R1 Pro
Galaxea AI · licence Apache-2.0 · source: github.com/OpenGalaxea/GalaxeaManipSim @ abe7f5161
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 49ba67daaabe2851 -->
<robot name="r1_pro_with_gripper">
<link name="base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/base_link.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/base_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.049262 -8.8054e-05 0.18255" rpy="0.0 0.0 0.0" />
<mass value="47.63" />
<inertia ixx="1.5812" ixy="-1.0625e-05" ixz="0.053601" iyy="1.4648" iyz="5.7054e-06" izz="2.835" />
</inertial>
</link>
<link name="steer_motor_link1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/steer_motor_link1.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/steer_motor_link1_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="7.7174e-06 -0.004623 -0.049428" rpy="0.0 0.0 0.0" />
<mass value="1.5" />
<inertia ixx="0.00022164" ixy="-3.529e-09" ixz="3.4267e-09" iyy="0.00032908" iyz="-7.5872e-08" izz="0.00015872" />
</inertial>
</link>
<joint name="steer_motor_joint1" type="fixed">
<origin xyz="0.16897 0.28 0.15765" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="steer_motor_link1" />
</joint>
<link name="wheel_motor_link1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/wheel_motor_link1.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/wheel_motor_link1_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="1.6481e-10 -1.6203e-10 -9.455e-10" rpy="0.0 0.0 0.0" />
<mass value="1.5" />
<inertia ixx="0.0012628" ixy="1.0701e-10" ixz="5.7971e-09" iyy="0.0020893" iyz="1.2406e-09" izz="0.0012628" />
</inertial>
</link>
<joint name="wheel_motor_joint1" type="fixed">
<origin xyz="0.0 0.0 -0.08765" rpy="0.0 0.0 0.0" />
<parent link="steer_motor_link1" />
<child link="wheel_motor_link1" />
</joint>
<link name="steer_motor_link2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/steer_motor_link2.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/steer_motor_link2_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="6.044e-06 0.00010023 -0.052223" rpy="0.0 0.0 0.0" />
<mass value="1.5" />
<inertia ixx="0.0002535" ixy="-4.9113e-09" ixz="5.8918e-09" iyy="0.00037037" iyz="-2.9177e-07" izz="0.000163" />
</inertial>
</link>
<joint name="steer_motor_joint2" type="fixed">
<origin xyz="0.16897 -0.28 0.15765" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="steer_motor_link2" />
</joint>
<link name="wheel_motor_link2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/wheel_motor_link2.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/wheel_motor_link2_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="1.6448e-10 -1.616e-10 -9.4549e-10" rpy="0.0 0.0 0.0" />
<mass value="1.5" />
<inertia ixx="0.0012628" ixy="1.0701e-10" ixz="5.7971e-09" iyy="0.0020893" iyz="1.2406e-09" izz="0.0012628" />
</inertial>
</link>
<joint name="wheel_motor_joint2" type="fixed">
<origin xyz="0.0 0.0 -0.08765" rpy="0.0 0.0 0.0" />
<parent link="steer_motor_link2" />
<child link="wheel_motor_link2" />
</joint>
<link name="steer_motor_link3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/steer_motor_link3.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/steer_motor_link3_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-6.029e-06 -0.00010167 -0.052221" rpy="0.0 0.0 0.0" />
<mass value="1.5" />
<inertia ixx="0.0002535" ixy="-4.6767e-09" ixz="-3.5903e-09" iyy="0.00037036" iyz="2.9246e-07" izz="0.000163" />
</inertial>
</link>
<joint name="steer_motor_joint3" type="fixed">
<origin xyz="-0.32703 0.0 0.15765" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="steer_motor_link3" />
</joint>
<link name="wheel_motor_link3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/wheel_motor_link3.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/wheel_motor_link3_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-2.443e-09 1.4779e-12 5.1754e-12" rpy="0.0 0.0 0.0" />
<mass value="1.5" />
<inertia ixx="0.0012628" ixy="1.1439e-10" ixz="5.7894e-09" iyy="0.0020893" iyz="1.2052e-09" izz="0.0012628" />
</inertial>
</link>
<joint name="wheel_motor_joint3" type="fixed">
<origin xyz="0.0 0.0 -0.08765" rpy="0.0 0.0 0.0" />
<parent link="steer_motor_link3" />
<child link="wheel_motor_link3" />
</joint>
<link name="torso_link1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/torso_link1.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/torso_link1_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00065636 0.0032244 0.23142" rpy="0.0 0.0 0.0" />
<mass value="5.72" />
<inertia ixx="0.10931" ixy="7.7894e-06" ixz="-0.00017473" iyy="0.10736" iyz="0.00013778" izz="0.0081222" />
</inertial>
</link>
<joint name="torso_joint1" type="revolute">
<origin xyz="-0.079032 0.0 0.34265" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="torso_link1" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="2.5" lower="-1.1345" upper="1.8326" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="torso_link2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/torso_link2.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/torso_link2_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0052517 0.014411 0.15711" rpy="0.0 0.0 0.0" />
<mass value="3.5" />
<inertia ixx="0.026081" ixy="-3.3436e-07" ixz="0.00024541" iyy="0.027574" iyz="4.2283e-07" izz="0.0018515" />
</inertial>
</link>
<joint name="torso_joint2" type="revolute">
<origin xyz="0.0 0.0 0.4" rpy="0.0 0.0 0.0" />
<parent link="torso_link1" />
<child link="torso_link2" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="2.5" lower="-2.7925" upper="2.5307" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="torso_link3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/torso_link3.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/torso_link3_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-9.8337e-07 -0.0055146 0.020182" rpy="0.0 0.0 0.0" />
<mass value="3.4" />
<inertia ixx="0.0016099" ixy="3.5899e-07" ixz="2.5497e-07" iyy="0.0023011" iyz="1.367e-05" izz="0.0017027" />
</inertial>
</link>
<joint name="torso_joint3" type="revolute">
<origin xyz="0.0 0.0001005 0.3" rpy="0.0 0.0 0.0" />
<parent link="torso_link2" />
<child link="torso_link3" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="100.0" velocity="2.5" lower="-1.8326" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="torso_link4">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/torso_link4.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/torso_link4_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0049601 -1.2497e-05 0.21237" rpy="0.0 0.0 0.0" />
<mass value="5.0" />
<inertia ixx="0.026836" ixy="1.3048e-05" ixz="-0.00014074" iyy="0.013023" iyz="4.6641e-07" izz="0.021541" />
</inertial>
</link>
<joint name="torso_joint4" type="revolute">
<origin xyz="0.0 -0.00010015 0.09962" rpy="0.0 0.0 0.0" />
<parent link="torso_link3" />
<child link="torso_link4" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="2.5" lower="-3.0543" upper="3.0543" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="zed_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/zed_link.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/zed_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.060004 0.015906 -0.068413" rpy="0.0 0.0 0.0" />
<mass value="2.05" />
<inertia ixx="0.010375" ixy="1.8965e-07" ixz="1.3342e-08" iyy="0.014618" iyz="0.00028961" izz="0.012229" />
</inertial>
</link>
<joint name="zed_joint" type="fixed">
<origin xyz="0.065511 0.060003 0.47598" rpy="-1.9199 0.0 -1.5708" />
<parent link="torso_link4" />
<child link="zed_link" />
</joint>
<link name="left_arm_base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_arm_base_link.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_arm_base_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00026981 0.034587 1.3734e-08" rpy="0.0 0.0 0.0" />
<mass value="1.48" />
<inertia ixx="0.0010298" ixy="5.2194e-06" ixz="-1.2182e-07" iyy="0.0014076" iyz="-3.9334e-09" izz="0.0010201" />
</inertial>
</link>
<joint name="left_arm_base_joint" type="fixed">
<origin xyz="-0.00048618 0.097234 0.30302" rpy="0.0 0.0 0.0" />
<parent link="torso_link4" />
<child link="left_arm_base_link" />
</joint>
<link name="left_arm_link1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_arm_link1.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_arm_link1_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00042258 0.074131 7.9156e-05" rpy="0.0 0.0 0.0" />
<mass value="1.135" />
<inertia ixx="0.00061603" ixy="-1.1635e-06" ixz="-6.9725e-07" iyy="0.00030259" iyz="-6.2894e-07" izz="0.00047136" />
</inertial>
</link>
<joint name="left_arm_joint1" type="revolute">
<origin xyz="0.0 0.0735 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_arm_base_link" />
<child link="left_arm_link1" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="55.0" velocity="7.1209" lower="-4.4506" upper="1.309" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_arm_link2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_arm_link2.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_arm_link2_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.026826 -0.0040392 -0.031835" rpy="0.0 0.0 0.0" />
<mass value="0.92" />
<inertia ixx="0.00037378" ixy="-7.5909e-07" ixz="2.9042e-06" iyy="0.00033872" iyz="1.2166e-05" izz="0.00032361" />
</inertial>
</link>
<joint name="left_arm_joint2" type="revolute">
<origin xyz="0.025012 0.081265 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_arm_link1" />
<child link="left_arm_link2" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="55.0" velocity="7.1209" lower="-0.1745" upper="3.1416" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_arm_link3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_arm_link3.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_arm_link3_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0053849 -0.00086892 -0.1126" rpy="0.0 0.0 0.0" />
<mass value="1.245" />
<inertia ixx="0.00072339" ixy="-3.3477e-06" ixz="-0.00012824" iyy="0.00073856" iyz="-8.3574e-06" izz="0.00037352" />
</inertial>
</link>
<joint name="left_arm_joint3" type="revolute">
<origin xyz="-0.025012 0.0 -0.1155" rpy="0.0 0.0 0.0" />
<parent link="left_arm_link2" />
<child link="left_arm_link3" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="25.0" velocity="8.3776" lower="-2.356196" upper="2.356196" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_arm_link4">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_arm_link4.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_arm_link4_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0011018 -0.036243 -0.042164" rpy="0.0 0.0 0.0" />
<mass value="0.827" />
<inertia ixx="0.00013884" ixy="7.8394e-08" ixz="3.5926e-06" iyy="0.00019751" iyz="1.4227e-06" izz="0.00010229" />
</inertial>
</link>
<joint name="left_arm_joint4" type="revolute">
<origin xyz="0.0 0.035065 -0.1945" rpy="0.0 0.0 0.0" />
<parent link="left_arm_link3" />
<child link="left_arm_link4" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="25.0" velocity="8.3776" lower="-1.7453" upper="0.3491" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_arm_link5">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_arm_link5.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_arm_link5_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="3.7881e-07 -0.0028035 -0.062981" rpy="0.0 0.0 0.0" />
<mass value="0.939" />
<inertia ixx="0.00070496" ixy="1.4329e-08" ixz="-2.9036e-09" iyy="0.00067006" iyz="-5.1951e-05" izz="0.00032998" />
</inertial>
</link>
<joint name="left_arm_joint5" type="revolute">
<origin xyz="0.0 -0.035065 -0.095" rpy="0.0 0.0 0.0" />
<parent link="left_arm_link4" />
<child link="left_arm_link5" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="18.0" velocity="10.472" lower="-2.356196" upper="2.356196" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_arm_link6">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_arm_link6.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_arm_link6_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0017919 0.027487 0.00025471" rpy="0.0 0.0 0.0" />
<mass value="0.527" />
<inertia ixx="8.5442e-05" ixy="-1.5351e-07" ixz="8.3797e-07" iyy="8.1186e-05" iyz="-2.1972e-08" izz="8.2736e-05" />
</inertial>
</link>
<joint name="left_arm_joint6" type="revolute">
<origin xyz="0.0 -0.028 -0.16305" rpy="0.0 0.0 0.0" />
<parent link="left_arm_link5" />
<child link="left_arm_link6" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="18.0" velocity="10.472" lower="-1.047198" upper="1.047198" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_arm_link7">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_arm_link7.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_arm_link7_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.022945 8.4007e-07 -0.056525" rpy="0.0 0.0 0.0" />
<mass value="0.185" />
<inertia ixx="4.2564e-05" ixy="-2.1577e-09" ixz="-6.9368e-06" iyy="4.5515e-05" iyz="-1.9389e-09" izz="4.7946e-05" />
</inertial>
</link>
<joint name="left_arm_joint7" type="revolute">
<origin xyz="0.0295 0.028 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_arm_link6" />
<child link="left_arm_link7" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="18.0" velocity="10.472" lower="-1.5708" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_gripper_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_gripper_link.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_gripper_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-2.2589e-07 -5.2175e-08 0.031107" rpy="0.0 0.0 0.0" />
<mass value="0.24625" />
<inertia ixx="0.00016511" ixy="9.5318e-07" ixz="5.0942e-10" iyy="9.8651e-05" iyz="-1.8604e-10" izz="0.00017588" />
</inertial>
</link>
<joint name="left_gripper_joint" type="fixed">
<origin xyz="-0.0295 0.0 -0.16065" rpy="0.0 0.0 0.0" />
<parent link="left_arm_link7" />
<child link="left_gripper_link" />
</joint>
<link name="left_realsense_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_realsense_link.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_realsense_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0058264 -0.02222 -0.017353" rpy="0.0 0.0 0.0" />
<mass value="0.042603" />
<inertia ixx="2.3234e-05" ixy="-2.801e-06" ixz="-1.4377e-06" iyy="7.0119e-06" iyz="-1.2674e-06" izz="2.5513e-05" />
</inertial>
</link>
<joint name="left_realsense_joint" type="fixed">
<origin xyz="0.05051 0.0028934 0.0051317" rpy="-3.1376 -0.43631 3.1399" />
<parent link="left_gripper_link" />
<child link="left_realsense_link" />
</joint>
<link name="left_gripper_finger_link1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_gripper_finger_link1.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.009999999999999998 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.06 0.01 0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0056571 -0.015027 0.01959" rpy="0.0 0.0 0.0" />
<mass value="0.020196" />
<inertia ixx="6.4827e-06" ixy="7.3969e-08" ixz="-4.4977e-08" iyy="5.7129e-06" iyz="-3.9973e-07" izz="2.4057e-06" />
</inertial>
</link>
<joint name="left_gripper_finger_joint1" type="prismatic">
<origin xyz="-8.8709e-05 0.013453 -0.03689" rpy="0.0 0.0 0.0" />
<parent link="left_gripper_link" />
<child link="left_gripper_finger_link1" />
<axis xyz="-0.0077873 0.99997 0.0" />
<limit effort="100.0" velocity="0.25" lower="0.0" upper="0.05" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_gripper_finger_link2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/left_gripper_finger_link2.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.009999999999999998 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.06 0.01 0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0056573 0.015027 0.01959" rpy="0.0 0.0 0.0" />
<mass value="0.020196" />
<inertia ixx="6.4827e-06" ixy="7.3965e-08" ixz="4.5014e-08" iyy="5.7129e-06" iyz="3.9974e-07" izz="2.4057e-06" />
</inertial>
</link>
<joint name="left_gripper_finger_joint2" type="prismatic">
<origin xyz="8.9046e-05 -0.013453 -0.03689" rpy="0.0 0.0 0.0" />
<parent link="left_gripper_link" />
<child link="left_gripper_finger_link2" />
<axis xyz="0.0077873 -0.99997 0.0" />
<limit effort="100.0" velocity="0.25" lower="0.0" upper="0.05" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_arm_base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_arm_base_link.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_arm_base_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00026981 -0.034587 -3.669e-08" rpy="0.0 0.0 0.0" />
<mass value="1.48" />
<inertia ixx="0.0010298" ixy="5.2194e-06" ixz="1.2188e-07" iyy="0.0014076" iyz="5.1015e-09" izz="0.0010201" />
</inertial>
</link>
<joint name="right_arm_base_joint" type="fixed">
<origin xyz="-0.00048706 -0.097236 0.30302" rpy="0.0 0.0 0.0" />
<parent link="torso_link4" />
<child link="right_arm_base_link" />
</joint>
<link name="right_arm_link1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_arm_link1.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_arm_link1_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00042261 -0.074132 7.8365e-05" rpy="0.0 0.0 0.0" />
<mass value="1.135" />
<inertia ixx="0.00061603" ixy="-1.1635e-06" ixz="6.9785e-07" iyy="0.00030259" iyz="6.2359e-07" izz="0.00047135" />
</inertial>
</link>
<joint name="right_arm_joint1" type="revolute">
<origin xyz="0.0 -0.0735 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_arm_base_link" />
<child link="right_arm_link1" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="55.0" velocity="7.1209" lower="-4.4506" upper="1.309" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_arm_link2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_arm_link2.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_arm_link2_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.022361 0.0049527 -0.032732" rpy="0.0 0.0 0.0" />
<mass value="0.92" />
<inertia ixx="0.00038179" ixy="2.6532e-07" ixz="-3.6367e-06" iyy="0.00034188" iyz="-8.4407e-06" izz="0.00032895" />
</inertial>
</link>
<joint name="right_arm_joint2" type="revolute">
<origin xyz="0.023988 -0.081265 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_arm_link1" />
<child link="right_arm_link2" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="55.0" velocity="7.1209" lower="-3.1416" upper="0.1745" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_arm_link3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_arm_link3.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_arm_link3_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0053839 -0.00087109 -0.11261" rpy="0.0 0.0 0.0" />
<mass value="1.245" />
<inertia ixx="0.00072336" ixy="-3.3628e-06" ixz="-0.00012821" iyy="0.00073854" iyz="-8.3749e-06" izz="0.00037348" />
</inertial>
</link>
<joint name="right_arm_joint3" type="revolute">
<origin xyz="-0.023988 0.0 -0.1155" rpy="0.0 0.0 0.0" />
<parent link="right_arm_link2" />
<child link="right_arm_link3" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="25.0" velocity="8.3776" lower="-2.356196" upper="2.356196" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_arm_link4">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_arm_link4.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_arm_link4_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00058877 -0.035687 -0.057422" rpy="0.0 0.0 0.0" />
<mass value="0.827" />
<inertia ixx="0.00016157" ixy="7.8184e-08" ixz="3.5925e-06" iyy="0.00022024" iyz="1.4211e-06" izz="0.00012683" />
</inertial>
</link>
<joint name="right_arm_joint4" type="revolute">
<origin xyz="0.0 0.035058 -0.1945" rpy="0.0 0.0 0.0" />
<parent link="right_arm_link3" />
<child link="right_arm_link4" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="25.0" velocity="8.3776" lower="-1.7453" upper="0.3491" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_arm_link5">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_arm_link5.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_arm_link5_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-2.2815e-07 0.0031762 -0.07334" rpy="0.0 0.0 0.0" />
<mass value="0.63" />
<inertia ixx="0.00069134" ixy="1.4191e-08" ixz="3.837e-09" iyy="0.00065644" iyz="5.1952e-05" izz="0.00031157" />
</inertial>
</link>
<joint name="right_arm_joint5" type="revolute">
<origin xyz="0.0 -0.035058 -0.095" rpy="0.0 0.0 0.0" />
<parent link="right_arm_link4" />
<child link="right_arm_link5" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="18.0" velocity="10.472" lower="-2.356196" upper="2.356196" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_arm_link6">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_arm_link6.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_arm_link6_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0017914 -0.027486 0.00025485" rpy="0.0 0.0 0.0" />
<mass value="0.527" />
<inertia ixx="8.5442e-05" ixy="1.5357e-07" ixz="8.3693e-07" iyy="8.1185e-05" iyz="2.2221e-08" izz="8.2736e-05" />
</inertial>
</link>
<joint name="right_arm_joint6" type="revolute">
<origin xyz="0.0 0.028001 -0.16305" rpy="0.0 0.0 0.0" />
<parent link="right_arm_link5" />
<child link="right_arm_link6" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="18.0" velocity="10.472" lower="-1.047198" upper="1.047198" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_arm_link7">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_arm_link7.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_arm_link7_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.022945 2.2938e-07 -0.056523" rpy="0.0 0.0 0.0" />
<mass value="0.185" />
<inertia ixx="7.8535e-05" ixy="-9.5509e-10" ixz="-2.8712e-05" iyy="9.467e-05" iyz="9.104e-11" izz="6.1128e-05" />
</inertial>
</link>
<joint name="right_arm_joint7" type="revolute">
<origin xyz="0.0295 -0.028001 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_arm_link6" />
<child link="right_arm_link7" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="18.0" velocity="10.472" lower="-1.5708" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_gripper_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_gripper_link.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_gripper_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-2.2589e-07 -5.2175e-08 0.031107" rpy="0.0 0.0 0.0" />
<mass value="0.24625" />
<inertia ixx="0.00016511" ixy="9.5318e-07" ixz="5.0942e-10" iyy="9.8651e-05" iyz="-1.8604e-10" izz="0.00017588" />
</inertial>
</link>
<joint name="right_gripper_joint" type="fixed">
<origin xyz="-0.0295 0.0 -0.16065" rpy="0.0 0.0 0.0" />
<parent link="right_arm_link7" />
<child link="right_gripper_link" />
</joint>
<link name="right_realsense_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_realsense_link.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_realsense_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0058264 -0.02222 -0.017353" rpy="0.0 0.0 0.0" />
<mass value="0.042603" />
<inertia ixx="2.3234e-05" ixy="-2.801e-06" ixz="-1.4377e-06" iyy="7.0119e-06" iyz="-1.2674e-06" izz="2.5513e-05" />
</inertial>
</link>
<joint name="right_realsense_joint" type="fixed">
<origin xyz="0.05051 0.0028934 0.0051317" rpy="-3.1376 -0.43631 3.1399" />
<parent link="right_gripper_link" />
<child link="right_realsense_link" />
</joint>
<link name="right_gripper_finger_link1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_gripper_finger_link1.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.009999999999999998 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.06 0.01 0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0056571 -0.015027 0.01959" rpy="0.0 0.0 0.0" />
<mass value="0.020196" />
<inertia ixx="6.4827e-06" ixy="7.3969e-08" ixz="-4.4977e-08" iyy="5.7129e-06" iyz="-3.9973e-07" izz="2.4057e-06" />
</inertial>
</link>
<joint name="right_gripper_finger_joint1" type="prismatic">
<origin xyz="-8.8709e-05 0.013453 -0.03689" rpy="0.0 0.0 0.0" />
<parent link="right_gripper_link" />
<child link="right_gripper_finger_link1" />
<axis xyz="-0.0077873 0.99997 0.0" />
<limit effort="100.0" velocity="0.25" lower="0.0" upper="0.05" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_gripper_finger_link2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="meshes/right_gripper_finger_link2.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.009999999999999998 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.06 0.01 0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0056573 0.015027 0.01959" rpy="0.0 0.0 0.0" />
<mass value="0.020196" />
<inertia ixx="6.4827e-06" ixy="7.3965e-08" ixz="4.5014e-08" iyy="5.7129e-06" iyz="3.9974e-07" izz="2.4057e-06" />
</inertial>
</link>
<joint name="right_gripper_finger_joint2" type="prismatic">
<origin xyz="8.9046e-05 -0.013453 -0.03689" rpy="0.0 0.0 0.0" />
<parent link="right_gripper_link" />
<child link="right_gripper_finger_link2" />
<axis xyz="0.0077873 -0.99997 0.0" />
<limit effort="100.0" velocity="0.25" lower="0.0" upper="0.05" />
<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 49ba67daaabe2851 -->
<mujoco model="r1_pro_with_gripper">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="base_link" file="meshes/base_link.obj" />
<mesh name="base_link_collision" file="meshes/base_link_collision.STL" />
<mesh name="steer_motor_link1" file="meshes/steer_motor_link1.obj" />
<mesh name="steer_motor_link1_collision" file="meshes/steer_motor_link1_collision.STL" />
<mesh name="wheel_motor_link1" file="meshes/wheel_motor_link1.obj" />
<mesh name="wheel_motor_link1_collision" file="meshes/wheel_motor_link1_collision.STL" />
<mesh name="steer_motor_link2" file="meshes/steer_motor_link2.obj" />
<mesh name="steer_motor_link2_collision" file="meshes/steer_motor_link2_collision.STL" />
<mesh name="wheel_motor_link2" file="meshes/wheel_motor_link2.obj" />
<mesh name="wheel_motor_link2_collision" file="meshes/wheel_motor_link2_collision.STL" />
<mesh name="steer_motor_link3" file="meshes/steer_motor_link3.obj" />
<mesh name="steer_motor_link3_collision" file="meshes/steer_motor_link3_collision.STL" />
<mesh name="wheel_motor_link3" file="meshes/wheel_motor_link3.obj" />
<mesh name="wheel_motor_link3_collision" file="meshes/wheel_motor_link3_collision.STL" />
<mesh name="torso_link1" file="meshes/torso_link1.obj" />
<mesh name="torso_link1_collision" file="meshes/torso_link1_collision.STL" />
<mesh name="torso_link2" file="meshes/torso_link2.obj" />
<mesh name="torso_link2_collision" file="meshes/torso_link2_collision.STL" />
<mesh name="torso_link3" file="meshes/torso_link3.obj" />
<mesh name="torso_link3_collision" file="meshes/torso_link3_collision.STL" />
<mesh name="torso_link4" file="meshes/torso_link4.obj" />
<mesh name="torso_link4_collision" file="meshes/torso_link4_collision.STL" />
<mesh name="zed_link" file="meshes/zed_link.obj" />
<mesh name="zed_link_collision" file="meshes/zed_link_collision.STL" />
<mesh name="left_arm_base_link" file="meshes/left_arm_base_link.obj" />
<mesh name="left_arm_base_link_collision" file="meshes/left_arm_base_link_collision.STL" />
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<body name="right_arm_link6" pos="0.0 0.028001 -0.16305">
<joint name="right_arm_joint6" type="hinge" axis="0.0 1.0 0.0" range="-1.047198 1.047198" />
<inertial pos="0.0017914 -0.027486 0.00025485" mass="0.527" fullinertia="8.5442e-05 8.1185e-05 8.2736e-05 1.5357e-07 8.3693e-07 2.2221e-08" />
<geom name="right_arm_link6_vis_0" type="mesh" mesh="right_arm_link6" contype="0" conaffinity="0" group="2" />
<geom name="right_arm_link6_col_0" type="mesh" mesh="right_arm_link6_collision" group="3" />
<body name="right_arm_link7" pos="0.0295 -0.028001 0.0">
<joint name="right_arm_joint7" type="hinge" axis="1.0 0.0 0.0" range="-1.5708 1.5708" />
<inertial pos="-0.022945 2.2938e-07 -0.056523" mass="0.185" fullinertia="7.8535e-05 9.467e-05 6.1128e-05 -9.5509e-10 -2.8712e-05 9.104e-11" />
<geom name="right_arm_link7_vis_0" type="mesh" mesh="right_arm_link7" contype="0" conaffinity="0" group="2" />
<geom name="right_arm_link7_col_0" type="mesh" mesh="right_arm_link7_collision" group="3" />
<body name="right_gripper_link" pos="-0.0295 0.0 -0.16065">
<inertial pos="-2.2589e-07 -5.2175e-08 0.031107" mass="0.24625" fullinertia="0.00016511 9.8651e-05 0.00017588 9.5318e-07 5.0942e-10 -1.8604e-10" />
<geom name="right_gripper_link_vis_0" type="mesh" mesh="right_gripper_link" contype="0" conaffinity="0" group="2" />
<geom name="right_gripper_link_col_0" type="mesh" mesh="right_gripper_link_collision" group="3" />
<body name="right_realsense_link" pos="0.05051 0.0028934 0.0051317" quat="0.21642986259838334 -0.00039420375409791837 -0.9762964923573758 0.0017658396669599078">
<inertial pos="0.0058264 -0.02222 -0.017353" mass="0.042603" fullinertia="2.3234e-05 7.0119e-06 2.5513e-05 -2.801e-06 -1.4377e-06 -1.2674e-06" />
<geom name="right_realsense_link_vis_0" type="mesh" mesh="right_realsense_link" contype="0" conaffinity="0" group="2" />
<geom name="right_realsense_link_col_0" type="mesh" mesh="right_realsense_link_collision" group="3" />
</body>
<body name="right_gripper_finger_link1" pos="-8.8709e-05 0.013453 -0.03689">
<joint name="right_gripper_finger_joint1" type="slide" axis="-0.0077873 0.99997 0.0" range="0.0 0.05" />
<inertial pos="0.0056571 -0.015027 0.01959" mass="0.020196" fullinertia="6.4827e-06 5.7129e-06 2.4057e-06 7.3969e-08 -4.4977e-08 -3.9973e-07" />
<geom name="right_gripper_finger_link1_vis_0" type="mesh" mesh="right_gripper_finger_link1" contype="0" conaffinity="0" group="2" />
<geom name="right_gripper_finger_link1_col_0" type="box" size="0.03 0.005 0.02" pos="0.0 -0.009999999999999998 0.0" group="3" />
</body>
<body name="right_gripper_finger_link2" pos="8.9046e-05 -0.013453 -0.03689">
<joint name="right_gripper_finger_joint2" type="slide" axis="0.0077873 -0.99997 0.0" range="0.0 0.05" />
<inertial pos="-0.0056573 0.015027 0.01959" mass="0.020196" fullinertia="6.4827e-06 5.7129e-06 2.4057e-06 7.3965e-08 4.5014e-08 3.9974e-07" />
<geom name="right_gripper_finger_link2_vis_0" type="mesh" mesh="right_gripper_finger_link2" contype="0" conaffinity="0" group="2" />
<geom name="right_gripper_finger_link2_col_0" type="box" size="0.03 0.005 0.02" pos="0.0 0.009999999999999998 0.0" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base_link" body2="steer_motor_link1" />
<exclude body1="steer_motor_link1" body2="wheel_motor_link1" />
<exclude body1="base_link" body2="steer_motor_link2" />
<exclude body1="steer_motor_link2" body2="wheel_motor_link2" />
<exclude body1="base_link" body2="steer_motor_link3" />
<exclude body1="steer_motor_link3" body2="wheel_motor_link3" />
<exclude body1="base_link" body2="torso_link1" />
<exclude body1="torso_link1" body2="torso_link2" />
<exclude body1="torso_link2" body2="torso_link3" />
<exclude body1="torso_link3" body2="torso_link4" />
<exclude body1="torso_link4" body2="zed_link" />
<exclude body1="torso_link4" body2="left_arm_base_link" />
<exclude body1="left_arm_base_link" body2="left_arm_link1" />
<exclude body1="left_arm_link1" body2="left_arm_link2" />
<exclude body1="left_arm_link2" body2="left_arm_link3" />
<exclude body1="left_arm_link3" body2="left_arm_link4" />
<exclude body1="left_arm_link4" body2="left_arm_link5" />
<exclude body1="left_arm_link5" body2="left_arm_link6" />
<exclude body1="left_arm_link6" body2="left_arm_link7" />
<exclude body1="left_arm_link7" body2="left_gripper_link" />
<exclude body1="left_gripper_link" body2="left_realsense_link" />
<exclude body1="left_gripper_link" body2="left_gripper_finger_link1" />
<exclude body1="left_gripper_link" body2="left_gripper_finger_link2" />
<exclude body1="torso_link4" body2="right_arm_base_link" />
<exclude body1="right_arm_base_link" body2="right_arm_link1" />
<exclude body1="right_arm_link1" body2="right_arm_link2" />
<exclude body1="right_arm_link2" body2="right_arm_link3" />
<exclude body1="right_arm_link3" body2="right_arm_link4" />
<exclude body1="right_arm_link4" body2="right_arm_link5" />
<exclude body1="right_arm_link5" body2="right_arm_link6" />
<exclude body1="right_arm_link6" body2="right_arm_link7" />
<exclude body1="right_arm_link7" body2="right_gripper_link" />
<exclude body1="right_gripper_link" body2="right_realsense_link" />
<exclude body1="right_gripper_link" body2="right_gripper_finger_link1" />
<exclude body1="right_gripper_link" body2="right_gripper_finger_link2" />
</contact>
</mujoco>
Import report
Counts
| Links | 36 |
|---|---|
| Joints | 35 |
| Moving joints | 22 |
| Visuals | 36 |
| Collisions | 36 |
| Materials | 0 |
Meshes
Formats: obj, stl.
Asset size: 49.9 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
axis | 13 | fixed joints carry no <axis>; URDF ignores it too |
limit | 3 | fixed joints carry no <limit>; URDF ignores it too |
Forward-kinematics check
Forward kinematics of 36 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 · 6.4e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 22).
Source & licence
| Repository | https://github.com/OpenGalaxea/GalaxeaManipSim |
|---|---|
| Commit | abe7f5161eeaa150e6eaffdf443af5df7f23f356 |
| Original file | galaxea_sim/assets/r1_pro/robot.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.