SigmaBan
Rhoban · licence MIT · source: github.com/Rhoban/sigmaban_urdf @ d5d023fd3
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.
Loading the model…
drag to orbit · scroll to zoom · right-drag to pan
robot.urdf
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 1bf2f1a746321300 -->
<robot name="onshape">
<material name="x_plate_material">
<color rgba="0.262745 0.282353 0.301961 1.0" />
</material>
<material name="mx-64at_ar_material">
<color rgba="0.168627 0.168627 0.168627 1.0" />
</material>
<link name="torso">
<visual>
<origin xyz="0.057869 3.78163e-15 0.0595" rpy="1.5708 -3.71254e-15 1.5708" />
<geometry>
<box size="0.133 0.113 0.006" />
</geometry>
<material name="x_plate_material" />
</visual>
<visual>
<origin xyz="0.023419 -0.0464 -0.017" rpy="-3.14159 2.03946e-15 -1.5708" />
<geometry>
<box size="0.0402 0.0611 0.041" />
</geometry>
<material name="mx-64at_ar_material" />
</visual>
<visual>
<origin xyz="0.013319 0.056 0.143" rpy="-1.5708 -1.5708 0.0" />
<geometry>
<box size="0.0402 0.0611 0.041" />
</geometry>
<material name="mx-64at_ar_material" />
</visual>
<visual>
<origin xyz="-0.057131 7.74724e-15 0.0595" rpy="1.5708 -1.21571e-15 1.5708" />
<geometry>
<box size="0.133 0.113 0.006" />
</geometry>
<material name="x_plate_material" />
</visual>
<visual>
<origin xyz="0.023419 0.0464 -0.017" rpy="-3.14159 2.02561e-15 -1.5708" />
<geometry>
<box size="0.0402 0.0611 0.041" />
</geometry>
<material name="mx-64at_ar_material" />
</visual>
<visual>
<origin xyz="0.018319 5.1733e-15 0.136" rpy="4.02456e-16 1.06347e-14 -1.5708" />
<geometry>
<box size="0.0402 0.0611 0.041" />
</geometry>
<material name="mx-64at_ar_material" />
</visual>
<visual>
<origin xyz="0.013319 -0.056 0.143" rpy="1.5708 1.5708 0.0" />
<geometry>
<box size="0.0402 0.0611 0.041" />
</geometry>
<material name="mx-64at_ar_material" />
</visual>
<collision>
<origin xyz="0.057869 3.78163e-15 0.0595" rpy="1.5708 -3.71254e-15 1.5708" />
<geometry>
<box size="0.133 0.113 0.006" />
</geometry>
</collision>
<collision>
<origin xyz="0.023419 -0.0464 -0.017" rpy="-3.14159 2.03946e-15 -1.5708" />
<geometry>
<box size="0.0402 0.0611 0.041" />
</geometry>
</collision>
<collision>
<origin xyz="0.013319 0.056 0.143" rpy="-1.5708 -1.5708 0.0" />
<geometry>
<box size="0.0402 0.0611 0.041" />
</geometry>
</collision>
<collision>
<origin xyz="-0.057131 7.74724e-15 0.0595" rpy="1.5708 -1.21571e-15 1.5708" />
<geometry>
<box size="0.133 0.113 0.006" />
</geometry>
</collision>
<collision>
<origin xyz="0.023419 0.0464 -0.017" rpy="-3.14159 2.02561e-15 -1.5708" />
<geometry>
<box size="0.0402 0.0611 0.041" />
</geometry>
</collision>
<collision>
<origin xyz="0.018319 5.1733e-15 0.136" rpy="4.02456e-16 1.06347e-14 -1.5708" />
<geometry>
<box size="0.0402 0.0611 0.041" />
</geometry>
</collision>
<collision>
<origin xyz="0.013319 -0.056 0.143" rpy="1.5708 1.5708 0.0" />
<geometry>
<box size="0.0402 0.0611 0.041" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00999148 0.0067075 0.0847028" rpy="0.0 0.0 0.0" />
<mass value="1.74256" />
<inertia ixx="0.0252852" ixy="0.00212073" ixz="0.00443286" iyy="0.0284607" iyz="-0.00204504" izz="0.0103505" />
</inertial>
</link>
<link name="head_base">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1e-09" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="head_base_frame" type="fixed">
<origin xyz="0.035869 2.87859e-15 0.1595" rpy="3.79641e-14 -9.95037e-15 -1.04223e-13" />
<parent link="torso" />
<child link="head_base" />
</joint>
<link name="trunk">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1e-09" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="trunk_frame" type="fixed">
<origin xyz="0.00586803 -3.83374e-15 -0.1015" rpy="2.59035e-15 -1.04919e-28 -6.69483e-15" />
<parent link="torso" />
<child link="trunk" />
</joint>
<material name="u_base_64_material">
<color rgba="0.301961 0.301961 0.301961 1.0" />
</material>
<link name="u_shoulder">
<visual>
<origin xyz="-3.44907e-33 -3.58215e-33 -0.003125" rpy="-1.13995e-30 1.09771e-30 2.34193e-31" />
<geometry>
<box size="0.049 0.03 0.00625" />
</geometry>
<material name="u_base_64_material" />
</visual>
<collision>
<origin xyz="-3.44907e-33 -3.58215e-33 -0.003125" rpy="-1.13995e-30 1.09771e-30 2.34193e-31" />
<geometry>
<box size="0.049 0.03 0.00625" />
</geometry>
</collision>
<inertial>
<origin xyz="-1.43272e-15 -0.00566234 -0.0159676" rpy="0.0 0.0 0.0" />
<mass value="0.0570101" />
<inertia ixx="2.21758e-05" ixy="-2.0788e-19" ixz="9.33113e-19" iyy="4.03314e-05" iyz="-6.10703e-06" izz="3.58629e-05" />
</inertial>
</link>
<link name="right_humerus">
<visual>
<origin xyz="3.86334e-18 -0.01755 -0.0235" rpy="-7.07767e-16 -3.64573e-30 3.9443e-30" />
<geometry>
<box size="0.0402 0.0611 0.041" />
</geometry>
<material name="mx-64at_ar_material" />
</visual>
<collision>
<origin xyz="3.86334e-18 -0.01755 -0.0235" rpy="-7.07767e-16 -3.64573e-30 3.9443e-30" />
<geometry>
<box size="0.0402 0.0611 0.041" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0219502 0.0714677 -0.0108756" rpy="0.0 0.0 0.0" />
<mass value="0.111948" />
<inertia ixx="0.0132961" ixy="0.00182099" ixz="0.000176204" iyy="0.000422203" iyz="-0.00128316" izz="0.0134217" />
</inertial>
</link>
<material name="hand_material">
<color rgba="0.301961 0.301961 0.301961 1.0" />
</material>
<link name="radius_v2">
<visual>
<origin xyz="1.23405e-19 0.1276 0.042" rpy="3.14159 -1.38778e-17 1.5708" />
<geometry>
<cylinder length="0.003" radius="0.04" />
</geometry>
<material name="hand_material" />
</visual>
<visual>
<origin xyz="4.21038e-18 0.0539756 0.042" rpy="3.14159 -1.38778e-17 1.5708" />
<geometry>
<box size="0.0775512 0.0412 0.003" />
</geometry>
<material name="hand_material" />
</visual>
<visual>
<origin xyz="-1.45636e-16 0.1276 0.005" rpy="3.14159 -1.38778e-17 1.5708" />
<geometry>
<cylinder length="0.003" radius="0.04" />
</geometry>
<material name="hand_material" />
</visual>
<visual>
<origin xyz="-1.49723e-16 0.0539756 0.005" rpy="3.14159 -1.38778e-17 1.5708" />
<geometry>
<box size="0.0775512 0.0412 0.003" />
</geometry>
<material name="hand_material" />
</visual>
<visual>
<origin xyz="-6.93889e-18 0.01755 0.0235" rpy="-3.14159 -6.50521e-19 2.46519e-32" />
<geometry>
<box size="0.0402 0.0611 0.041" />
</geometry>
<material name="mx-64at_ar_material" />
</visual>
<collision>
<origin xyz="1.23405e-19 0.1276 0.042" rpy="3.14159 -1.38778e-17 1.5708" />
<geometry>
<cylinder length="0.003" radius="0.04" />
</geometry>
</collision>
<collision>
<origin xyz="4.21038e-18 0.0539756 0.042" rpy="3.14159 -1.38778e-17 1.5708" />
<geometry>
<box size="0.0775512 0.0412 0.003" />
</geometry>
</collision>
<collision>
<origin xyz="-1.45636e-16 0.1276 0.005" rpy="3.14159 -1.38778e-17 1.5708" />
<geometry>
<cylinder length="0.003" radius="0.04" />
</geometry>
</collision>
<collision>
<origin xyz="-1.49723e-16 0.0539756 0.005" rpy="3.14159 -1.38778e-17 1.5708" />
<geometry>
<box size="0.0775512 0.0412 0.003" />
</geometry>
</collision>
<collision>
<origin xyz="-6.93889e-18 0.01755 0.0235" rpy="-3.14159 -6.50521e-19 2.46519e-32" />
<geometry>
<box size="0.0402 0.0611 0.041" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0555551 -0.0926698 0.0242347" rpy="0.0 0.0 0.0" />
<mass value="0.133609" />
<inertia ixx="0.0208737" ixy="-0.00645757" ixz="-3.89367e-05" iyy="0.00213187" iyz="-0.000108106" izz="0.0229272" />
</inertial>
</link>
<joint name="right_elbow" type="revolute">
<origin xyz="-0.0235 -0.142 -0.0025" rpy="3.14159 -1.5708 0.0" />
<parent link="right_humerus" />
<child link="radius_v2" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="right_shoulder_roll" type="revolute">
<origin xyz="-0.0235 -0.03 -0.035" rpy="-3.60822e-16 -1.5708 0.0" />
<parent link="u_shoulder" />
<child link="right_humerus" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="right_shoulder_pitch" type="revolute">
<origin xyz="0.030869 -0.0795 0.143" rpy="1.5708 -4.80171e-15 3.14159" />
<parent link="torso" />
<child link="u_shoulder" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="u_shoulder_2">
<visual>
<origin xyz="-2.27423e-34 5.57678e-33 0.003125" rpy="-3.14159 -1.78032e-32 5.34125e-32" />
<geometry>
<box size="0.049 0.03 0.00625" />
</geometry>
<material name="u_base_64_material" />
</visual>
<collision>
<origin xyz="-2.27423e-34 5.57678e-33 0.003125" rpy="-3.14159 -1.78032e-32 5.34125e-32" />
<geometry>
<box size="0.049 0.03 0.00625" />
</geometry>
</collision>
<inertial>
<origin xyz="3.4737e-17 0.00566234 0.0159676" rpy="0.0 0.0 0.0" />
<mass value="0.0570101" />
<inertia ixx="2.21758e-05" ixy="6.89273e-20" ixz="-6.51157e-20" iyy="4.03314e-05" iyz="-6.10703e-06" izz="3.58629e-05" />
</inertial>
</link>
<link name="left_humerus">
<visual>
<origin xyz="-3.65333e-18 -0.01755 -0.0235" rpy="-3.60822e-16 -1.5097e-15 1.06437e-17" />
<geometry>
<box size="0.0402 0.0611 0.041" />
</geometry>
<material name="mx-64at_ar_material" />
</visual>
<collision>
<origin xyz="-3.65333e-18 -0.01755 -0.0235" rpy="-3.60822e-16 -1.5097e-15 1.06437e-17" />
<geometry>
<box size="0.0402 0.0611 0.041" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0663577 0.040272 -0.0134765" rpy="0.0 0.0 0.0" />
<mass value="0.111948" />
<inertia ixx="0.00896054" ixy="0.00398528" ixz="0.000410872" iyy="0.00197472" iyz="-0.000890955" izz="0.0107095" />
</inertial>
</link>
<link name="radius_v2_2">
<visual>
<origin xyz="1.27842e-17 -0.01755 -0.0235" rpy="2.21464e-15 -5.24479e-16 1.11022e-16" />
<geometry>
<box size="0.0402 0.0611 0.041" />
</geometry>
<material name="mx-64at_ar_material" />
</visual>
<visual>
<origin xyz="-4.71769e-17 -0.1276 -0.005" rpy="-4.90349e-16 1.58207e-15 -1.5708" />
<geometry>
<cylinder length="0.003" radius="0.04" />
</geometry>
<material name="hand_material" />
</visual>
<visual>
<origin xyz="-7.57858e-17 -0.0539756 -0.005" rpy="-4.90349e-16 1.58207e-15 -1.5708" />
<geometry>
<box size="0.0775512 0.0412 0.003" />
</geometry>
<material name="hand_material" />
</visual>
<visual>
<origin xyz="8.44286e-18 -0.1276 -0.042" rpy="-5.5728e-16 1.58207e-15 -1.5708" />
<geometry>
<cylinder length="0.003" radius="0.04" />
</geometry>
<material name="hand_material" />
</visual>
<visual>
<origin xyz="-1.1992e-17 -0.0539756 -0.042" rpy="-5.5728e-16 1.58207e-15 -1.5708" />
<geometry>
<box size="0.0775512 0.0412 0.003" />
</geometry>
<material name="hand_material" />
</visual>
<collision>
<origin xyz="1.27842e-17 -0.01755 -0.0235" rpy="2.21464e-15 -5.24479e-16 1.11022e-16" />
<geometry>
<box size="0.0402 0.0611 0.041" />
</geometry>
</collision>
<collision>
<origin xyz="-4.71769e-17 -0.1276 -0.005" rpy="-4.90349e-16 1.58207e-15 -1.5708" />
<geometry>
<cylinder length="0.003" radius="0.04" />
</geometry>
</collision>
<collision>
<origin xyz="-7.57858e-17 -0.0539756 -0.005" rpy="-4.90349e-16 1.58207e-15 -1.5708" />
<geometry>
<box size="0.0775512 0.0412 0.003" />
</geometry>
</collision>
<collision>
<origin xyz="8.44286e-18 -0.1276 -0.042" rpy="-5.5728e-16 1.58207e-15 -1.5708" />
<geometry>
<cylinder length="0.003" radius="0.04" />
</geometry>
</collision>
<collision>
<origin xyz="-1.1992e-17 -0.0539756 -0.042" rpy="-5.5728e-16 1.58207e-15 -1.5708" />
<geometry>
<box size="0.0775512 0.0412 0.003" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0700592 0.094197 -0.0524277" rpy="0.0 0.0 0.0" />
<mass value="0.133609" />
<inertia ixx="0.0217141" ixy="-0.00821402" ixz="0.00125156" iyy="0.00381576" iyz="0.00319635" izz="0.0244838" />
</inertial>
</link>
<joint name="left_elbow" type="revolute">
<origin xyz="0.0235 -0.142 -0.0025" rpy="-1.17212e-15 1.5708 0.0" />
<parent link="left_humerus" />
<child link="radius_v2_2" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="left_shoulder_roll" type="revolute">
<origin xyz="0.0235 0.03 0.035" rpy="-3.14159 -1.5708 0.0" />
<parent link="u_shoulder_2" />
<child link="left_humerus" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="left_shoulder_pitch" type="revolute">
<origin xyz="0.030869 0.0795 0.143" rpy="-1.5708 1.58669e-15 1.2761e-15" />
<parent link="torso" />
<child link="u_shoulder_2" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="u_hip_with_saver">
<inertial>
<origin xyz="-6.06619e-11 0.00126178 -0.0329138" rpy="0.0 0.0 0.0" />
<mass value="0.136031" />
<inertia ixx="0.000102977" ixy="2.60314e-06" ixz="9.67077e-14" iyy="8.62546e-05" iyz="-1.89063e-06" izz="6.45636e-05" />
</inertial>
</link>
<material name="inner_material">
<color rgba="0.647059 0.647059 0.647059 1.0" />
</material>
<link name="mx106_with_u_r">
<visual>
<origin xyz="-0.01515 -0.00015 -0.0799438" rpy="-3.14159 3.27629e-15 1.5708" />
<geometry>
<box size="0.027 0.058 0.026" />
</geometry>
<material name="inner_material" />
</visual>
<visual>
<origin xyz="-0.01515 -0.0005 -0.02025" rpy="-1.5708 -1.5708 0.0" />
<geometry>
<box size="0.027 0.058 0.026" />
</geometry>
<material name="inner_material" />
</visual>
<collision>
<origin xyz="-0.01515 -0.00015 -0.0799438" rpy="-3.14159 3.27629e-15 1.5708" />
<geometry>
<box size="0.027 0.058 0.026" />
</geometry>
</collision>
<collision>
<origin xyz="-0.01515 -0.0005 -0.02025" rpy="-1.5708 -1.5708 0.0" />
<geometry>
<box size="0.027 0.058 0.026" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.016034 -0.00248551 -0.0424236" rpy="0.0 0.0 0.0" />
<mass value="0.136461" />
<inertia ixx="0.000136893" ixy="1.29335e-06" ixz="-7.23204e-06" iyy="0.000155727" iyz="7.54072e-06" izz="7.43891e-05" />
</inertial>
</link>
<material name="thigh_free_left_material">
<color rgba="0.615686 0.811765 0.929412 1.0" />
</material>
<material name="thigh_horn_material">
<color rgba="0.615686 0.811765 0.929412 1.0" />
</material>
<link name="thigh_horn_left">
<visual>
<origin xyz="-4.89295e-17 0.04 -0.0054" rpy="3.14159 2.22045e-16 2.28983e-16" />
<geometry>
<box size="0.03 0.08 0.003" />
</geometry>
<material name="thigh_free_left_material" />
</visual>
<visual>
<origin xyz="-1.44002e-16 0.04 0.0436" rpy="-3.14159 1.11022e-16 2.08167e-16" />
<geometry>
<box size="0.03 0.08 0.003" />
</geometry>
<material name="thigh_horn_material" />
</visual>
<visual>
<origin xyz="0.00015 0.12485 0.0165" rpy="-3.14159 4.00461e-15 -3.14159" />
<geometry>
<box size="0.027 0.058 0.026" />
</geometry>
<material name="inner_material" />
</visual>
<collision>
<origin xyz="-4.89295e-17 0.04 -0.0054" rpy="3.14159 2.22045e-16 2.28983e-16" />
<geometry>
<box size="0.03 0.08 0.003" />
</geometry>
</collision>
<collision>
<origin xyz="-1.44002e-16 0.04 0.0436" rpy="-3.14159 1.11022e-16 2.08167e-16" />
<geometry>
<box size="0.03 0.08 0.003" />
</geometry>
</collision>
<collision>
<origin xyz="0.00015 0.12485 0.0165" rpy="-3.14159 4.00461e-15 -3.14159" />
<geometry>
<box size="0.027 0.058 0.026" />
</geometry>
</collision>
<inertial>
<origin xyz="-9.36074e-05 0.0868627 0.0156903" rpy="0.0 0.0 0.0" />
<mass value="0.0845547" />
<inertia ixx="0.000327329" ixy="2.3833e-08" ixz="-1.25073e-09" iyy="3.62057e-05" iyz="-4.5674e-05" izz="0.000305877" />
</inertial>
</link>
<material name="tibia_horn_side_material">
<color rgba="0.615686 0.811765 0.929412 1.0" />
</material>
<material name="tibia_left_material">
<color rgba="0.615686 0.811765 0.929412 1.0" />
</material>
<link name="tibia_left_full">
<visual>
<origin xyz="-0.065 1.53206e-14 0.0435" rpy="-1.21569e-14 1.98212e-14 -5.7138e-14" />
<geometry>
<box size="0.15 0.035 0.003" />
</geometry>
<material name="tibia_horn_side_material" />
</visual>
<visual>
<origin xyz="-0.065 -0.0025 -0.0085" rpy="3.0202e-31 -1.89657e-30 -1.00029e-29" />
<geometry>
<box size="0.15 0.035 0.003" />
</geometry>
<material name="tibia_left_material" />
</visual>
<collision>
<origin xyz="-0.065 1.53206e-14 0.0435" rpy="-1.21569e-14 1.98212e-14 -5.7138e-14" />
<geometry>
<box size="0.15 0.035 0.003" />
</geometry>
</collision>
<collision>
<origin xyz="-0.065 -0.0025 -0.0085" rpy="3.0202e-31 -1.89657e-30 -1.00029e-29" />
<geometry>
<box size="0.15 0.035 0.003" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.07 1.75867e-13 0.00139217" rpy="0.0 0.0 0.0" />
<mass value="0.0501468" />
<inertia ixx="1.66507e-05" ixy="-2.44795e-12" ixz="2.3181e-12" iyy="0.000261996" iyz="-3.38457e-16" izz="0.000247771" />
</inertial>
</link>
<link name="mx106_with_u_l">
<visual>
<origin xyz="0.01515 -0.0598438 0.01585" rpy="1.5708 -1.5708 0.0" />
<geometry>
<box size="0.027 0.058 0.026" />
</geometry>
<material name="inner_material" />
</visual>
<visual>
<origin xyz="0.01515 0.00015 0.0165" rpy="-3.14159 4.55191e-15 -1.5708" />
<geometry>
<box size="0.027 0.058 0.026" />
</geometry>
<material name="inner_material" />
</visual>
<collision>
<origin xyz="0.01515 -0.0598438 0.01585" rpy="1.5708 -1.5708 0.0" />
<geometry>
<box size="0.027 0.058 0.026" />
</geometry>
</collision>
<collision>
<origin xyz="0.01515 0.00015 0.0165" rpy="-3.14159 4.55191e-15 -1.5708" />
<geometry>
<box size="0.027 0.058 0.026" />
</geometry>
</collision>
<inertial>
<origin xyz="0.016034 -0.0223173 0.0184793" rpy="0.0 0.0 0.0" />
<mass value="0.136461" />
<inertia ixx="0.00013734" ixy="7.34023e-06" ixz="1.30387e-06" iyy="8.1558e-05" iyz="-7.69662e-06" izz="0.000148196" />
</inertial>
</link>
<material name="cleat_material">
<color rgba="0.301961 0.290196 0.262745 1.0" />
</material>
<material name="foot_plate_material">
<color rgba="0.301961 0.301961 0.301961 1.0" />
</material>
<link name="left_foot_asm">
<visual>
<origin xyz="0.052 -0.0325 -0.07563" rpy="-1.5708 -1.13431 -1.5708" />
<geometry>
<cylinder length="0.016" radius="0.008" />
</geometry>
<material name="cleat_material" />
</visual>
<visual>
<origin xyz="0.052 0.0435 0.06597" rpy="-1.5708 -1.13431 -1.5708" />
<geometry>
<cylinder length="0.016" radius="0.008" />
</geometry>
<material name="cleat_material" />
</visual>
<visual>
<origin xyz="0.052 -0.0325 0.06597" rpy="-1.5708 -1.13431 -1.5708" />
<geometry>
<cylinder length="0.016" radius="0.008" />
</geometry>
<material name="cleat_material" />
</visual>
<visual>
<origin xyz="0.052 0.0435 -0.07563" rpy="-1.5708 -1.13431 -1.5708" />
<geometry>
<cylinder length="0.016" radius="0.008" />
</geometry>
<material name="cleat_material" />
</visual>
<visual>
<origin xyz="0.0415 0.0055 -0.00483" rpy="-1.5708 -1.11022e-16 1.5708" />
<geometry>
<box size="0.092 0.1576 0.003" />
</geometry>
<material name="foot_plate_material" />
</visual>
<collision>
<origin xyz="0.052 -0.0325 -0.07563" rpy="-1.5708 -1.13431 -1.5708" />
<geometry>
<cylinder length="0.016" radius="0.008" />
</geometry>
</collision>
<collision>
<origin xyz="0.052 0.0435 0.06597" rpy="-1.5708 -1.13431 -1.5708" />
<geometry>
<cylinder length="0.016" radius="0.008" />
</geometry>
</collision>
<collision>
<origin xyz="0.052 -0.0325 0.06597" rpy="-1.5708 -1.13431 -1.5708" />
<geometry>
<cylinder length="0.016" radius="0.008" />
</geometry>
</collision>
<collision>
<origin xyz="0.052 0.0435 -0.07563" rpy="-1.5708 -1.13431 -1.5708" />
<geometry>
<cylinder length="0.016" radius="0.008" />
</geometry>
</collision>
<collision>
<origin xyz="0.0415 0.0055 -0.00483" rpy="-1.5708 -1.11022e-16 1.5708" />
<geometry>
<box size="0.092 0.1576 0.003" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0312589 0.00414298 0.000817452" rpy="0.0 0.0 0.0" />
<mass value="0.32139" />
<inertia ixx="0.00077343" ixy="-9.05502e-06" ixz="-1.88816e-05" iyy="0.000967976" iyz="-7.02684e-06" izz="0.00047206" />
</inertial>
</link>
<link name="left_foot_tip">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1e-09" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="left_foot_tip_frame" type="fixed">
<origin xyz="0.06 5.34295e-16 -0.02033" rpy="-1.1592e-16 -1.5708 0.0" />
<parent link="left_foot_asm" />
<child link="left_foot_tip" />
</joint>
<joint name="left_ankle_roll" type="revolute">
<origin xyz="-2.77556e-16 0.0201 0.016" rpy="1.5708 2.85175e-15 -3.14159" />
<parent link="mx106_with_u_l" />
<child link="left_foot_asm" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="left_ankle_pitch" type="revolute">
<origin xyz="-0.14 9.42128e-15 4.65253e-15" rpy="7.77156e-16 -8.97018e-15 -5.39997e-14" />
<parent link="tibia_left_full" />
<child link="mx106_with_u_l" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="left_knee" type="revolute">
<origin xyz="-5.21284e-16 0.14 -0.001" rpy="5.28137e-15 7.03032e-15 -1.5708" />
<parent link="thigh_horn_left" />
<child link="tibia_left_full" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="left_hip_pitch" type="revolute">
<origin xyz="-1.66533e-16 0.016 -0.0201" rpy="1.5708 -1.5708 0.0" />
<parent link="mx106_with_u_r" />
<child link="thigh_horn_left" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="left_hip_roll" type="revolute">
<origin xyz="2.35922e-16 -0.0200991 -0.0604" rpy="1.5708 -1.5708 0.0" />
<parent link="u_hip_with_saver" />
<child link="mx106_with_u_r" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="left_hip_yaw" type="revolute">
<origin xyz="0.00586897 0.0464 -0.0411" rpy="-1.82465e-15 -3.03444e-15 1.5708" />
<parent link="torso" />
<child link="u_hip_with_saver" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="u_hip_with_saver_2">
<inertial>
<origin xyz="-6.06622e-11 0.00126178 -0.0329138" rpy="0.0 0.0 0.0" />
<mass value="0.136031" />
<inertia ixx="0.000102977" ixy="2.60314e-06" ixz="9.67075e-14" iyy="8.62546e-05" iyz="-1.89063e-06" izz="6.45636e-05" />
</inertial>
</link>
<link name="mx106_with_u_l_2">
<visual>
<origin xyz="-0.0149141 0.0005 -0.01995" rpy="1.5708 1.5708 0.0" />
<geometry>
<box size="0.027 0.058 0.026" />
</geometry>
<material name="inner_material" />
</visual>
<visual>
<origin xyz="-0.0149141 -0.00015 -0.0799437" rpy="-3.14159 -3.79641e-16 1.5708" />
<geometry>
<box size="0.027 0.058 0.026" />
</geometry>
<material name="inner_material" />
</visual>
<collision>
<origin xyz="-0.0149141 0.0005 -0.01995" rpy="1.5708 1.5708 0.0" />
<geometry>
<box size="0.027 0.058 0.026" />
</geometry>
</collision>
<collision>
<origin xyz="-0.0149141 -0.00015 -0.0799437" rpy="-3.14159 -3.79641e-16 1.5708" />
<geometry>
<box size="0.027 0.058 0.026" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0157981 0.00247927 -0.0424173" rpy="0.0 0.0 0.0" />
<mass value="0.136461" />
<inertia ixx="0.000136945" ixy="-1.33307e-06" ixz="-7.23332e-06" iyy="0.000155756" iyz="-7.57143e-06" izz="7.43933e-05" />
</inertial>
</link>
<material name="thigh_free_right_material">
<color rgba="0.615686 0.811765 0.929412 1.0" />
</material>
<link name="thigh_horn_right">
<visual>
<origin xyz="1.91769e-16 0.04 -0.0434" rpy="-3.14159 1.77636e-15 -1.49186e-16" />
<geometry>
<box size="0.03 0.08 0.003" />
</geometry>
<material name="thigh_horn_material" />
</visual>
<visual>
<origin xyz="-0.00015 0.12485 -0.0165" rpy="3.20815e-16 8.32667e-16 6.29462e-16" />
<geometry>
<box size="0.027 0.058 0.026" />
</geometry>
<material name="inner_material" />
</visual>
<visual>
<origin xyz="-7.03743e-17 0.036 0.0054" rpy="-9.13353e-16 2.16493e-15 2.44054e-30" />
<geometry>
<box size="0.03 0.08 0.003" />
</geometry>
<material name="thigh_free_right_material" />
</visual>
<collision>
<origin xyz="1.91769e-16 0.04 -0.0434" rpy="-3.14159 1.77636e-15 -1.49186e-16" />
<geometry>
<box size="0.03 0.08 0.003" />
</geometry>
</collision>
<collision>
<origin xyz="-0.00015 0.12485 -0.0165" rpy="3.20815e-16 8.32667e-16 6.29462e-16" />
<geometry>
<box size="0.027 0.058 0.026" />
</geometry>
</collision>
<collision>
<origin xyz="-7.03743e-17 0.036 0.0054" rpy="-9.13353e-16 2.16493e-15 2.44054e-30" />
<geometry>
<box size="0.03 0.08 0.003" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000103673 0.0868627 -0.0156903" rpy="0.0 0.0 0.0" />
<mass value="0.0845547" />
<inertia ixx="0.000327329" ixy="4.67647e-08" ixz="-6.41747e-09" iyy="3.62056e-05" iyz="4.56189e-05" izz="0.000305876" />
</inertial>
</link>
<material name="tibia_right_material">
<color rgba="0.615686 0.811765 0.929412 1.0" />
</material>
<link name="tibia_right_full">
<visual>
<origin xyz="-0.065 0.0005 0.0085" rpy="-3.14159 1.84834e-32 5.99304e-31" />
<geometry>
<box size="0.15 0.035 0.003" />
</geometry>
<material name="tibia_right_material" />
</visual>
<visual>
<origin xyz="-0.065 1.07658e-14 -0.0435" rpy="4.94604e-14 -1.69754e-13 3.12078e-14" />
<geometry>
<box size="0.15 0.035 0.003" />
</geometry>
<material name="tibia_horn_side_material" />
</visual>
<collision>
<origin xyz="-0.065 0.0005 0.0085" rpy="-3.14159 1.84834e-32 5.99304e-31" />
<geometry>
<box size="0.15 0.035 0.003" />
</geometry>
</collision>
<collision>
<origin xyz="-0.065 1.07658e-14 -0.0435" rpy="4.94604e-14 -1.69754e-13 3.12078e-14" />
<geometry>
<box size="0.15 0.035 0.003" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.07 -1.75992e-13 -0.00139217" rpy="0.0 0.0 0.0" />
<mass value="0.0501468" />
<inertia ixx="1.66507e-05" ixy="-2.44799e-12" ixz="-2.318e-12" iyy="0.000261996" iyz="-3.3315e-16" izz="0.000247771" />
</inertial>
</link>
<link name="mx106_with_u_r_2">
<visual>
<origin xyz="0.01515 -0.00015 -0.0165" rpy="8.01847e-17 -1.11022e-15 1.5708" />
<geometry>
<box size="0.027 0.058 0.026" />
</geometry>
<material name="inner_material" />
</visual>
<visual>
<origin xyz="0.01515 -0.0598438 -0.01615" rpy="1.5708 -1.5708 0.0" />
<geometry>
<box size="0.027 0.058 0.026" />
</geometry>
<material name="inner_material" />
</visual>
<collision>
<origin xyz="0.01515 -0.00015 -0.0165" rpy="8.01847e-17 -1.11022e-15 1.5708" />
<geometry>
<box size="0.027 0.058 0.026" />
</geometry>
</collision>
<collision>
<origin xyz="0.01515 -0.0598438 -0.01615" rpy="1.5708 -1.5708 0.0" />
<geometry>
<box size="0.027 0.058 0.026" />
</geometry>
</collision>
<inertial>
<origin xyz="0.016034 -0.0223236 -0.0184855" rpy="0.0 0.0 0.0" />
<mass value="0.136461" />
<inertia ixx="0.000137327" ixy="7.29011e-06" ixz="-1.30515e-06" iyy="8.15244e-05" iyz="7.425e-06" izz="0.000148158" />
</inertial>
</link>
<link name="right_foot_asm">
<visual>
<origin xyz="0.052 -0.0435 -0.07563" rpy="1.5708 -1.51133 1.5708" />
<geometry>
<cylinder length="0.016" radius="0.008" />
</geometry>
<material name="cleat_material" />
</visual>
<visual>
<origin xyz="0.052 -0.0435 0.06597" rpy="1.5708 -1.51133 1.5708" />
<geometry>
<cylinder length="0.016" radius="0.008" />
</geometry>
<material name="cleat_material" />
</visual>
<visual>
<origin xyz="0.052 0.0325 -0.07563" rpy="1.5708 -1.51133 1.5708" />
<geometry>
<cylinder length="0.016" radius="0.008" />
</geometry>
<material name="cleat_material" />
</visual>
<visual>
<origin xyz="0.052 0.0325 0.06597" rpy="1.5708 -1.51133 1.5708" />
<geometry>
<cylinder length="0.016" radius="0.008" />
</geometry>
<material name="cleat_material" />
</visual>
<visual>
<origin xyz="0.0415 -0.0055 -0.00483" rpy="-1.5708 -9.6167e-30 1.5708" />
<geometry>
<box size="0.092 0.1576 0.003" />
</geometry>
<material name="foot_plate_material" />
</visual>
<collision>
<origin xyz="0.052 -0.0435 -0.07563" rpy="1.5708 -1.51133 1.5708" />
<geometry>
<cylinder length="0.016" radius="0.008" />
</geometry>
</collision>
<collision>
<origin xyz="0.052 -0.0435 0.06597" rpy="1.5708 -1.51133 1.5708" />
<geometry>
<cylinder length="0.016" radius="0.008" />
</geometry>
</collision>
<collision>
<origin xyz="0.052 0.0325 -0.07563" rpy="1.5708 -1.51133 1.5708" />
<geometry>
<cylinder length="0.016" radius="0.008" />
</geometry>
</collision>
<collision>
<origin xyz="0.052 0.0325 0.06597" rpy="1.5708 -1.51133 1.5708" />
<geometry>
<cylinder length="0.016" radius="0.008" />
</geometry>
</collision>
<collision>
<origin xyz="0.0415 -0.0055 -0.00483" rpy="-1.5708 -9.6167e-30 1.5708" />
<geometry>
<box size="0.092 0.1576 0.003" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0312589 -0.00414302 0.000817452" rpy="0.0 0.0 0.0" />
<mass value="0.32139" />
<inertia ixx="0.000773437" ixy="8.34003e-06" ixz="-1.88587e-05" iyy="0.000967977" iyz="1.37873e-05" izz="0.00047205" />
</inertial>
</link>
<link name="right_foot_tip">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1e-09" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="right_foot_tip_frame" type="fixed">
<origin xyz="0.06 3.26128e-16 -0.02033" rpy="1.33076e-16 -1.5708 0.0" />
<parent link="right_foot_asm" />
<child link="right_foot_tip" />
</joint>
<joint name="right_ankle_roll" type="revolute">
<origin xyz="-3.33067e-16 0.0201 -0.016" rpy="1.5708 -3.91365e-15 3.14159" />
<parent link="mx106_with_u_r_2" />
<child link="right_foot_asm" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="right_ankle_pitch" type="revolute">
<origin xyz="-0.14 -1.52768e-14 5.05741e-14" rpy="-4.44089e-16 -2.94225e-15 3.03503e-14" />
<parent link="tibia_right_full" />
<child link="mx106_with_u_r_2" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="right_knee" type="revolute">
<origin xyz="-1.17094e-16 0.14 -2.05669e-14" rpy="1.27676e-15 -1.58087e-15 -1.5708" />
<parent link="thigh_horn_right" />
<child link="tibia_right_full" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="right_hip_pitch" type="revolute">
<origin xyz="0.000235943 -0.016 -0.0201" rpy="1.5708 -1.5708 0.0" />
<parent link="mx106_with_u_l_2" />
<child link="thigh_horn_right" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="right_hip_roll" type="revolute">
<origin xyz="-2.498e-16 -0.0200991 -0.0604" rpy="1.5708 -1.5708 0.0" />
<parent link="u_hip_with_saver_2" />
<child link="mx106_with_u_l_2" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="right_hip_yaw" type="revolute">
<origin xyz="0.00586897 -0.0464 -0.0411" rpy="2.16251e-14 -1.98167e-15 1.5708" />
<parent link="torso" />
<child link="u_hip_with_saver_2" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="u_side_neck_material">
<color rgba="0.301961 0.301961 0.301961 1.0" />
</material>
<link name="u_neck">
<visual>
<origin xyz="1.57772e-30 0.0 0.003125" rpy="3.14159 3.15544e-30 -5.54212e-31" />
<geometry>
<box size="0.049 0.03 0.00625" />
</geometry>
<material name="u_base_64_material" />
</visual>
<visual>
<origin xyz="0.025 -7.95931e-16 0.032901" rpy="1.5708 -1.44676e-14 -1.5708" />
<geometry>
<box size="0.03 0.065802 0.003" />
</geometry>
<material name="u_side_neck_material" />
</visual>
<visual>
<origin xyz="-0.025 -1.37735e-16 0.032901" rpy="1.5708 1.44676e-14 1.5708" />
<geometry>
<box size="0.03 0.065802 0.003" />
</geometry>
<material name="u_side_neck_material" />
</visual>
<collision>
<origin xyz="1.57772e-30 0.0 0.003125" rpy="3.14159 3.15544e-30 -5.54212e-31" />
<geometry>
<box size="0.049 0.03 0.00625" />
</geometry>
</collision>
<collision>
<origin xyz="0.025 -7.95931e-16 0.032901" rpy="1.5708 -1.44676e-14 -1.5708" />
<geometry>
<box size="0.03 0.065802 0.003" />
</geometry>
</collision>
<collision>
<origin xyz="-0.025 -1.37735e-16 0.032901" rpy="1.5708 1.44676e-14 1.5708" />
<geometry>
<box size="0.03 0.065802 0.003" />
</geometry>
</collision>
<inertial>
<origin xyz="-5.78993e-17 -2.34862e-16 0.0206334" rpy="0.0 0.0 0.0" />
<mass value="0.0544799" />
<inertia ixx="2.2633e-05" ixy="-1.35985e-11" ixz="-8.74329e-08" iyy="5.36569e-05" iyz="1.21218e-19" izz="3.58365e-05" />
</inertial>
</link>
<material name="head_plate_material">
<color rgba="0.701961 0.682353 0.623529 1.0" />
</material>
<link name="head__field_of_view_false">
<visual>
<origin xyz="-1.45586e-16 -0.01755 -0.0235" rpy="-8.21318e-16 4.447e-15 -9.33402e-15" />
<geometry>
<box size="0.0402 0.0611 0.041" />
</geometry>
<material name="mx-64at_ar_material" />
</visual>
<visual>
<origin xyz="-0.0238 0.0365 -0.042" rpy="-3.14159 -4.447e-15 3.14159" />
<geometry>
<cylinder length="0.003" radius="0.0235" />
</geometry>
<material name="head_plate_material" />
</visual>
<visual>
<origin xyz="0.01 0.0365 -0.042" rpy="-3.14159 -4.447e-15 3.14159" />
<geometry>
<box size="0.0616 0.047 0.003" />
</geometry>
<material name="head_plate_material" />
</visual>
<visual>
<origin xyz="-0.0238 0.0365 -0.005" rpy="-3.14159 -4.447e-15 3.14159" />
<geometry>
<cylinder length="0.003" radius="0.0235" />
</geometry>
<material name="head_plate_material" />
</visual>
<visual>
<origin xyz="0.01 0.0365 -0.005" rpy="-3.14159 -4.447e-15 3.14159" />
<geometry>
<box size="0.0616 0.047 0.003" />
</geometry>
<material name="head_plate_material" />
</visual>
<collision>
<origin xyz="-1.45586e-16 -0.01755 -0.0235" rpy="-8.21318e-16 4.447e-15 -9.33402e-15" />
<geometry>
<box size="0.0402 0.0611 0.041" />
</geometry>
</collision>
<collision>
<origin xyz="-0.0238 0.0365 -0.042" rpy="-3.14159 -4.447e-15 3.14159" />
<geometry>
<cylinder length="0.003" radius="0.0235" />
</geometry>
</collision>
<collision>
<origin xyz="0.01 0.0365 -0.042" rpy="-3.14159 -4.447e-15 3.14159" />
<geometry>
<box size="0.0616 0.047 0.003" />
</geometry>
</collision>
<collision>
<origin xyz="-0.0238 0.0365 -0.005" rpy="-3.14159 -4.447e-15 3.14159" />
<geometry>
<cylinder length="0.003" radius="0.0235" />
</geometry>
</collision>
<collision>
<origin xyz="0.01 0.0365 -0.005" rpy="-3.14159 -4.447e-15 3.14159" />
<geometry>
<box size="0.0616 0.047 0.003" />
</geometry>
</collision>
<inertial>
<origin xyz="0.015805 0.114508 -0.0790378" rpy="0.0 0.0 0.0" />
<mass value="0.137167" />
<inertia ixx="0.00764485" ixy="-0.00111618" ixz="0.000678812" iyy="0.00232111" iyz="0.00334733" izz="0.00584336" />
</inertial>
</link>
<link name="vive_head">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1e-09" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="vive_head_frame" type="fixed">
<origin xyz="1.38778e-17 0.063 -0.0235" rpy="1.5708 -4.22496e-15 3.14159" />
<parent link="head__field_of_view_false" />
<child link="vive_head" />
</joint>
<link name="camera">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1e-09" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="camera_frame" type="fixed">
<origin xyz="-0.024933 0.0335 -0.0235" rpy="1.5708 -2.95668e-16 -1.5708" />
<parent link="head__field_of_view_false" />
<child link="camera" />
</joint>
<joint name="head_pitch" type="revolute">
<origin xyz="-0.0235 1.04083e-16 0.058302" rpy="1.5708 -9.33402e-15 -1.5708" />
<parent link="u_neck" />
<child link="head__field_of_view_false" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="head_yaw" type="revolute">
<origin xyz="0.035869 2.87964e-15 0.1595" rpy="1.00593e-14 2.25419e-14 -1.5708" />
<parent link="torso" />
<child link="u_neck" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.0" lower="0.0" upper="0.0" />
<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 1bf2f1a746321300 -->
<mujoco model="onshape">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="x_plate_material" rgba="0.262745 0.282353 0.301961 1.0" />
<material name="mx-64at_ar_material" rgba="0.168627 0.168627 0.168627 1.0" />
<material name="u_base_64_material" rgba="0.301961 0.301961 0.301961 1.0" />
<material name="hand_material" rgba="0.301961 0.301961 0.301961 1.0" />
<material name="inner_material" rgba="0.647059 0.647059 0.647059 1.0" />
<material name="thigh_free_left_material" rgba="0.615686 0.811765 0.929412 1.0" />
<material name="thigh_horn_material" rgba="0.615686 0.811765 0.929412 1.0" />
<material name="tibia_horn_side_material" rgba="0.615686 0.811765 0.929412 1.0" />
<material name="tibia_left_material" rgba="0.615686 0.811765 0.929412 1.0" />
<material name="cleat_material" rgba="0.301961 0.290196 0.262745 1.0" />
<material name="foot_plate_material" rgba="0.301961 0.301961 0.301961 1.0" />
<material name="thigh_free_right_material" rgba="0.615686 0.811765 0.929412 1.0" />
<material name="tibia_right_material" rgba="0.615686 0.811765 0.929412 1.0" />
<material name="u_side_neck_material" rgba="0.301961 0.301961 0.301961 1.0" />
<material name="head_plate_material" rgba="0.701961 0.682353 0.623529 1.0" />
</asset>
<worldbody>
<body name="torso">
<inertial pos="-0.00999148 0.0067075 0.0847028" mass="1.74256" fullinertia="0.0252852 0.0284607 0.0103505 0.00212073 0.00443286 -0.00204504" />
<geom name="torso_vis_0" type="box" size="0.0665 0.0565 0.003" pos="0.057869 3.78163e-15 0.0595" quat="0.49999816339744735 0.4999999999966278 0.5000018366025507 0.4999999999966278" contype="0" conaffinity="0" group="2" material="x_plate_material" />
<geom name="torso_vis_1" type="box" size="0.0201 0.03055 0.0205" pos="0.023419 -0.0464 -0.017" quat="9.381839463296721e-07 -0.7071054825106139 0.7071080798588512 -9.381873910359421e-07" contype="0" conaffinity="0" group="2" material="mx-64at_ar_material" />
<geom name="torso_vis_2" type="box" size="0.0201 0.03055 0.0205" pos="0.013319 0.056 0.143" quat="0.4999981633974483 -0.49999999999662686 -0.49999999999662686 -0.5000018366025516" contype="0" conaffinity="0" group="2" material="mx-64at_ar_material" />
<geom name="torso_vis_3" type="box" size="0.0665 0.0565 0.003" pos="-0.057131 7.74724e-15 0.0595" quat="0.499998163397448 0.49999999999662714 0.5000018366025513 0.49999999999662714" contype="0" conaffinity="0" group="2" material="x_plate_material" />
<geom name="torso_vis_4" type="box" size="0.0201 0.03055 0.0205" pos="0.023419 0.0464 -0.017" quat="9.381839463247754e-07 -0.7071054825106139 0.7071080798588512 -9.381873910408388e-07" contype="0" conaffinity="0" group="2" material="mx-64at_ar_material" />
<geom name="torso_vis_5" type="box" size="0.0201 0.03055 0.0205" pos="0.018319 5.1733e-15 0.136" quat="0.7071054825112363 3.902230570475543e-15 3.61763739273716e-15 -0.7071080798594735" contype="0" conaffinity="0" group="2" material="mx-64at_ar_material" />
<geom name="torso_vis_6" type="box" size="0.0201 0.03055 0.0205" pos="0.013319 -0.056 0.143" quat="0.4999981633974483 0.49999999999662686 0.49999999999662686 -0.5000018366025516" contype="0" conaffinity="0" group="2" material="mx-64at_ar_material" />
<geom name="torso_col_0" type="box" size="0.0665 0.0565 0.003" pos="0.057869 3.78163e-15 0.0595" quat="0.49999816339744735 0.4999999999966278 0.5000018366025507 0.4999999999966278" group="3" />
<geom name="torso_col_1" type="box" size="0.0201 0.03055 0.0205" pos="0.023419 -0.0464 -0.017" quat="9.381839463296721e-07 -0.7071054825106139 0.7071080798588512 -9.381873910359421e-07" group="3" />
<geom name="torso_col_2" type="box" size="0.0201 0.03055 0.0205" pos="0.013319 0.056 0.143" quat="0.4999981633974483 -0.49999999999662686 -0.49999999999662686 -0.5000018366025516" group="3" />
<geom name="torso_col_3" type="box" size="0.0665 0.0565 0.003" pos="-0.057131 7.74724e-15 0.0595" quat="0.499998163397448 0.49999999999662714 0.5000018366025513 0.49999999999662714" group="3" />
<geom name="torso_col_4" type="box" size="0.0201 0.03055 0.0205" pos="0.023419 0.0464 -0.017" quat="9.381839463247754e-07 -0.7071054825106139 0.7071080798588512 -9.381873910408388e-07" group="3" />
<geom name="torso_col_5" type="box" size="0.0201 0.03055 0.0205" pos="0.018319 5.1733e-15 0.136" quat="0.7071054825112363 3.902230570475543e-15 3.61763739273716e-15 -0.7071080798594735" group="3" />
<geom name="torso_col_6" type="box" size="0.0201 0.03055 0.0205" pos="0.013319 -0.056 0.143" quat="0.4999981633974483 0.49999999999662686 0.49999999999662686 -0.5000018366025516" group="3" />
<body name="head_base" pos="0.035869 2.87859e-15 0.1595" quat="1.0 1.898204999999974e-14 -4.975185000000989e-15 -5.2111499999999905e-14">
<inertial pos="0.0 0.0 0.0" mass="1e-09" diaginertia="0 0 0" />
</body>
<body name="trunk" pos="0.00586803 -3.83374e-15 -0.1015" quat="1.0 1.295175e-15 -5.6794988222625e-29 -3.347415e-15">
<inertial pos="0.0 0.0 0.0" mass="1e-09" diaginertia="0 0 0" />
</body>
<body name="u_shoulder" pos="0.030869 -0.0795 0.143" quat="9.381839439109487e-07 9.381873934546566e-07 0.7071080798588512 0.7071054825106139">
<joint name="right_shoulder_pitch" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.0" />
<inertial pos="-1.43272e-15 -0.00566234 -0.0159676" mass="0.0570101" fullinertia="2.21758e-05 4.03314e-05 3.58629e-05 -2.0788e-19 9.33113e-19 -6.10703e-06" />
<geom name="u_shoulder_vis_0" type="box" size="0.0245 0.015 0.003125" pos="-3.44907e-33 -3.58215e-33 -0.003125" quat="1.0 -5.69975e-31 5.48855e-31 1.170965e-31" contype="0" conaffinity="0" group="2" material="u_base_64_material" />
<geom name="u_shoulder_col_0" type="box" size="0.0245 0.015 0.003125" pos="-3.44907e-33 -3.58215e-33 -0.003125" quat="1.0 -5.69975e-31 5.48855e-31 1.170965e-31" group="3" />
<body name="right_humerus" pos="-0.0235 -0.03 -0.035" quat="0.7071054825112363 -1.2756960720533466e-16 -0.7071080798594735 -1.2757007579552748e-16">
<joint name="right_shoulder_roll" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.0" />
<inertial pos="-0.0219502 0.0714677 -0.0108756" mass="0.111948" fullinertia="0.0132961 0.000422203 0.0134217 0.00182099 0.000176204 -0.00128316" />
<geom name="right_humerus_vis_0" type="box" size="0.0201 0.03055 0.0205" pos="3.86334e-18 -0.01755 -0.0235" quat="1.0 -3.538835e-16 -1.8228650000000007e-30 1.9721499999999995e-30" contype="0" conaffinity="0" group="2" material="mx-64at_ar_material" />
<geom name="right_humerus_col_0" type="box" size="0.0201 0.03055 0.0205" pos="3.86334e-18 -0.01755 -0.0235" quat="1.0 -3.538835e-16 -1.8228650000000007e-30 1.9721499999999995e-30" group="3" />
<body name="radius_v2" pos="-0.0235 -0.142 -0.0025" quat="9.381839456086127e-07 0.7071054825106139 -9.381873917569988e-07 0.7071080798588512">
<joint name="right_elbow" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.0" />
<inertial pos="-0.0555551 -0.0926698 0.0242347" mass="0.133609" fullinertia="0.0208737 0.00213187 0.0229272 -0.00645757 -3.89367e-05 -0.000108106" />
<geom name="radius_v2_vis_0" type="cylinder" size="0.04 0.0015" pos="1.23405e-19 0.1276 0.042" quat="9.381839456037062e-07 0.7071054825106139 0.7071080798588512 9.381873917619054e-07" contype="0" conaffinity="0" group="2" material="hand_material" />
<geom name="radius_v2_vis_1" type="box" size="0.0387756 0.0206 0.0015" pos="4.21038e-18 0.0539756 0.042" quat="9.381839456037062e-07 0.7071054825106139 0.7071080798588512 9.381873917619054e-07" contype="0" conaffinity="0" group="2" material="hand_material" />
<geom name="radius_v2_vis_2" type="cylinder" size="0.04 0.0015" pos="-1.45636e-16 0.1276 0.005" quat="9.381839456037062e-07 0.7071054825106139 0.7071080798588512 9.381873917619054e-07" contype="0" conaffinity="0" group="2" material="hand_material" />
<geom name="radius_v2_vis_3" type="box" size="0.0387756 0.0206 0.0015" pos="-1.49723e-16 0.0539756 0.005" quat="9.381839456037062e-07 0.7071054825106139 0.7071080798588512 9.381873917619054e-07" contype="0" conaffinity="0" group="2" material="hand_material" />
<geom name="radius_v2_vis_4" type="box" size="0.0201 0.03055 0.0205" pos="-6.93889e-18 0.01755 0.0235" quat="1.3267948966775328e-06 -0.9999999999991198 -4.315539838167326e-25 -3.252604999997137e-19" contype="0" conaffinity="0" group="2" material="mx-64at_ar_material" />
<geom name="radius_v2_col_0" type="cylinder" size="0.04 0.0015" pos="1.23405e-19 0.1276 0.042" quat="9.381839456037062e-07 0.7071054825106139 0.7071080798588512 9.381873917619054e-07" group="3" />
<geom name="radius_v2_col_1" type="box" size="0.0387756 0.0206 0.0015" pos="4.21038e-18 0.0539756 0.042" quat="9.381839456037062e-07 0.7071054825106139 0.7071080798588512 9.381873917619054e-07" group="3" />
<geom name="radius_v2_col_2" type="cylinder" size="0.04 0.0015" pos="-1.45636e-16 0.1276 0.005" quat="9.381839456037062e-07 0.7071054825106139 0.7071080798588512 9.381873917619054e-07" group="3" />
<geom name="radius_v2_col_3" type="box" size="0.0387756 0.0206 0.0015" pos="-1.49723e-16 0.0539756 0.005" quat="9.381839456037062e-07 0.7071054825106139 0.7071080798588512 9.381873917619054e-07" group="3" />
<geom name="radius_v2_col_4" type="box" size="0.0201 0.03055 0.0205" pos="-6.93889e-18 0.01755 0.0235" quat="1.3267948966775328e-06 -0.9999999999991198 -4.315539838167326e-25 -3.252604999997137e-19" group="3" />
</body>
</body>
</body>
<body name="u_shoulder_2" pos="0.030869 0.0795 0.143" quat="0.7071054825112363 -0.7071080798594735 1.0980828866853958e-16 1.0121493127324083e-15">
<joint name="left_shoulder_pitch" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.0" />
<inertial pos="3.4737e-17 0.00566234 0.0159676" mass="0.0570101" fullinertia="2.21758e-05 4.03314e-05 3.58629e-05 6.89273e-20 -6.51157e-20 -6.10703e-06" />
<geom name="u_shoulder_2_vis_0" type="box" size="0.0245 0.015 0.003125" pos="-2.27423e-34 5.57678e-33 0.003125" quat="1.3267948966775328e-06 -0.9999999999991198 -2.6706261810573945e-32 -8.901564566275957e-33" contype="0" conaffinity="0" group="2" material="u_base_64_material" />
<geom name="u_shoulder_2_col_0" type="box" size="0.0245 0.015 0.003125" pos="-2.27423e-34 5.57678e-33 0.003125" quat="1.3267948966775328e-06 -0.9999999999991198 -2.6706261810573945e-32 -8.901564566275957e-33" group="3" />
<body name="left_humerus" pos="0.0235 0.03 0.035" quat="9.381839456086127e-07 -0.7071054825106139 -9.381873917569988e-07 -0.7071080798588512">
<joint name="left_shoulder_roll" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.0" />
<inertial pos="-0.0663577 0.040272 -0.0134765" mass="0.111948" fullinertia="0.00896054 0.00197472 0.0107095 0.00398528 0.000410872 -0.000890955" />
<geom name="left_humerus_vis_0" type="box" size="0.0201 0.03055 0.0205" pos="-3.65333e-18 -0.01755 -0.0235" quat="1.0 -1.80411e-16 -7.5485e-16 5.3218499999998636e-18" contype="0" conaffinity="0" group="2" material="mx-64at_ar_material" />
<geom name="left_humerus_col_0" type="box" size="0.0201 0.03055 0.0205" pos="-3.65333e-18 -0.01755 -0.0235" quat="1.0 -1.80411e-16 -7.5485e-16 5.3218499999998636e-18" group="3" />
<body name="radius_v2_2" pos="0.0235 -0.142 -0.0025" quat="0.7071054825112363 -4.1440623908053513e-16 0.7071080798594735 4.1440776128244306e-16">
<joint name="left_elbow" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.0" />
<inertial pos="0.0700592 0.094197 -0.0524277" mass="0.133609" fullinertia="0.0217141 0.00381576 0.0244838 -0.00821402 0.00125156 0.00319635" />
<geom name="radius_v2_2_vis_0" type="box" size="0.0201 0.03055 0.0205" pos="1.27842e-17 -0.01755 -0.0235" quat="1.0 1.10732e-15 -2.6223949999999994e-16 5.551100000000029e-17" contype="0" conaffinity="0" group="2" material="mx-64at_ar_material" />
<geom name="radius_v2_2_vis_1" type="cylinder" size="0.04 0.0015" pos="-4.71769e-17 -0.1276 -0.005" quat="0.7071054825112363 3.859830068296876e-16 7.327100552837824e-16 -0.7071080798594735" contype="0" conaffinity="0" group="2" material="hand_material" />
<geom name="radius_v2_2_vis_2" type="box" size="0.0387756 0.0206 0.0015" pos="-7.57858e-17 -0.0539756 -0.005" quat="0.7071054825112363 3.859830068296876e-16 7.327100552837824e-16 -0.7071080798594735" contype="0" conaffinity="0" group="2" material="hand_material" />
<geom name="radius_v2_2_vis_3" type="cylinder" size="0.04 0.0015" pos="8.44286e-18 -0.1276 -0.042" quat="0.7071054825112363 3.6231936830470784e-16 7.563737807303195e-16 -0.7071080798594735" contype="0" conaffinity="0" group="2" material="hand_material" />
<geom name="radius_v2_2_vis_4" type="box" size="0.0387756 0.0206 0.0015" pos="-1.1992e-17 -0.0539756 -0.042" quat="0.7071054825112363 3.6231936830470784e-16 7.563737807303195e-16 -0.7071080798594735" contype="0" conaffinity="0" group="2" material="hand_material" />
<geom name="radius_v2_2_col_0" type="box" size="0.0201 0.03055 0.0205" pos="1.27842e-17 -0.01755 -0.0235" quat="1.0 1.10732e-15 -2.6223949999999994e-16 5.551100000000029e-17" group="3" />
<geom name="radius_v2_2_col_1" type="cylinder" size="0.04 0.0015" pos="-4.71769e-17 -0.1276 -0.005" quat="0.7071054825112363 3.859830068296876e-16 7.327100552837824e-16 -0.7071080798594735" group="3" />
<geom name="radius_v2_2_col_2" type="box" size="0.0387756 0.0206 0.0015" pos="-7.57858e-17 -0.0539756 -0.005" quat="0.7071054825112363 3.859830068296876e-16 7.327100552837824e-16 -0.7071080798594735" group="3" />
<geom name="radius_v2_2_col_3" type="cylinder" size="0.04 0.0015" pos="8.44286e-18 -0.1276 -0.042" quat="0.7071054825112363 3.6231936830470784e-16 7.563737807303195e-16 -0.7071080798594735" group="3" />
<geom name="radius_v2_2_col_4" type="box" size="0.0387756 0.0206 0.0015" pos="-1.1992e-17 -0.0539756 -0.042" quat="0.7071054825112363 3.6231936830470784e-16 7.563737807303195e-16 -0.7071080798594735" group="3" />
</body>
</body>
</body>
<body name="u_hip_with_saver" pos="0.00586897 0.0464 -0.0411" quat="0.7071054825112363 4.277285115923268e-16 -1.7179469591334923e-15 0.7071080798594735">
<joint name="left_hip_yaw" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.0" />
<inertial pos="-6.06619e-11 0.00126178 -0.0329138" mass="0.136031" fullinertia="0.000102977 8.62546e-05 6.45636e-05 2.60314e-06 9.67077e-14 -1.89063e-06" />
<body name="mx106_with_u_r" pos="2.35922e-16 -0.0200991 -0.0604" quat="0.4999981633974483 0.49999999999662686 -0.49999999999662686 0.5000018366025516">
<joint name="left_hip_roll" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.0" />
<inertial pos="-0.016034 -0.00248551 -0.0424236" mass="0.136461" fullinertia="0.000136893 0.000155727 7.43891e-05 1.29335e-06 -7.23204e-06 7.54072e-06" />
<geom name="mx106_with_u_r_vis_0" type="box" size="0.0135 0.029 0.013" pos="-0.01515 -0.00015 -0.0799438" quat="9.381839444502671e-07 -0.7071054825106139 -0.7071080798588512 9.381873929153401e-07" contype="0" conaffinity="0" group="2" material="inner_material" />
<geom name="mx106_with_u_r_vis_1" type="box" size="0.0135 0.029 0.013" pos="-0.01515 -0.0005 -0.02025" quat="0.4999981633974483 -0.49999999999662686 -0.49999999999662686 -0.5000018366025516" contype="0" conaffinity="0" group="2" material="inner_material" />
<geom name="mx106_with_u_r_col_0" type="box" size="0.0135 0.029 0.013" pos="-0.01515 -0.00015 -0.0799438" quat="9.381839444502671e-07 -0.7071054825106139 -0.7071080798588512 9.381873929153401e-07" group="3" />
<geom name="mx106_with_u_r_col_1" type="box" size="0.0135 0.029 0.013" pos="-0.01515 -0.0005 -0.02025" quat="0.4999981633974483 -0.49999999999662686 -0.49999999999662686 -0.5000018366025516" group="3" />
<body name="thigh_horn_left" pos="-1.66533e-16 0.016 -0.0201" quat="0.4999981633974483 0.49999999999662686 -0.49999999999662686 0.5000018366025516">
<joint name="left_hip_pitch" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.0" />
<inertial pos="-9.36074e-05 0.0868627 0.0156903" mass="0.0845547" fullinertia="0.000327329 3.62057e-05 0.000305877 2.3833e-08 -1.25073e-09 -4.5674e-05" />
<geom name="thigh_horn_left_vis_0" type="box" size="0.015 0.04 0.0015" pos="-4.89295e-17 0.04 -0.0054" quat="1.3267948966775328e-06 0.9999999999991198 1.1449164730398563e-16 -1.1102234809316436e-16" contype="0" conaffinity="0" group="2" material="thigh_free_left_material" />
<geom name="thigh_horn_left_vis_1" type="box" size="0.015 0.04 0.0015" pos="-1.44002e-16 0.04 0.0436" quat="1.3267948966775328e-06 -0.9999999999991198 -1.0408342634819688e-16 5.5511138097407765e-17" contype="0" conaffinity="0" group="2" material="thigh_horn_material" />
<geom name="thigh_horn_left_vis_2" type="box" size="0.0135 0.029 0.013" pos="0.00015 0.12485 0.0165" quat="1.7623870028495415e-12 -1.3267948966763622e-06 0.9999999999982396 -1.3267948966763622e-06" contype="0" conaffinity="0" group="2" material="inner_material" />
<geom name="thigh_horn_left_col_0" type="box" size="0.015 0.04 0.0015" pos="-4.89295e-17 0.04 -0.0054" quat="1.3267948966775328e-06 0.9999999999991198 1.1449164730398563e-16 -1.1102234809316436e-16" group="3" />
<geom name="thigh_horn_left_col_1" type="box" size="0.015 0.04 0.0015" pos="-1.44002e-16 0.04 0.0436" quat="1.3267948966775328e-06 -0.9999999999991198 -1.0408342634819688e-16 5.5511138097407765e-17" group="3" />
<geom name="thigh_horn_left_col_2" type="box" size="0.0135 0.029 0.013" pos="0.00015 0.12485 0.0165" quat="1.7623870028495415e-12 -1.3267948966763622e-06 0.9999999999982396 -1.3267948966763622e-06" group="3" />
<body name="tibia_left_full" pos="-5.21284e-16 0.14 -0.001" quat="0.7071054825112363 4.352840879084011e-15 6.183392080404836e-16 -0.7071080798594735">
<joint name="left_knee" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.0" />
<inertial pos="-0.07 1.75867e-13 0.00139217" mass="0.0501468" fullinertia="1.66507e-05 0.000261996 0.000247771 -2.44795e-12 2.3181e-12 -3.38457e-16" />
<geom name="tibia_left_full_vis_0" type="box" size="0.075 0.0175 0.0015" pos="-0.065 1.53206e-14 0.0435" quat="1.0 -6.078449999999717e-15 9.910600000000173e-15 -2.856899999999994e-14" contype="0" conaffinity="0" group="2" material="tibia_horn_side_material" />
<geom name="tibia_left_full_vis_1" type="box" size="0.075 0.0175 0.0015" pos="-0.065 -0.0025 -0.0085" quat="1.0 1.5101e-31 -9.48285e-31 -5.00145e-30" contype="0" conaffinity="0" group="2" material="tibia_left_material" />
<geom name="tibia_left_full_col_0" type="box" size="0.075 0.0175 0.0015" pos="-0.065 1.53206e-14 0.0435" quat="1.0 -6.078449999999717e-15 9.910600000000173e-15 -2.856899999999994e-14" group="3" />
<geom name="tibia_left_full_col_1" type="box" size="0.075 0.0175 0.0015" pos="-0.065 -0.0025 -0.0085" quat="1.0 1.5101e-31 -9.48285e-31 -5.00145e-30" group="3" />
<body name="mx106_with_u_l" pos="-0.14 9.42128e-15 4.65253e-15" quat="1.0 3.885779999998789e-16 -4.48509000000001e-15 -2.6999849999999997e-14">
<joint name="left_ankle_pitch" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.0" />
<inertial pos="0.016034 -0.0223173 0.0184793" mass="0.136461" fullinertia="0.00013734 8.1558e-05 0.000148196 7.34023e-06 1.30387e-06 -7.69662e-06" />
<geom name="mx106_with_u_l_vis_0" type="box" size="0.0135 0.029 0.013" pos="0.01515 -0.0598438 0.01585" quat="0.4999981633974483 0.49999999999662686 -0.49999999999662686 0.5000018366025516" contype="0" conaffinity="0" group="2" material="inner_material" />
<geom name="mx106_with_u_l_vis_1" type="box" size="0.0135 0.029 0.013" pos="0.01515 0.00015 0.0165" quat="9.381839472179589e-07 -0.7071054825106139 0.7071080798588512 -9.381873901476586e-07" contype="0" conaffinity="0" group="2" material="inner_material" />
<geom name="mx106_with_u_l_col_0" type="box" size="0.0135 0.029 0.013" pos="0.01515 -0.0598438 0.01585" quat="0.4999981633974483 0.49999999999662686 -0.49999999999662686 0.5000018366025516" group="3" />
<geom name="mx106_with_u_l_col_1" type="box" size="0.0135 0.029 0.013" pos="0.01515 0.00015 0.0165" quat="9.381839472179589e-07 -0.7071054825106139 0.7071080798588512 -9.381873901476586e-07" group="3" />
<body name="left_foot_asm" pos="-2.77556e-16 0.0201 0.016" quat="9.38183944600365e-07 9.381873927652429e-07 -0.7071080798588512 -0.7071054825106139">
<joint name="left_ankle_roll" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.0" />
<inertial pos="0.0312589 0.00414298 0.000817452" mass="0.32139" fullinertia="0.00077343 0.000967976 0.00047206 -9.05502e-06 -1.88816e-05 -7.02684e-06" />
<geom name="left_foot_asm_vis_0" type="cylinder" size="0.008 0.008" pos="0.052 -0.0325 -0.07563" quat="0.1530965439094749 -0.690333739436836 0.15310161538430422 -0.6903337394368361" contype="0" conaffinity="0" group="2" material="cleat_material" />
<geom name="left_foot_asm_vis_1" type="cylinder" size="0.008 0.008" pos="0.052 0.0435 0.06597" quat="0.1530965439094749 -0.690333739436836 0.15310161538430422 -0.6903337394368361" contype="0" conaffinity="0" group="2" material="cleat_material" />
<geom name="left_foot_asm_vis_2" type="cylinder" size="0.008 0.008" pos="0.052 -0.0325 0.06597" quat="0.1530965439094749 -0.690333739436836 0.15310161538430422 -0.6903337394368361" contype="0" conaffinity="0" group="2" material="cleat_material" />
<geom name="left_foot_asm_vis_3" type="cylinder" size="0.008 0.008" pos="0.052 0.0435 -0.07563" quat="0.1530965439094749 -0.690333739436836 0.15310161538430422 -0.6903337394368361" contype="0" conaffinity="0" group="2" material="cleat_material" />
<geom name="left_foot_asm_vis_4" type="box" size="0.046 0.0788 0.0015" pos="0.0415 0.0055 -0.00483" quat="0.49999816339744835 -0.49999999999662686 -0.5000018366025516 0.49999999999662686" contype="0" conaffinity="0" group="2" material="foot_plate_material" />
<geom name="left_foot_asm_col_0" type="cylinder" size="0.008 0.008" pos="0.052 -0.0325 -0.07563" quat="0.1530965439094749 -0.690333739436836 0.15310161538430422 -0.6903337394368361" group="3" />
<geom name="left_foot_asm_col_1" type="cylinder" size="0.008 0.008" pos="0.052 0.0435 0.06597" quat="0.1530965439094749 -0.690333739436836 0.15310161538430422 -0.6903337394368361" group="3" />
<geom name="left_foot_asm_col_2" type="cylinder" size="0.008 0.008" pos="0.052 -0.0325 0.06597" quat="0.1530965439094749 -0.690333739436836 0.15310161538430422 -0.6903337394368361" group="3" />
<geom name="left_foot_asm_col_3" type="cylinder" size="0.008 0.008" pos="0.052 0.0435 -0.07563" quat="0.1530965439094749 -0.690333739436836 0.15310161538430422 -0.6903337394368361" group="3" />
<geom name="left_foot_asm_col_4" type="box" size="0.046 0.0788 0.0015" pos="0.0415 0.0055 -0.00483" quat="0.49999816339744835 -0.49999999999662686 -0.5000018366025516 0.49999999999662686" group="3" />
<body name="left_foot_tip" pos="0.06 5.34295e-16 -0.02033" quat="0.7071054825112363 -4.098383376635125e-17 -0.7071080798594735 -4.0983984308655084e-17">
<inertial pos="0.0 0.0 0.0" mass="1e-09" diaginertia="0 0 0" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="u_hip_with_saver_2" pos="0.00586897 -0.0464 -0.0411" quat="0.7071054825112363 8.346240819234428e-15 6.9450166081205294e-15 0.7071080798594735">
<joint name="right_hip_yaw" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.0" />
<inertial pos="-6.06622e-11 0.00126178 -0.0329138" mass="0.136031" fullinertia="0.000102977 8.62546e-05 6.45636e-05 2.60314e-06 9.67075e-14 -1.89063e-06" />
<body name="mx106_with_u_l_2" pos="-2.498e-16 -0.0200991 -0.0604" quat="0.4999981633974483 0.49999999999662686 -0.49999999999662686 0.5000018366025516">
<joint name="right_hip_roll" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.0" />
<inertial pos="-0.0157981 0.00247927 -0.0424173" mass="0.136461" fullinertia="0.000136945 0.000155756 7.43933e-05 -1.33307e-06 -7.23332e-06 -7.57143e-06" />
<geom name="mx106_with_u_l_2_vis_0" type="box" size="0.0135 0.029 0.013" pos="-0.0149141 0.0005 -0.01995" quat="0.4999981633974483 0.49999999999662686 0.49999999999662686 -0.5000018366025516" contype="0" conaffinity="0" group="2" material="inner_material" />
<geom name="mx106_with_u_l_2_vis_1" type="box" size="0.0135 0.029 0.013" pos="-0.0149141 -0.00015 -0.0799437" quat="9.381839457428363e-07 -0.7071054825106139 -0.7071080798588512 9.381873916227758e-07" contype="0" conaffinity="0" group="2" material="inner_material" />
<geom name="mx106_with_u_l_2_col_0" type="box" size="0.0135 0.029 0.013" pos="-0.0149141 0.0005 -0.01995" quat="0.4999981633974483 0.49999999999662686 0.49999999999662686 -0.5000018366025516" group="3" />
<geom name="mx106_with_u_l_2_col_1" type="box" size="0.0135 0.029 0.013" pos="-0.0149141 -0.00015 -0.0799437" quat="9.381839457428363e-07 -0.7071054825106139 -0.7071080798588512 9.381873916227758e-07" group="3" />
<body name="thigh_horn_right" pos="0.000235943 -0.016 -0.0201" quat="0.4999981633974483 0.49999999999662686 -0.49999999999662686 0.5000018366025516">
<joint name="right_hip_pitch" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.0" />
<inertial pos="-0.000103673 0.0868627 -0.0156903" mass="0.0845547" fullinertia="0.000327329 3.62056e-05 0.000305876 4.67647e-08 -6.41747e-09 4.56189e-05" />
<geom name="thigh_horn_right_vis_0" type="box" size="0.015 0.04 0.0015" pos="1.91769e-16 0.04 -0.0434" quat="1.3267948966775328e-06 -0.9999999999991198 7.459417843262567e-17 8.881799010296064e-16" contype="0" conaffinity="0" group="2" material="thigh_horn_material" />
<geom name="thigh_horn_right_vis_1" type="box" size="0.0135 0.029 0.013" pos="-0.00015 0.12485 -0.0165" quat="1.0 1.6040749999999989e-16 4.1633350000000006e-16 3.1473099999999996e-16" contype="0" conaffinity="0" group="2" material="inner_material" />
<geom name="thigh_horn_right_vis_2" type="box" size="0.015 0.04 0.0015" pos="-7.03743e-17 0.036 0.0054" quat="1.0 -4.566765e-16 1.082465e-15 1.7146063275725e-30" contype="0" conaffinity="0" group="2" material="thigh_free_right_material" />
<geom name="thigh_horn_right_col_0" type="box" size="0.015 0.04 0.0015" pos="1.91769e-16 0.04 -0.0434" quat="1.3267948966775328e-06 -0.9999999999991198 7.459417843262567e-17 8.881799010296064e-16" group="3" />
<geom name="thigh_horn_right_col_1" type="box" size="0.0135 0.029 0.013" pos="-0.00015 0.12485 -0.0165" quat="1.0 1.6040749999999989e-16 4.1633350000000006e-16 3.1473099999999996e-16" group="3" />
<geom name="thigh_horn_right_col_2" type="box" size="0.015 0.04 0.0015" pos="-7.03743e-17 0.036 0.0054" quat="1.0 -4.566765e-16 1.082465e-15 1.7146063275725e-30" group="3" />
<body name="tibia_right_full" pos="-1.17094e-16 0.14 -2.05669e-14" quat="0.7071054825112363 -1.0752097717819991e-16 -1.01032457808946e-15 -0.7071080798594735">
<joint name="right_knee" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.0" />
<inertial pos="-0.07 -1.75992e-13 -0.00139217" mass="0.0501468" fullinertia="1.66507e-05 0.000261996 0.000247771 -2.44799e-12 -2.318e-12 -3.3315e-16" />
<geom name="tibia_right_full_vis_0" type="box" size="0.075 0.0175 0.0015" pos="-0.065 0.0005 0.0085" quat="1.3267948966775328e-06 -0.9999999999991198 -2.9965198773789585e-31 9.242097576736245e-33" contype="0" conaffinity="0" group="2" material="tibia_right_material" />
<geom name="tibia_right_full_vis_1" type="box" size="0.075 0.0175 0.0015" pos="-0.065 1.07658e-14 -0.0435" quat="1.0 2.4730200000001326e-14 -8.487699999999961e-14 1.5603900000002098e-14" contype="0" conaffinity="0" group="2" material="tibia_horn_side_material" />
<geom name="tibia_right_full_col_0" type="box" size="0.075 0.0175 0.0015" pos="-0.065 0.0005 0.0085" quat="1.3267948966775328e-06 -0.9999999999991198 -2.9965198773789585e-31 9.242097576736245e-33" group="3" />
<geom name="tibia_right_full_col_1" type="box" size="0.075 0.0175 0.0015" pos="-0.065 1.07658e-14 -0.0435" quat="1.0 2.4730200000001326e-14 -8.487699999999961e-14 1.5603900000002098e-14" group="3" />
<body name="mx106_with_u_r_2" pos="-0.14 -1.52768e-14 5.05741e-14" quat="1.0 -2.2204449999997767e-16 -1.4711250000000034e-15 1.517515e-14">
<joint name="right_ankle_pitch" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.0" />
<inertial pos="0.016034 -0.0223236 -0.0184855" mass="0.136461" fullinertia="0.000137327 8.15244e-05 0.000148158 7.29011e-06 -1.30515e-06 7.425e-06" />
<geom name="mx106_with_u_r_2_vis_0" type="box" size="0.0135 0.029 0.013" pos="0.01515 -0.00015 -0.0165" quat="0.7071054825112363 4.208722867025517e-16 -3.6417169977125834e-16 0.7071080798594735" contype="0" conaffinity="0" group="2" material="inner_material" />
<geom name="mx106_with_u_r_2_vis_1" type="box" size="0.0135 0.029 0.013" pos="0.01515 -0.0598438 -0.01615" quat="0.4999981633974483 0.49999999999662686 -0.49999999999662686 0.5000018366025516" contype="0" conaffinity="0" group="2" material="inner_material" />
<geom name="mx106_with_u_r_2_col_0" type="box" size="0.0135 0.029 0.013" pos="0.01515 -0.00015 -0.0165" quat="0.7071054825112363 4.208722867025517e-16 -3.6417169977125834e-16 0.7071080798594735" group="3" />
<geom name="mx106_with_u_r_2_col_1" type="box" size="0.0135 0.029 0.013" pos="0.01515 -0.0598438 -0.01615" quat="0.4999981633974483 0.49999999999662686 -0.49999999999662686 0.5000018366025516" group="3" />
<body name="right_foot_asm" pos="-3.33067e-16 0.0201 -0.016" quat="9.38183944224926e-07 9.381873931406805e-07 0.7071080798588512 0.7071054825106139">
<joint name="right_ankle_roll" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.0" />
<inertial pos="0.0312589 -0.00414302 0.000817452" mass="0.32139" fullinertia="0.000773437 0.000967977 0.00047205 8.34003e-06 -1.88587e-05 1.37873e-05" />
<geom name="right_foot_asm_vis_0" type="cylinder" size="0.008 0.008" pos="0.052 -0.0435 -0.07563" quat="0.02101882757458101 0.7067942414421188 0.02102401997501041 0.7067942414421188" contype="0" conaffinity="0" group="2" material="cleat_material" />
<geom name="right_foot_asm_vis_1" type="cylinder" size="0.008 0.008" pos="0.052 -0.0435 0.06597" quat="0.02101882757458101 0.7067942414421188 0.02102401997501041 0.7067942414421188" contype="0" conaffinity="0" group="2" material="cleat_material" />
<geom name="right_foot_asm_vis_2" type="cylinder" size="0.008 0.008" pos="0.052 0.0325 -0.07563" quat="0.02101882757458101 0.7067942414421188 0.02102401997501041 0.7067942414421188" contype="0" conaffinity="0" group="2" material="cleat_material" />
<geom name="right_foot_asm_vis_3" type="cylinder" size="0.008 0.008" pos="0.052 0.0325 0.06597" quat="0.02101882757458101 0.7067942414421188 0.02102401997501041 0.7067942414421188" contype="0" conaffinity="0" group="2" material="cleat_material" />
<geom name="right_foot_asm_vis_4" type="box" size="0.046 0.0788 0.0015" pos="0.0415 -0.0055 -0.00483" quat="0.4999981633974483 -0.49999999999662686 -0.5000018366025516 0.49999999999662686" contype="0" conaffinity="0" group="2" material="foot_plate_material" />
<geom name="right_foot_asm_col_0" type="cylinder" size="0.008 0.008" pos="0.052 -0.0435 -0.07563" quat="0.02101882757458101 0.7067942414421188 0.02102401997501041 0.7067942414421188" group="3" />
<geom name="right_foot_asm_col_1" type="cylinder" size="0.008 0.008" pos="0.052 -0.0435 0.06597" quat="0.02101882757458101 0.7067942414421188 0.02102401997501041 0.7067942414421188" group="3" />
<geom name="right_foot_asm_col_2" type="cylinder" size="0.008 0.008" pos="0.052 0.0325 -0.07563" quat="0.02101882757458101 0.7067942414421188 0.02102401997501041 0.7067942414421188" group="3" />
<geom name="right_foot_asm_col_3" type="cylinder" size="0.008 0.008" pos="0.052 0.0325 0.06597" quat="0.02101882757458101 0.7067942414421188 0.02102401997501041 0.7067942414421188" group="3" />
<geom name="right_foot_asm_col_4" type="box" size="0.046 0.0788 0.0015" pos="0.0415 -0.0055 -0.00483" quat="0.4999981633974483 -0.49999999999662686 -0.5000018366025516 0.49999999999662686" group="3" />
<body name="right_foot_tip" pos="0.06 3.26128e-16 -0.02033" quat="0.7071054825112363 4.7049384595332636e-17 -0.7071080798594735 4.704955741768965e-17">
<inertial pos="0.0 0.0 0.0" mass="1e-09" diaginertia="0 0 0" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="u_neck" pos="0.035869 2.87964e-15 0.1595" quat="0.7071054825112363 1.1526272902804773e-14 4.413244384244818e-15 -0.7071080798594735">
<joint name="head_yaw" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.0" />
<inertial pos="-5.78993e-17 -2.34862e-16 0.0206334" mass="0.0544799" fullinertia="2.2633e-05 5.36569e-05 3.58365e-05 -1.35985e-11 -8.74329e-08 1.21218e-19" />
<geom name="u_neck_vis_0" type="box" size="0.0245 0.015 0.003125" pos="1.57772e-30 0.0 0.003125" quat="1.3267948966775328e-06 0.9999999999991198 -2.7710390668891173e-31 -1.577720367661438e-30" contype="0" conaffinity="0" group="2" material="u_base_64_material" />
<geom name="u_neck_vis_1" type="box" size="0.015 0.032901 0.0015" pos="0.025 -7.95931e-16 0.032901" quat="0.4999981633974519 0.49999999999662326 -0.5000018366025553 -0.49999999999662326" contype="0" conaffinity="0" group="2" material="u_side_neck_material" />
<geom name="u_neck_vis_2" type="box" size="0.015 0.032901 0.0015" pos="-0.025 -1.37735e-16 0.032901" quat="0.4999981633974519 0.49999999999662326 0.5000018366025553 0.49999999999662326" contype="0" conaffinity="0" group="2" material="u_side_neck_material" />
<geom name="u_neck_col_0" type="box" size="0.0245 0.015 0.003125" pos="1.57772e-30 0.0 0.003125" quat="1.3267948966775328e-06 0.9999999999991198 -2.7710390668891173e-31 -1.577720367661438e-30" group="3" />
<geom name="u_neck_col_1" type="box" size="0.015 0.032901 0.0015" pos="0.025 -7.95931e-16 0.032901" quat="0.4999981633974519 0.49999999999662326 -0.5000018366025553 -0.49999999999662326" group="3" />
<geom name="u_neck_col_2" type="box" size="0.015 0.032901 0.0015" pos="-0.025 -1.37735e-16 0.032901" quat="0.4999981633974519 0.49999999999662326 0.5000018366025553 0.49999999999662326" group="3" />
<body name="head__field_of_view_false" pos="-0.0235 1.04083e-16 0.058302" quat="0.4999981633974506 0.49999999999662453 -0.5000018366025539 -0.49999999999662453">
<joint name="head_pitch" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.0" />
<inertial pos="0.015805 0.114508 -0.0790378" mass="0.137167" fullinertia="0.00764485 0.00232111 0.00584336 -0.00111618 0.000678812 0.00334733" />
<geom name="head__field_of_view_false_vis_0" type="box" size="0.0201 0.03055 0.0205" pos="-1.45586e-16 -0.01755 -0.0235" quat="1.0 -4.1065899999998963e-16 2.223500000000002e-15 -4.667009999999999e-15" contype="0" conaffinity="0" group="2" material="mx-64at_ar_material" />
<geom name="head__field_of_view_false_vis_1" type="cylinder" size="0.0235 0.0015" pos="-0.0238 0.0365 -0.042" quat="1.7626081978495411e-12 -1.326794896676362e-06 -0.9999999999982396 1.326794896676362e-06" contype="0" conaffinity="0" group="2" material="head_plate_material" />
<geom name="head__field_of_view_false_vis_2" type="box" size="0.0308 0.0235 0.0015" pos="0.01 0.0365 -0.042" quat="1.7626081978495411e-12 -1.326794896676362e-06 -0.9999999999982396 1.326794896676362e-06" contype="0" conaffinity="0" group="2" material="head_plate_material" />
<geom name="head__field_of_view_false_vis_3" type="cylinder" size="0.0235 0.0015" pos="-0.0238 0.0365 -0.005" quat="1.7626081978495411e-12 -1.326794896676362e-06 -0.9999999999982396 1.326794896676362e-06" contype="0" conaffinity="0" group="2" material="head_plate_material" />
<geom name="head__field_of_view_false_vis_4" type="box" size="0.0308 0.0235 0.0015" pos="0.01 0.0365 -0.005" quat="1.7626081978495411e-12 -1.326794896676362e-06 -0.9999999999982396 1.326794896676362e-06" contype="0" conaffinity="0" group="2" material="head_plate_material" />
<geom name="head__field_of_view_false_col_0" type="box" size="0.0201 0.03055 0.0205" pos="-1.45586e-16 -0.01755 -0.0235" quat="1.0 -4.1065899999998963e-16 2.223500000000002e-15 -4.667009999999999e-15" group="3" />
<geom name="head__field_of_view_false_col_1" type="cylinder" size="0.0235 0.0015" pos="-0.0238 0.0365 -0.042" quat="1.7626081978495411e-12 -1.326794896676362e-06 -0.9999999999982396 1.326794896676362e-06" group="3" />
<geom name="head__field_of_view_false_col_2" type="box" size="0.0308 0.0235 0.0015" pos="0.01 0.0365 -0.042" quat="1.7626081978495411e-12 -1.326794896676362e-06 -0.9999999999982396 1.326794896676362e-06" group="3" />
<geom name="head__field_of_view_false_col_3" type="cylinder" size="0.0235 0.0015" pos="-0.0238 0.0365 -0.005" quat="1.7626081978495411e-12 -1.326794896676362e-06 -0.9999999999982396 1.326794896676362e-06" group="3" />
<geom name="head__field_of_view_false_col_4" type="box" size="0.0308 0.0235 0.0015" pos="0.01 0.0365 -0.005" quat="1.7626081978495411e-12 -1.326794896676362e-06 -0.9999999999982396 1.326794896676362e-06" group="3" />
<body name="vive_head" pos="1.38778e-17 0.063 -0.0235" quat="9.38183944114861e-07 9.38187393250745e-07 0.7071080798588512 0.7071054825106139">
<inertial pos="0.0 0.0 0.0" mass="1e-09" diaginertia="0 0 0" />
</body>
<body name="camera" pos="-0.024933 0.0335 -0.0235" quat="0.49999816339744835 0.4999999999966268 -0.5000018366025517 -0.4999999999966268">
<inertial pos="0.0 0.0 0.0" mass="1e-09" diaginertia="0 0 0" />
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="torso" body2="head_base" />
<exclude body1="torso" body2="trunk" />
<exclude body1="right_humerus" body2="radius_v2" />
<exclude body1="u_shoulder" body2="right_humerus" />
<exclude body1="torso" body2="u_shoulder" />
<exclude body1="left_humerus" body2="radius_v2_2" />
<exclude body1="u_shoulder_2" body2="left_humerus" />
<exclude body1="torso" body2="u_shoulder_2" />
<exclude body1="left_foot_asm" body2="left_foot_tip" />
<exclude body1="mx106_with_u_l" body2="left_foot_asm" />
<exclude body1="tibia_left_full" body2="mx106_with_u_l" />
<exclude body1="thigh_horn_left" body2="tibia_left_full" />
<exclude body1="mx106_with_u_r" body2="thigh_horn_left" />
<exclude body1="u_hip_with_saver" body2="mx106_with_u_r" />
<exclude body1="torso" body2="u_hip_with_saver" />
<exclude body1="right_foot_asm" body2="right_foot_tip" />
<exclude body1="mx106_with_u_r_2" body2="right_foot_asm" />
<exclude body1="tibia_right_full" body2="mx106_with_u_r_2" />
<exclude body1="thigh_horn_right" body2="tibia_right_full" />
<exclude body1="mx106_with_u_l_2" body2="thigh_horn_right" />
<exclude body1="u_hip_with_saver_2" body2="mx106_with_u_l_2" />
<exclude body1="torso" body2="u_hip_with_saver_2" />
<exclude body1="head__field_of_view_false" body2="vive_head" />
<exclude body1="head__field_of_view_false" body2="camera" />
<exclude body1="u_neck" body2="head__field_of_view_false" />
<exclude body1="torso" body2="u_neck" />
</contact>
</mujoco>
Import report
Counts
| Links | 27 |
|---|---|
| Joints | 26 |
| Moving joints | 20 |
| Visuals | 57 |
| Collisions | 57 |
| Materials | 15 |
Meshes
Formats: none (primitive shapes).
Asset size: 0.0 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
axis | 6 | fixed joints carry no <axis>; URDF ignores it too |
joint_properties | 20 | <joint_properties> is not part of the URDF subset RobotDescription mirrors |
Forward-kinematics check
Forward kinematics of 27 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 · 1.2e-15 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 20).
Source & licence
| Repository | https://github.com/Rhoban/sigmaban_urdf |
|---|---|
| Commit | d5d023fd35800d00d7647000bce8602617a4960d |
| Original file | robot.urdf |
| Licence | MIT · 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.