFinger11_link" body2="LFinger12_link" />
<exclude body1="RFinger22_link" body2="RFinger23_link" />
<exclude body1="r_wrist" body2="RFinger11_link" />
<exclude body1="LFinger22_link" body2="LFinger23_link" />
<exclude body1="LFinger42_link" body2="LFinger43_link" />
<exclude body1="RFinger42_link" body2="RFinger43_link" />
<exclude body1="RFinger41_link" body2="RFinger42_link" />
<exclude body1="l_wrist" body2="LFinger31_link" />
<exclude body1="RFinger32_link" body2="RFinger33_link" />
<exclude body1="l_wrist" body2="LThumb1_link" />
<exclude body1="RThumb1_link" body2="RThumb2_link" />
<exclude body1="r_wrist" body2="RThumb1_link" />
<exclude body1="LThumb1_link" body2="LThumb2_link" />
<exclude body1="Tibia" body2="WheelFL_link" />
<exclude body1="Tibia" body2="WheelB_link" />
<exclude body1="Tibia" body2="WheelFR_link" />
<exclude body1="base_link" body2="Tibia" />
<exclude body1="Head" body2="CameraTop_frame" />
<exclude body1="CameraTop_frame" body2="CameraTop_optical_frame" />
<exclude body1="CameraTop_frame" body2="RealSense_screw_frame" />
<exclude body1="RealSense_screw_frame" body2="RealSence_color_frame" />
<exclude body1="RealSence_color_frame" body2="RealSence_color_optical_frame" />
<exclude body1="RealSense_screw_frame" body2="RealSence_depth_frame" />
<exclude body1="RealSence_depth_frame" body2="RealSence_depth_optical_frame" />
<exclude body1="camera_base" body2="camera_body" />
<exclude body1="camera_base" body2="camera_visor" />
<exclude body1="RealSense_screw_frame" body2="camera_base" />
<exclude body1="camera_base" body2="kinect_depth_optical_frame" />
<exclude body1="camera_base" body2="kinect_imu_frame" />
<exclude body1="RealSense_screw_frame" body2="t265" />
<exclude body1="t265" body2="t265_pose" />
<exclude body1="torso" body2="tablet" />
</contact>
</mujoco>
Import report
Counts
| Links | 65 |
|---|---|
| Joints | 64 |
| Moving joints | 45 |
| Visuals | 52 |
| Collisions | 47 |
| Materials | 4 |
Meshes
Formats: dae, stl.
Asset size: 11.0 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
axis | 3 | fixed joints carry no <axis>; URDF ignores it too |
limit | 28 | no <limit>; RobotDescription always writes one, so effort = velocity = 0 |
mimic | 28 | joint coupling (mimic) is not representable yet; the joint imports as independent |
Forward-kinematics check
Forward kinematics of 65 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 · 7.6e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 45).
Source & licence
| Repository | https://github.com/jrl-umi3218/pepper_description |
|---|---|
| Commit | cd9715bb5df7ad57445d953db7b1924255305944 |
| Original file | urdf/pepper.urdf |
| Licence | BSD-2-Clause · the upstream LICENSE file |
| Files | robot.urdf · robot.xml |
Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.