Poppy Torso
Poppy Project · licence GPL-3.0 · source: github.com/poppy-project/poppy_torso_description @ 6beeec3d7
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 b679872cf5f5fc93 -->
<robot name="Poppy_Torso">
<link name="base">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/base_visual.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/base_respondable.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-9.74926801495556e-06 0.0245809270022031 -0.0126310576435619" rpy="0.0 0.0 0.0" />
<mass value="0.304441048219244" />
<inertia ixx="0.000444379589701896" ixy="1.65486746667917e-08" ixz="-3.86276516415689e-09" iyy="0.00048561348802354" iyz="2.15649474149961e-05" izz="0.000421911604661064" />
</inertial>
</link>
<link name="spine">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/spine_visual.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/spine_respondable.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-2.40411891850495e-07 0.0288451667347867 -0.0100975118547382" rpy="0.0 0.0 0.0" />
<mass value="0.0926815106655512" />
<inertia ixx="3.84763910015325e-05" ixy="-1.20593001730888e-09" ixz="-2.38589260905183e-10" iyy="2.7320514654861e-05" iyz="1.47490149318973e-06" izz="3.26595211965373e-05" />
</inertial>
</link>
<link name="bust_motors">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/bust_motors_visual.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/bust_motors_respondable.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="3.50872416629779e-05 0.0105220286877652 -0.0174331453843439" rpy="0.0 0.0 0.0" />
<mass value="0.158876054570625" />
<inertia ixx="0.000100953683249293" ixy="-3.89105307189684e-07" ixz="9.71749941401585e-08" iyy="8.94288410563621e-05" iyz="-1.31738255727689e-06" izz="4.26225972692235e-05" />
</inertial>
</link>
<link name="chest">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/chest_visual.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/chest_respondable.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="2.35256459143538e-06 0.0514948183080913 -0.0105463056982622" rpy="0.0 0.0 0.0" />
<mass value="0.262925523172723" />
<inertia ixx="0.000154597294293882" ixy="2.32304239504647e-08" ixz="-2.47140128362103e-08" iyy="0.000750952782458072" iyz="1.53530143139102e-06" izz="0.000688549998744818" />
</inertial>
</link>
<link name="neck">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/neck_visual.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/neck_respondable.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00147486363077957 0.00928455262636602 2.89600749219313e-06" rpy="0.0 0.0 0.0" />
<mass value="0.00588496516988365" />
<inertia ixx="7.25596636570396e-07" ixy="-9.29944216419538e-08" ixz="2.01438227027406e-10" iyy="2.33535976458607e-06" iyz="1.55383710797264e-11" izz="2.57395421284165e-06" />
</inertial>
</link>
<link name="head">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/head_visual.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/head_respondable.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000557544173188459 0.0327437693305889 -0.0132545775103434" rpy="0.0 0.0 0.0" />
<mass value="0.188564323997503" />
<inertia ixx="0.000353329921483274" ixy="-2.17595216032547e-07" ixz="4.10678991843685e-06" iyy="0.000384587155295662" iyz="-2.16656424152966e-05" izz="0.000396626339401006" />
</inertial>
</link>
<link name="l_shoulder">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/l_shoulder_visual.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/l_shoulder_respondable.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0105246491971973 0.00179805316216127 -0.00915201992957032" rpy="0.0 0.0 0.0" />
<mass value="0.00843598968780806" />
<inertia ixx="3.39606863056539e-06" ixy="-4.79545875245114e-08" ixz="2.95435354929514e-08" iyy="3.56726082486902e-06" iyz="1.00382310579659e-08" izz="1.84634806401887e-06" />
</inertial>
</link>
<link name="l_shoulder_motor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/l_shoulder_motor_visual.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/l_shoulder_motor_respondable.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="2.25562237481797e-07 0.0125756739553211 0.00859826040204853" rpy="0.0 0.0 0.0" />
<mass value="0.0828144098443214" />
<inertia ixx="2.76486208811411e-05" ixy="1.32207552337974e-10" ixz="6.6889770978984e-10" iyy="1.64427853426986e-05" iyz="7.23401723852699e-07" izz="2.26416351010788e-05" />
</inertial>
</link>
<link name="l_upper_arm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/l_upper_arm_visual.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/l_upper_arm_respondable.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="3.30518731642866e-05 0.0628256242231928 -0.0106376043749558" rpy="0.0 0.0 0.0" />
<mass value="0.168140859572398" />
<inertia ixx="0.000280827719319256" ixy="6.03218629893559e-07" ixz="3.24530722833658e-09" iyy="4.23293519917111e-05" iyz="3.11052764904881e-06" izz="0.000275916197869213" />
</inertial>
</link>
<link name="l_forearm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/l_forearm_visual.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/l_forearm_respondable.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00691480023011085 0.10715758721324 0.00499021473883754" rpy="0.0 0.0 0.0" />
<mass value="0.0486512481725727" />
<inertia ixx="0.000185803541823861" ixy="7.31763110936326e-06" ixz="-9.0080655878687e-08" iyy="1.51053240271383e-05" iyz="-1.35878077941956e-05" izz="0.000182745910584552" />
</inertial>
</link>
<link name="r_shoulder">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/r_shoulder_visual.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/r_shoulder_respondable.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0104970276721559 0.00172611065393897 -0.00916610067254806" rpy="0.0 0.0 0.0" />
<mass value="0.00848189714003649" />
<inertia ixx="3.40574097306283e-06" ixy="4.48540328143448e-08" ixz="-3.01046953764439e-08" iyy="3.57001060355875e-06" iyz="1.1601962064402e-08" izz="1.85571692853151e-06" />
</inertial>
</link>
<link name="r_shoulder_motor">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/r_shoulder_motor_visual.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/r_shoulder_motor_respondable.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="2.25562237481797e-07 0.0125756739553211 0.00859826040204864" rpy="0.0 0.0 0.0" />
<mass value="0.0828144098443213" />
<inertia ixx="2.76486208811411e-05" ixy="1.32207552352561e-10" ixz="6.68897709796528e-10" iyy="1.64427853426986e-05" iyz="7.23401723852708e-07" izz="2.26416351010787e-05" />
</inertial>
</link>
<link name="r_upper_arm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/r_upper_arm_visual.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/r_upper_arm_respondable.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-3.32548713521223e-05 0.0628256242258387 -0.0106376027333001" rpy="0.0 0.0 0.0" />
<mass value="0.16814085957724" />
<inertia ixx="0.000280827719414285" ixy="-6.03127767269455e-07" ixz="-3.86325402336742e-09" iyy="4.23293497956197e-05" iyz="3.11054354485249e-06" izz="0.00027591619563535" />
</inertial>
</link>
<link name="r_forearm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/r_forearm_visual.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://poppy_torso_description/meshes/r_forearm_respondable.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00691618587524222 0.107157908858058 0.00498983982891094" rpy="0.0 0.0 0.0" />
<mass value="0.0486511084909604" />
<inertia ixx="0.000185805096233415" ixy="-7.3225450436654e-06" ixz="9.10153472751173e-08" iyy="1.51060270748784e-05" iyz="-1.35866305828973e-05" izz="0.000182748555542486" />
</inertial>
</link>
<joint name="abs_z" type="revolute">
<origin xyz="0.0 0.0 0.08965" rpy="1.5708 1.1258e-18 0.018388" />
<parent link="base" />
<child link="spine" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="3.1" velocity="7.0" lower="-1.3962634016" upper="1.3962634016" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="bust_y" type="revolute">
<origin xyz="0.0 0.07985 0.00279999999999998" rpy="0.0 0.0 0.0" />
<parent link="spine" />
<child link="bust_motors" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="3.1" velocity="7.0" lower="-1.16937059884" upper="0.471238898038" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="bust_x" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="bust_motors" />
<child link="chest" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="3.1" velocity="7.0" lower="-0.698131700798" upper="0.698131700798" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="head_z" type="revolute">
<origin xyz="0.0 0.084 0.00499999999999996" rpy="0.0 0.0 0.0" />
<parent link="chest" />
<child link="neck" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1.8" velocity="10.0" lower="-1.57079632679" upper="1.57079632679" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="head_y" type="revolute">
<origin xyz="0.0 0.0199999999999999 0.0" rpy="-0.349065850398866 0.0 0.0" />
<parent link="neck" />
<child link="head" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="1.8" velocity="10.0" lower="-0.785398163397" upper="0.10471975512" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="l_shoulder_y" type="revolute">
<origin xyz="0.0771000000000001 0.0499999999999999 0.00399999999999997" rpy="-1.5707963267949 0.0 0.0" />
<parent link="chest" />
<child link="l_shoulder" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="3.1" velocity="7.0" lower="-2.09439510239" upper="2.70526034059" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="l_shoulder_x" type="revolute">
<origin xyz="0.0284 0.0 0.0" rpy="3.14159265358979 0.0 1.5707963267949" />
<parent link="l_shoulder" />
<child link="l_shoulder_motor" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="3.1" velocity="7.0" lower="-1.83259571459" upper="1.91986217719" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="l_arm_z" type="revolute">
<origin xyz="0.0 0.03625 0.0185000000000001" rpy="0.0 0.0 0.0" />
<parent link="l_shoulder_motor" />
<child link="l_upper_arm" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="3.1" velocity="7.0" lower="-1.83259571459" upper="1.83259571459" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="l_elbow_y" type="revolute">
<origin xyz="0.0 0.11175 -0.00999999999999998" rpy="0.0 0.0 0.0" />
<parent link="l_upper_arm" />
<child link="l_forearm" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="3.1" velocity="7.0" lower="-2.58308729295" upper="0.0174532925199" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="r_shoulder_y" type="revolute">
<origin xyz="-0.0770999999999999 0.0500000000000002 0.00400000000000003" rpy="-1.5707963267949 0.0 0.0" />
<parent link="chest" />
<child link="r_shoulder" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="3.1" velocity="7.0" lower="-2.70526034059" upper="2.09439510239" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="r_shoulder_x" type="revolute">
<origin xyz="-0.0284 0.0 0.0" rpy="3.14159265358979 0.0 -1.5707963267949" />
<parent link="r_shoulder" />
<child link="r_shoulder_motor" />
<axis xyz="0.0 0.0 -1.0" />
<limit effort="3.1" velocity="7.0" lower="-1.91986217719" upper="1.83259571459" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="r_arm_z" type="revolute">
<origin xyz="0.0 0.03625 0.0185000000000002" rpy="0.0 0.0 0.0" />
<parent link="r_shoulder_motor" />
<child link="r_upper_arm" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="3.1" velocity="7.0" lower="-1.83259571459" upper="1.83259571459" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="r_elbow_y" type="revolute">
<origin xyz="0.0 0.11175 -0.01" rpy="0.0 0.0 0.0" />
<parent link="r_upper_arm" />
<child link="r_forearm" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="3.1" velocity="7.0" lower="-0.0174532925199" upper="2.58308729295" />
<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 b679872cf5f5fc93 -->
<mujoco model="Poppy_Torso">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="base_visual" file="poppy_torso_description/meshes/base_visual.STL" />
<mesh name="base_respondable" file="poppy_torso_description/meshes/base_respondable.STL" />
<mesh name="spine_visual" file="poppy_torso_description/meshes/spine_visual.STL" />
<mesh name="spine_respondable" file="poppy_torso_description/meshes/spine_respondable.STL" />
<mesh name="bust_motors_visual" file="poppy_torso_description/meshes/bust_motors_visual.STL" />
<mesh name="bust_motors_respondable" file="poppy_torso_description/meshes/bust_motors_respondable.STL" />
<mesh name="chest_visual" file="poppy_torso_description/meshes/chest_visual.STL" />
<mesh name="chest_respondable" file="poppy_torso_description/meshes/chest_respondable.STL" />
<mesh name="neck_visual" file="poppy_torso_description/meshes/neck_visual.STL" />
<mesh name="neck_respondable" file="poppy_torso_description/meshes/neck_respondable.STL" />
<mesh name="head_visual" file="poppy_torso_description/meshes/head_visual.STL" />
<mesh name="head_respondable" file="poppy_torso_description/meshes/head_respondable.STL" />
<mesh name="l_shoulder_visual" file="poppy_torso_description/meshes/l_shoulder_visual.STL" />
<mesh name="l_shoulder_respondable" file="poppy_torso_description/meshes/l_shoulder_respondable.STL" />
<mesh name="l_shoulder_motor_visual" file="poppy_torso_description/meshes/l_shoulder_motor_visual.STL" />
<mesh name="l_shoulder_motor_respondable" file="poppy_torso_description/meshes/l_shoulder_motor_respondable.STL" />
<mesh name="l_upper_arm_visual" file="poppy_torso_description/meshes/l_upper_arm_visual.STL" />
<mesh name="l_upper_arm_respondable" file="poppy_torso_description/meshes/l_upper_arm_respondable.STL" />
<mesh name="l_forearm_visual" file="poppy_torso_description/meshes/l_forearm_visual.STL" />
<mesh name="l_forearm_respondable" file="poppy_torso_description/meshes/l_forearm_respondable.STL" />
<mesh name="r_shoulder_visual" file="poppy_torso_description/meshes/r_shoulder_visual.STL" />
<mesh name="r_shoulder_respondable" file="poppy_torso_description/meshes/r_shoulder_respondable.STL" />
<mesh name="r_shoulder_motor_visual" file="poppy_torso_description/meshes/r_shoulder_motor_visual.STL" />
<mesh name="r_shoulder_motor_respondable" file="poppy_torso_description/meshes/r_shoulder_motor_respondable.STL" />
<mesh name="r_upper_arm_visual" file="poppy_torso_description/meshes/r_upper_arm_visual.STL" />
<mesh name="r_upper_arm_respondable" file="poppy_torso_description/meshes/r_upper_arm_respondable.STL" />
<mesh name="r_forearm_visual" file="poppy_torso_description/meshes/r_forearm_visual.STL" />
<mesh name="r_forearm_respondable" file="poppy_torso_description/meshes/r_forearm_respondable.STL" />
</asset>
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<geom name="bust_motors_vis_0" type="mesh" mesh="bust_motors_visual" contype="0" conaffinity="0" group="2" />
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<geom name="chest_col_0" type="mesh" mesh="chest_respondable" group="3" />
<body name="neck" pos="0.0 0.084 0.00499999999999996">
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<geom name="neck_vis_0" type="mesh" mesh="neck_visual" contype="0" conaffinity="0" group="2" />
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<body name="head" pos="0.0 0.0199999999999999 0.0" quat="0.984807753012208 -0.1736481776669304 0.0 0.0">
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<geom name="head_vis_0" type="mesh" mesh="head_visual" contype="0" conaffinity="0" group="2" />
<geom name="head_col_0" type="mesh" mesh="head_respondable" group="3" />
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</body>
<body name="l_shoulder" pos="0.0771000000000001 0.0499999999999999 0.00399999999999997" quat="0.7071067811865462 -0.7071067811865488 0.0 0.0">
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<geom name="l_shoulder_vis_0" type="mesh" mesh="l_shoulder_visual" contype="0" conaffinity="0" group="2" />
<geom name="l_shoulder_col_0" type="mesh" mesh="l_shoulder_respondable" group="3" />
<body name="l_shoulder_motor" pos="0.0284 0.0 0.0" quat="1.1423625238904151e-15 0.7071067811865462 0.7071067811865488 1.1423625238904192e-15">
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<joint name="l_arm_z" type="hinge" axis="0.0 1.0 0.0" range="-1.83259571459 1.83259571459" />
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<body name="l_forearm" pos="0.0 0.11175 -0.00999999999999998">
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<body name="r_shoulder" pos="-0.0770999999999999 0.0500000000000002 0.00400000000000003" quat="0.7071067811865462 -0.7071067811865488 0.0 0.0">
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<body name="r_shoulder_motor" pos="-0.0284 0.0 0.0" quat="1.1423625238904151e-15 0.7071067811865462 -0.7071067811865488 -1.1423625238904192e-15">
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</body>
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</body>
</body>
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</worldbody>
<contact>
<exclude body1="base" body2="spine" />
<exclude body1="spine" body2="bust_motors" />
<exclude body1="bust_motors" body2="chest" />
<exclude body1="chest" body2="neck" />
<exclude body1="neck" body2="head" />
<exclude body1="chest" body2="l_shoulder" />
<exclude body1="l_shoulder" body2="l_shoulder_motor" />
<exclude body1="l_shoulder_motor" body2="l_upper_arm" />
<exclude body1="l_upper_arm" body2="l_forearm" />
<exclude body1="chest" body2="r_shoulder" />
<exclude body1="r_shoulder" body2="r_shoulder_motor" />
<exclude body1="r_shoulder_motor" body2="r_upper_arm" />
<exclude body1="r_upper_arm" body2="r_forearm" />
</contact>
</mujoco>
Import report
Counts
| Links | 14 |
|---|---|
| Joints | 13 |
| Moving joints | 13 |
| Visuals | 14 |
| Collisions | 14 |
| Materials | 0 |
Meshes
Formats: stl.
Asset size: 3.5 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
mass | 13 | <mass> is not part of the URDF subset RobotDescription mirrors |
material | 14 | anonymous material (empty name) cannot be referenced; its colour is not kept |
Forward-kinematics check
Forward kinematics of 14 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 · 7.5e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 13).
Source & licence
| Repository | https://github.com/poppy-project/poppy_torso_description |
|---|---|
| Commit | 6beeec3d76fb72b7548cce7c73aad722f8884522 |
| Original file | urdf/Poppy_Torso.URDF |
| Licence | GPL-3.0 · 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.