Rhea
Gabrael Levine · licence Apache-2.0 · source: github.com/G-Levine/rhea_description @ 1dc0f1abc
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 485f5acfc1472ff9 -->
<robot name="rhea">
<link name="base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="../meshes/dae/simple_bot_mesh.dae" />
</geometry>
<material name="Aluminum_-_Anodized_Rough_(Grey)_1" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.24 0.14 0.22" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="3.0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<link name="imu">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.001" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<link name="left_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5708 0.0 -2.0944" />
<geometry>
<mesh filename="../meshes/dae/simple_bot_mesh.006.dae" />
</geometry>
<material name="PA_12_-_Nylon_-_PA_603-CF_(with_EOS_P_3D_Printers)" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.1" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<link name="left_knee">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5708 0.0 -1.0472" />
<geometry>
<mesh filename="../meshes/dae/simple_bot_mesh.005.dae" />
</geometry>
<material name="PA_12_-_Nylon_-_PA_603-CF_(with_EOS_P_3D_Printers)" />
</visual>
<collision>
<origin xyz="-0.025 0.065 -0.00764" rpy="0.0 0.0 -1.0472" />
<geometry>
<cylinder length="0.02438" radius="0.03428" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.1" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<link name="left_wheel">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5708 0.0 -1.0472" />
<geometry>
<mesh filename="../meshes/dae/simple_bot_mesh.004.dae" />
</geometry>
<material name="Aluminum_-_Anodized_Rough_(Grey)" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0415" rpy="0.0 0.0 -1.0472" />
<geometry>
<cylinder length="0.024" radius="0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.4" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<link name="right_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-1.5708 0.0 2.0944" />
<geometry>
<mesh filename="../meshes/dae/simple_bot_mesh.003.dae" />
</geometry>
<material name="PA_12_-_Nylon_-_PA_603-CF_(with_EOS_P_3D_Printers)" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.1" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<link name="right_knee">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-1.5708 0.0 1.0472" />
<geometry>
<mesh filename="../meshes/dae/simple_bot_mesh.002.dae" />
</geometry>
<material name="PA_12_-_Nylon_-_PA_603-CF_(with_EOS_P_3D_Printers)" />
</visual>
<collision>
<origin xyz="-0.025 -0.065 -0.00764" rpy="0.0 0.0 1.0472" />
<geometry>
<cylinder length="0.02438" radius="0.03428" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.1" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<link name="right_wheel">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-1.5708 0.0 1.0472" />
<geometry>
<mesh filename="../meshes/dae/simple_bot_mesh.001.dae" />
</geometry>
<material name="Aluminum_-_Anodized_Rough_(Grey)" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0415" rpy="0.0 0.0 1.0472" />
<geometry>
<cylinder length="0.024" radius="0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.4" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="imu" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="1.5708 0.0 1.5708" />
<parent link="base_link" />
<child link="imu" />
</joint>
<joint name="left_hip" type="revolute">
<origin xyz="0.0 0.1 0.0" rpy="-1.5708 1.5708 0.0" />
<parent link="base_link" />
<child link="left_hip" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="35.0" velocity="26.0" lower="0.5236" upper="1.39626" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="left_knee" type="revolute">
<origin xyz="0.225 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_hip" />
<child link="left_knee" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="35.0" velocity="26.0" lower="-2.79253" upper="-1.0472" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="left_wheel" type="continuous">
<origin xyz="0.225 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_knee" />
<child link="left_wheel" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="9.0" velocity="42.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="right_hip" type="revolute">
<origin xyz="0.0 -0.1 0.0" rpy="1.5708 1.5708 0.0" />
<parent link="base_link" />
<child link="right_hip" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="35.0" velocity="26.0" lower="-1.39626" upper="-0.5236" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="right_knee" type="revolute">
<origin xyz="0.225 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_hip" />
<child link="right_knee" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="35.0" velocity="26.0" lower="1.0472" upper="2.79253" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="right_wheel" type="continuous">
<origin xyz="0.225 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_knee" />
<child link="right_wheel" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="9.0" velocity="42.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="Aluminum_-_Anodized_Rough_(Grey)">
<color rgba="0.28627 0.28627 0.28627 1.0" />
</material>
<material name="Aluminum_-_Anodized_Rough_(Grey)_1">
<color rgba="0.28627 0.28627 0.28627 1.0" />
</material>
<material name="PA_12_-_Nylon_-_PA_603-CF_(with_EOS_P_3D_Printers)">
<color rgba="0.24706 0.24706 0.24706 1.0" />
</material>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 485f5acfc1472ff9 -->
<mujoco model="rhea">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="Aluminum_-_Anodized_Rough_(Grey)" rgba="0.28627 0.28627 0.28627 1.0" />
<material name="Aluminum_-_Anodized_Rough_(Grey)_1" rgba="0.28627 0.28627 0.28627 1.0" />
<material name="PA_12_-_Nylon_-_PA_603-CF_(with_EOS_P_3D_Printers)" rgba="0.24706 0.24706 0.24706 1.0" />
<mesh name="simple_bot_mesh" file="../meshes/dae/simple_bot_mesh.dae" />
<mesh name="simple_bot_mesh.006" file="../meshes/dae/simple_bot_mesh.006.dae" />
<mesh name="simple_bot_mesh.005" file="../meshes/dae/simple_bot_mesh.005.dae" />
<mesh name="simple_bot_mesh.004" file="../meshes/dae/simple_bot_mesh.004.dae" />
<mesh name="simple_bot_mesh.003" file="../meshes/dae/simple_bot_mesh.003.dae" />
<mesh name="simple_bot_mesh.002" file="../meshes/dae/simple_bot_mesh.002.dae" />
<mesh name="simple_bot_mesh.001" file="../meshes/dae/simple_bot_mesh.001.dae" />
</asset>
<worldbody>
<body name="base_link">
<inertial pos="0.0 0.0 0.0" mass="3.0" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<geom name="base_link_vis_0" type="mesh" mesh="simple_bot_mesh" contype="0" conaffinity="0" group="2" material="Aluminum_-_Anodized_Rough_(Grey)_1" />
<geom name="base_link_col_0" type="box" size="0.12 0.07 0.11" group="3" />
<body name="imu" quat="0.4999981633974483 0.49999999999662686 0.5000018366025516 0.49999999999662686">
<inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
</body>
<body name="left_hip" pos="0.0 0.1 0.0" quat="0.4999981633974483 -0.49999999999662686 0.49999999999662686 0.5000018366025516">
<joint name="left_hip" type="hinge" axis="0.0 0.0 1.0" range="0.5236 1.39626" />
<inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<geom name="left_hip_vis_0" type="mesh" mesh="simple_bot_mesh.006" quat="0.35355124167760826 0.35355254034621864 -0.6123744261620394 -0.6123721767893033" contype="0" conaffinity="0" group="2" material="PA_12_-_Nylon_-_PA_603-CF_(with_EOS_P_3D_Printers)" />
<body name="left_knee" pos="0.225 0.0 0.0">
<joint name="left_knee" type="hinge" axis="0.0 0.0 1.0" range="-2.79253 -1.0472" />
<inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<geom name="left_knee_vis_0" type="mesh" mesh="simple_bot_mesh.005" quat="0.6123708781189469 0.6123731274869127 -0.3535547897207008 -0.35355349104382805" contype="0" conaffinity="0" group="2" material="PA_12_-_Nylon_-_PA_603-CF_(with_EOS_P_3D_Printers)" />
<geom name="left_knee_col_0" type="cylinder" size="0.03428 0.01219" pos="-0.025 0.065 -0.00764" quat="0.866024791582939 0.0 0.0 -0.5000010603626028" group="3" />
<body name="left_wheel" pos="0.225 0.0 0.0">
<joint name="left_wheel" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="0.4" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<geom name="left_wheel_vis_0" type="mesh" mesh="simple_bot_mesh.004" quat="0.6123708781189469 0.6123731274869127 -0.3535547897207008 -0.35355349104382805" contype="0" conaffinity="0" group="2" material="Aluminum_-_Anodized_Rough_(Grey)" />
<geom name="left_wheel_col_0" type="cylinder" size="0.1 0.012" pos="0.0 0.0 0.0415" quat="0.866024791582939 0.0 0.0 -0.5000010603626028" group="3" />
</body>
</body>
</body>
<body name="right_hip" pos="0.0 -0.1 0.0" quat="0.4999981633974483 0.49999999999662686 0.49999999999662686 -0.5000018366025516">
<joint name="right_hip" type="hinge" axis="0.0 0.0 1.0" range="-1.39626 -0.5236" />
<inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<geom name="right_hip_vis_0" type="mesh" mesh="simple_bot_mesh.003" quat="0.35355124167760826 -0.35355254034621864 -0.6123744261620394 0.6123721767893033" contype="0" conaffinity="0" group="2" material="PA_12_-_Nylon_-_PA_603-CF_(with_EOS_P_3D_Printers)" />
<body name="right_knee" pos="0.225 0.0 0.0">
<joint name="right_knee" type="hinge" axis="0.0 0.0 1.0" range="1.0472 2.79253" />
<inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<geom name="right_knee_vis_0" type="mesh" mesh="simple_bot_mesh.002" quat="0.6123708781189469 -0.6123731274869127 -0.3535547897207008 0.35355349104382805" contype="0" conaffinity="0" group="2" material="PA_12_-_Nylon_-_PA_603-CF_(with_EOS_P_3D_Printers)" />
<geom name="right_knee_col_0" type="cylinder" size="0.03428 0.01219" pos="-0.025 -0.065 -0.00764" quat="0.866024791582939 0.0 0.0 0.5000010603626028" group="3" />
<body name="right_wheel" pos="0.225 0.0 0.0">
<joint name="right_wheel" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="0.4" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<geom name="right_wheel_vis_0" type="mesh" mesh="simple_bot_mesh.001" quat="0.6123708781189469 -0.6123731274869127 -0.3535547897207008 0.35355349104382805" contype="0" conaffinity="0" group="2" material="Aluminum_-_Anodized_Rough_(Grey)" />
<geom name="right_wheel_col_0" type="cylinder" size="0.1 0.012" pos="0.0 0.0 0.0415" quat="0.866024791582939 0.0 0.0 0.5000010603626028" group="3" />
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base_link" body2="imu" />
<exclude body1="base_link" body2="left_hip" />
<exclude body1="left_hip" body2="left_knee" />
<exclude body1="left_knee" body2="left_wheel" />
<exclude body1="base_link" body2="right_hip" />
<exclude body1="right_hip" body2="right_knee" />
<exclude body1="right_knee" body2="right_wheel" />
</contact>
</mujoco>
Import report
Counts
| Links | 8 |
|---|---|
| Joints | 7 |
| Moving joints | 6 |
| Visuals | 7 |
| Collisions | 5 |
| Materials | 3 |
Meshes
Formats: dae.
Asset size: 18.1 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
@name | 12 | visual names are not carried; the geometry is kept |
Forward-kinematics check
Forward kinematics of 8 link frames at 20 random joint positions within limits, original URDF against robot.urdf, computed by pinocchio 3.8.0. Worst difference: 0.0e+00 m · 5.3e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 6).
Source & licence
| Repository | https://github.com/G-Levine/rhea_description |
|---|---|
| Commit | 1dc0f1abcf51b5d8a8f7ff8a548399ff0df1414f |
| Original file | urdf/rhea.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.