Simple Humanoid
None · licence BSD-2-Clause · source: github.com/laas/simple_humanoid_description @ 4e859aed7
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 0e31ddb2e3f0930b -->
<robot name="simple_humanoid">
<link name="base_link" />
<material name="WAIST_LINK1_APP">
<color rgba="0.6 1.0 0.6 1.0" />
</material>
<material name="WAIST_LINK2_APP">
<color rgba="0.6 0.8 0.6 1.0" />
</material>
<material name="WAIST_LINK3_APP">
<color rgba="0.8 0.8 0.8 1.0" />
</material>
<link name="BODY">
<visual>
<origin xyz="0.0 0.0 0.0955" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.05 0.05 0.111" />
</geometry>
</visual>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.08 0.08 0.08" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0375" rpy="0.0 0.0 0.0" />
<mass value="27.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="WAIST_LINK1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
<material name="WAIST_LINK1_APP" />
</visual>
<inertial>
<origin xyz="0.0 0.0 -0.1" rpy="0.0 0.0 0.0" />
<mass value="6.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="WAIST_LINK2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
<material name="WAIST_LINK2_APP" />
</visual>
<visual>
<origin xyz="0.0 0.0 0.1625" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.05 0.05 0.275" />
</geometry>
<material name="WAIST_LINK2_APP" />
</visual>
<inertial>
<origin xyz="0.11 0.0 0.25" rpy="0.0 0.0 0.0" />
<mass value="30.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="torso">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5708 0.0 0.0" />
<geometry>
<cylinder length="0.1" radius="0.025" />
</geometry>
<material name="WAIST_LINK3_APP" />
</visual>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.15 0.27 0.05" />
</geometry>
<material name="WAIST_LINK3_APP" />
</visual>
<visual>
<origin xyz="0.0 0.0 0.065" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.05 0.05 0.03" />
</geometry>
<material name="WAIST_LINK3_APP" />
</visual>
<visual>
<origin xyz="-0.015 0.0 0.16" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.31 0.16 0.16" />
</geometry>
<material name="WAIST_LINK3_APP" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="13.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="LARM_LINK1">
<visual>
<origin xyz="0.0 -0.05 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
</visual>
<inertial>
<origin xyz="0.1 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="3.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="LARM_LINK2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
</visual>
<visual>
<origin xyz="0.0 0.0 -0.1065" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.05 0.05 0.163" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 -0.1" rpy="0.0 0.0 0.0" />
<mass value="0.6" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="LARM_LINK3">
<visual>
<origin xyz="0.0 0.0 0.05" rpy="1.5708 0.0 0.0" />
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="LARM_LINK4">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
<material name="WAIST_LINK3_APP" />
</visual>
<visual>
<origin xyz="0.0 0.0 -0.0985" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.05 0.05 0.147" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 -0.3" rpy="0.0 0.0 0.0" />
<mass value="0.6" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="LARM_LINK5">
<visual>
<origin xyz="0.0 0.0 0.05" rpy="1.5708 0.0 0.0" />
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0" />
<mass value="0.4" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="LARM_LINK6">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
</visual>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
</visual>
<visual>
<origin xyz="0.0 0.03 -0.1125" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.05 0.03 0.175" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.1 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.4" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="l_wrist">
<visual>
<origin xyz="0.0 -0.03 -0.1" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.05 0.03 0.15" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 -0.1" rpy="0.0 0.0 0.0" />
<mass value="0.4" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="RARM_LINK1">
<visual>
<origin xyz="0.0 0.05 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
</visual>
<inertial>
<origin xyz="0.1 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="3.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="RARM_LINK2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
</visual>
<visual>
<origin xyz="0.0 0.0 -0.1065" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.05 0.05 0.163" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 -0.1" rpy="0.0 0.0 0.0" />
<mass value="0.6" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="RARM_LINK3">
<visual>
<origin xyz="0.0 0.0 0.05" rpy="1.5708 0.0 0.0" />
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="RARM_LINK4">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
<material name="WAIST_LINK3_APP" />
</visual>
<visual>
<origin xyz="0.0 0.0 -0.0985" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.05 0.05 0.147" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 -0.3" rpy="0.0 0.0 0.0" />
<mass value="0.6" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="RARM_LINK5">
<visual>
<origin xyz="0.0 0.0 0.05" rpy="1.5708 0.0 0.0" />
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0" />
<mass value="0.4" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="RARM_LINK6">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
</visual>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
</visual>
<visual>
<origin xyz="0.0 0.03 -0.1125" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.05 0.03 0.175" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.1 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.4" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="r_wrist">
<visual>
<origin xyz="0.0 -0.03 -0.1" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.05 0.03 0.15" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 -0.1" rpy="0.0 0.0 0.0" />
<mass value="0.4" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="LLEG_LINK1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.57075" />
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.1 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.5" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="LLEG_LINK2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 -0.15" rpy="0.0 0.0 0.0" />
<mass value="2.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="LLEG_LINK3">
<visual>
<origin xyz="0.0 0.0 0.22675" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.1535" />
</geometry>
</visual>
<visual>
<origin xyz="0.0 0.0 0.1" rpy="1.5708 0.0 0.0" />
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.04 0.0" rpy="0.0 0.0 0.0" />
<mass value="5.1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="LLEG_LINK4">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5708 0.0 0.0" />
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</visual>
<visual>
<origin xyz="0.0 0.0 -0.15" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.2" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 -0.3" rpy="0.0 0.0 0.0" />
<mass value="7.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="LLEG_LINK5">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.15 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.5" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="l_ankle">
<visual>
<origin xyz="0.055 0.0 -0.06" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.25 0.14 0.02" />
</geometry>
</visual>
<visual>
<origin xyz="0.1 0.0 0.0" rpy="0.0 1.5708 0.0" />
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</visual>
<inertial>
<origin xyz="0.28 0.0 -0.2" rpy="0.0 0.0 0.0" />
<mass value="1.9" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="RLEG_LINK1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.57075" />
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 -0.1 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.5" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="RLEG_LINK2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.57075" />
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 -0.15" rpy="0.0 0.0 0.0" />
<mass value="2.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="RLEG_LINK3">
<visual>
<origin xyz="0.0 0.0 0.22675" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.1535" />
</geometry>
</visual>
<visual>
<origin xyz="0.0 0.0 0.1" rpy="1.5708 0.0 0.0" />
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 -0.04 0.0" rpy="0.0 0.0 0.0" />
<mass value="5.1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="RLEG_LINK4">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5708 0.0 0.0" />
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</visual>
<visual>
<origin xyz="0.0 0.0 -0.15" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.2" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 -0.3" rpy="0.0 0.0 0.0" />
<mass value="7.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="RLEG_LINK5">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.15 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.5" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="r_ankle">
<visual>
<origin xyz="0.055 0.0 -0.06" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.25 0.14 0.02" />
</geometry>
</visual>
<visual>
<origin xyz="0.1 0.0 0.0" rpy="0.0 1.5708 0.0" />
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</visual>
<inertial>
<origin xyz="0.28 0.0 -0.2" rpy="0.0 0.0 0.0" />
<mass value="1.9" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<joint name="waist" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="BODY" />
</joint>
<joint name="RLEG_HIP_R" type="revolute">
<origin xyz="0.0 -0.09 0.0" rpy="0.0 0.0 0.0" />
<parent link="BODY" />
<child link="RLEG_LINK1" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="3.87" lower="-0.349065850399" upper="1.57079632679" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RLEG_HIP_P" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="RLEG_LINK1" />
<child link="RLEG_LINK2" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="160.0" velocity="5.8" lower="-0.5236" upper="0.5236" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RLEG_HIP_Y" type="revolute">
<origin xyz="0.0 0.0 -0.3535" rpy="0.0 0.0 0.0" />
<parent link="RLEG_LINK2" />
<child link="RLEG_LINK3" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="160.0" velocity="5.8" lower="-2.095" upper="0.7" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RLEG_KNEE" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="RLEG_LINK3" />
<child link="RLEG_LINK4" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="300.0" velocity="7.0" lower="0.0" upper="2.618" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RLEG_ANKLE_P" type="revolute">
<origin xyz="0.0 0.0 -0.3" rpy="0.0 0.0 0.0" />
<parent link="RLEG_LINK4" />
<child link="RLEG_LINK5" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="30.0" velocity="5.8" lower="0.0" upper="2.618" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RLEG_ANKLE_R" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="RLEG_LINK5" />
<child link="r_ankle" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="160.0" velocity="5.8" lower="-1.27" upper="0.68" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RARM_SHOULDER_P" type="revolute">
<origin xyz="0.0 -0.21 0.0" rpy="0.0 0.0 0.0" />
<parent link="torso" />
<child link="RARM_LINK1" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="2.7" lower="-1.57079632679" upper="0.785398163397" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RARM_SHOULDER_R" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="RARM_LINK1" />
<child link="RARM_LINK2" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="3.66" lower="0.00872664625997" upper="2.87106661953" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RARM_SHOULDER_Y" type="revolute">
<origin xyz="0.0 0.0 -0.263" rpy="0.0 0.0 0.0" />
<parent link="RARM_LINK2" />
<child link="RARM_LINK3" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="70.0" velocity="4.58" lower="-2.42600766027" upper="2.42600766027" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RARM_ELBOW" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="RARM_LINK3" />
<child link="RARM_LINK4" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="70.0" velocity="4.58" lower="-2.23402144255" upper="0.00349065850399" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RARM_WRIST_Y" type="revolute">
<origin xyz="0.0 0.0 -0.247" rpy="0.0 0.0 0.0" />
<parent link="RARM_LINK4" />
<child link="RARM_LINK5" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="20.0" velocity="1.95" lower="-2.51327412287" upper="2.51327412287" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RARM_WRIST_P" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="RARM_LINK5" />
<child link="RARM_LINK6" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="8.0" velocity="1.76" lower="-1.37008346282" upper="1.37008346282" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RARM_WRIST_R" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="RARM_LINK6" />
<child link="r_wrist" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="8.0" velocity="1.76" lower="-0.680678408278" upper="0.680678408278" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LLEG_HIP_R" type="revolute">
<origin xyz="0.0 0.09 0.0" rpy="0.0 0.0 0.0" />
<parent link="BODY" />
<child link="LLEG_LINK1" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="3.87" lower="-0.349065850399" upper="1.57079632679" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LLEG_HIP_P" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LLEG_LINK1" />
<child link="LLEG_LINK2" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="3.87" lower="-0.349065850399" upper="1.57079632679" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LLEG_HIP_Y" type="revolute">
<origin xyz="0.0 0.0 -0.3535" rpy="0.0 0.0 0.0" />
<parent link="LLEG_LINK2" />
<child link="LLEG_LINK3" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="160.0" velocity="5.8" lower="-0.5236" upper="0.5236" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LLEG_KNEE" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LLEG_LINK3" />
<child link="LLEG_LINK4" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="160.0" velocity="5.8" lower="-2.095" upper="0.7" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LLEG_ANKLE_P" type="revolute">
<origin xyz="0.0 0.0 -0.3" rpy="0.0 0.0 0.0" />
<parent link="LLEG_LINK4" />
<child link="LLEG_LINK5" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="300.0" velocity="7.0" lower="0.0" upper="2.618" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LLEG_ANKLE_R" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LLEG_LINK5" />
<child link="l_ankle" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="160.0" velocity="5.8" lower="-1.27" upper="0.68" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LARM_SHOULDER_P" type="revolute">
<origin xyz="0.0 0.21 0.0" rpy="0.0 0.0 0.0" />
<parent link="torso" />
<child link="LARM_LINK1" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="2.7" lower="-1.57079632679" upper="0.785398163397" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LARM_SHOULDER_R" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LARM_LINK1" />
<child link="LARM_LINK2" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="100.0" velocity="3.66" lower="0.00872664625997" upper="2.87106661953" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LARM_SHOULDER_Y" type="revolute">
<origin xyz="0.0 0.0 -0.263" rpy="0.0 0.0 0.0" />
<parent link="LARM_LINK2" />
<child link="LARM_LINK3" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="2.7" lower="-1.57079632679" upper="0.785398163397" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LARM_ELBOW" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LARM_LINK3" />
<child link="LARM_LINK4" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="70.0" velocity="4.58" lower="-2.42600766027" upper="2.42600766027" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LARM_WRIST_Y" type="revolute">
<origin xyz="0.0 0.0 -0.247" rpy="0.0 0.0 0.0" />
<parent link="LARM_LINK4" />
<child link="LARM_LINK5" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="70.0" velocity="4.58" lower="-2.23402144255" upper="0.00349065850399" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LARM_WRIST_P" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LARM_LINK5" />
<child link="LARM_LINK6" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="20.0" velocity="1.95" lower="-2.51327412287" upper="2.51327412287" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LARM_WRIST_R" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LARM_LINK6" />
<child link="l_wrist" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="8.0" velocity="1.76" lower="-1.37008346282" upper="1.37008346282" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="WAIST_P" type="revolute">
<origin xyz="0.0 0.0 0.176" rpy="0.0 0.0 0.0" />
<parent link="BODY" />
<child link="WAIST_LINK1" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="30.0" velocity="1.76" lower="-1.27" upper="1.27" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="WAIST_R" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="WAIST_LINK1" />
<child link="WAIST_LINK2" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="30.0" velocity="1.76" lower="-1.27" upper="1.27" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="CHEST" type="revolute">
<origin xyz="0.0 0.0 0.35" rpy="0.0 0.0 0.0" />
<parent link="WAIST_LINK2" />
<child link="torso" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="30.0" velocity="1.76" lower="-1.27" upper="1.27" />
<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 0e31ddb2e3f0930b -->
<mujoco model="simple_humanoid">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="WAIST_LINK1_APP" rgba="0.6 1.0 0.6 1.0" />
<material name="WAIST_LINK2_APP" rgba="0.6 0.8 0.6 1.0" />
<material name="WAIST_LINK3_APP" rgba="0.8 0.8 0.8 1.0" />
</asset>
<worldbody>
<body name="base_link">
<body name="BODY">
<inertial pos="0.0 0.0 0.0375" mass="27.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="BODY_vis_0" type="box" size="0.025 0.025 0.0555" pos="0.0 0.0 0.0955" contype="0" conaffinity="0" group="2" />
<geom name="BODY_vis_1" type="box" size="0.04 0.04 0.04" contype="0" conaffinity="0" group="2" />
<body name="RLEG_LINK1" pos="0.0 -0.09 0.0">
<joint name="RLEG_HIP_R" type="hinge" axis="1.0 0.0 0.0" range="-0.349065850399 1.57079632679" />
<inertial pos="0.0 -0.1 0.0" mass="2.5" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="RLEG_LINK1_vis_0" type="cylinder" size="0.05 0.05" quat="0.7071231599922605 0.0 0.0 0.7070904020014415" contype="0" conaffinity="0" group="2" />
<body name="RLEG_LINK2">
<joint name="RLEG_HIP_P" type="hinge" axis="0.0 1.0 0.0" range="-0.5236 0.5236" />
<inertial pos="0.0 0.0 -0.15" mass="2.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="RLEG_LINK2_vis_0" type="cylinder" size="0.05 0.05" quat="0.7071231599922605 0.0 0.0 0.7070904020014415" contype="0" conaffinity="0" group="2" />
<body name="RLEG_LINK3" pos="0.0 0.0 -0.3535">
<joint name="RLEG_HIP_Y" type="hinge" axis="0.0 0.0 1.0" range="-2.095 0.7" />
<inertial pos="0.0 -0.04 0.0" mass="5.1" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="RLEG_LINK3_vis_0" type="box" size="0.05 0.05 0.07675" pos="0.0 0.0 0.22675" contype="0" conaffinity="0" group="2" />
<geom name="RLEG_LINK3_vis_1" type="cylinder" size="0.05 0.05" pos="0.0 0.0 0.1" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" contype="0" conaffinity="0" group="2" />
<body name="RLEG_LINK4">
<joint name="RLEG_KNEE" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.618" />
<inertial pos="0.0 0.0 -0.3" mass="7.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="RLEG_LINK4_vis_0" type="cylinder" size="0.05 0.05" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" contype="0" conaffinity="0" group="2" />
<geom name="RLEG_LINK4_vis_1" type="box" size="0.05 0.05 0.1" pos="0.0 0.0 -0.15" contype="0" conaffinity="0" group="2" />
<body name="RLEG_LINK5" pos="0.0 0.0 -0.3">
<joint name="RLEG_ANKLE_P" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.618" />
<inertial pos="-0.15 0.0 0.0" mass="2.5" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="RLEG_LINK5_vis_0" type="cylinder" size="0.05 0.05" contype="0" conaffinity="0" group="2" />
<body name="r_ankle">
<joint name="RLEG_ANKLE_R" type="hinge" axis="1.0 0.0 0.0" range="-1.27 0.68" />
<inertial pos="0.28 0.0 -0.2" mass="1.9" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="r_ankle_vis_0" type="box" size="0.125 0.07 0.01" pos="0.055 0.0 -0.06" contype="0" conaffinity="0" group="2" />
<geom name="r_ankle_vis_1" type="cylinder" size="0.05 0.05" pos="0.1 0.0 0.0" quat="0.7071054825112363 0.0 0.7071080798594735 0.0" contype="0" conaffinity="0" group="2" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="LLEG_LINK1" pos="0.0 0.09 0.0">
<joint name="LLEG_HIP_R" type="hinge" axis="1.0 0.0 0.0" range="-0.349065850399 1.57079632679" />
<inertial pos="0.0 0.1 0.0" mass="2.5" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="LLEG_LINK1_vis_0" type="cylinder" size="0.05 0.05" quat="0.7071231599922605 0.0 0.0 0.7070904020014415" contype="0" conaffinity="0" group="2" />
<body name="LLEG_LINK2">
<joint name="LLEG_HIP_P" type="hinge" axis="0.0 1.0 0.0" range="-0.349065850399 1.57079632679" />
<inertial pos="0.0 0.0 -0.15" mass="2.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="LLEG_LINK2_vis_0" type="cylinder" size="0.05 0.05" contype="0" conaffinity="0" group="2" />
<body name="LLEG_LINK3" pos="0.0 0.0 -0.3535">
<joint name="LLEG_HIP_Y" type="hinge" axis="0.0 0.0 1.0" range="-0.5236 0.5236" />
<inertial pos="0.0 0.04 0.0" mass="5.1" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="LLEG_LINK3_vis_0" type="box" size="0.05 0.05 0.07675" pos="0.0 0.0 0.22675" contype="0" conaffinity="0" group="2" />
<geom name="LLEG_LINK3_vis_1" type="cylinder" size="0.05 0.05" pos="0.0 0.0 0.1" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" contype="0" conaffinity="0" group="2" />
<body name="LLEG_LINK4">
<joint name="LLEG_KNEE" type="hinge" axis="0.0 1.0 0.0" range="-2.095 0.7" />
<inertial pos="0.0 0.0 -0.3" mass="7.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="LLEG_LINK4_vis_0" type="cylinder" size="0.05 0.05" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" contype="0" conaffinity="0" group="2" />
<geom name="LLEG_LINK4_vis_1" type="box" size="0.05 0.05 0.1" pos="0.0 0.0 -0.15" contype="0" conaffinity="0" group="2" />
<body name="LLEG_LINK5" pos="0.0 0.0 -0.3">
<joint name="LLEG_ANKLE_P" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.618" />
<inertial pos="-0.15 0.0 0.0" mass="2.5" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="LLEG_LINK5_vis_0" type="cylinder" size="0.05 0.05" contype="0" conaffinity="0" group="2" />
<body name="l_ankle">
<joint name="LLEG_ANKLE_R" type="hinge" axis="1.0 0.0 0.0" range="-1.27 0.68" />
<inertial pos="0.28 0.0 -0.2" mass="1.9" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="l_ankle_vis_0" type="box" size="0.125 0.07 0.01" pos="0.055 0.0 -0.06" contype="0" conaffinity="0" group="2" />
<geom name="l_ankle_vis_1" type="cylinder" size="0.05 0.05" pos="0.1 0.0 0.0" quat="0.7071054825112363 0.0 0.7071080798594735 0.0" contype="0" conaffinity="0" group="2" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="WAIST_LINK1" pos="0.0 0.0 0.176">
<joint name="WAIST_P" type="hinge" axis="0.0 1.0 0.0" range="-1.27 1.27" />
<inertial pos="0.0 0.0 -0.1" mass="6.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="WAIST_LINK1_vis_0" type="cylinder" size="0.025 0.025" contype="0" conaffinity="0" group="2" material="WAIST_LINK1_APP" />
<body name="WAIST_LINK2">
<joint name="WAIST_R" type="hinge" axis="1.0 0.0 0.0" range="-1.27 1.27" />
<inertial pos="0.11 0.0 0.25" mass="30.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="WAIST_LINK2_vis_0" type="cylinder" size="0.025 0.025" quat="0.7071054825112363 0.0 0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" material="WAIST_LINK2_APP" />
<geom name="WAIST_LINK2_vis_1" type="box" size="0.025 0.025 0.1375" pos="0.0 0.0 0.1625" contype="0" conaffinity="0" group="2" material="WAIST_LINK2_APP" />
<body name="torso" pos="0.0 0.0 0.35">
<joint name="CHEST" type="hinge" axis="0.0 0.0 1.0" range="-1.27 1.27" />
<inertial pos="0.0 0.0 0.0" mass="13.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="torso_vis_0" type="cylinder" size="0.025 0.05" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" contype="0" conaffinity="0" group="2" material="WAIST_LINK3_APP" />
<geom name="torso_vis_1" type="box" size="0.075 0.135 0.025" contype="0" conaffinity="0" group="2" material="WAIST_LINK3_APP" />
<geom name="torso_vis_2" type="box" size="0.025 0.025 0.015" pos="0.0 0.0 0.065" contype="0" conaffinity="0" group="2" material="WAIST_LINK3_APP" />
<geom name="torso_vis_3" type="box" size="0.155 0.08 0.08" pos="-0.015 0.0 0.16" contype="0" conaffinity="0" group="2" material="WAIST_LINK3_APP" />
<body name="RARM_LINK1" pos="0.0 -0.21 0.0">
<joint name="RARM_SHOULDER_P" type="hinge" axis="0.0 1.0 0.0" range="-1.57079632679 0.785398163397" />
<inertial pos="0.1 0.0 0.0" mass="3.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="RARM_LINK1_vis_0" type="cylinder" size="0.025 0.025" pos="0.0 0.05 0.0" contype="0" conaffinity="0" group="2" />
<body name="RARM_LINK2">
<joint name="RARM_SHOULDER_R" type="hinge" axis="1.0 0.0 0.0" range="0.00872664625997 2.87106661953" />
<inertial pos="0.0 0.0 -0.1" mass="0.6" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="RARM_LINK2_vis_0" type="cylinder" size="0.025 0.025" quat="0.7071054825112363 0.0 0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
<geom name="RARM_LINK2_vis_1" type="box" size="0.025 0.025 0.0815" pos="0.0 0.0 -0.1065" contype="0" conaffinity="0" group="2" />
<body name="RARM_LINK3" pos="0.0 0.0 -0.263">
<joint name="RARM_SHOULDER_Y" type="hinge" axis="0.0 0.0 1.0" range="-2.42600766027 2.42600766027" />
<inertial pos="0.0 0.0 0.0" mass="1.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="RARM_LINK3_vis_0" type="cylinder" size="0.025 0.025" pos="0.0 0.0 0.05" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" contype="0" conaffinity="0" group="2" />
<body name="RARM_LINK4">
<joint name="RARM_ELBOW" type="hinge" axis="0.0 1.0 0.0" range="-2.23402144255 0.00349065850399" />
<inertial pos="0.0 0.0 -0.3" mass="0.6" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="RARM_LINK4_vis_0" type="cylinder" size="0.025 0.025" contype="0" conaffinity="0" group="2" material="WAIST_LINK3_APP" />
<geom name="RARM_LINK4_vis_1" type="box" size="0.025 0.025 0.0735" pos="0.0 0.0 -0.0985" contype="0" conaffinity="0" group="2" />
<body name="RARM_LINK5" pos="0.0 0.0 -0.247">
<joint name="RARM_WRIST_Y" type="hinge" axis="0.0 0.0 1.0" range="-2.51327412287 2.51327412287" />
<inertial pos="0.0 0.0 0.1" mass="0.4" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="RARM_LINK5_vis_0" type="cylinder" size="0.025 0.025" pos="0.0 0.0 0.05" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" contype="0" conaffinity="0" group="2" />
<body name="RARM_LINK6">
<joint name="RARM_WRIST_P" type="hinge" axis="0.0 1.0 0.0" range="-1.37008346282 1.37008346282" />
<inertial pos="-0.1 0.0 0.0" mass="0.4" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="RARM_LINK6_vis_0" type="cylinder" size="0.025 0.025" contype="0" conaffinity="0" group="2" />
<geom name="RARM_LINK6_vis_1" type="cylinder" size="0.025 0.025" quat="0.7071054825112363 0.0 0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
<geom name="RARM_LINK6_vis_2" type="box" size="0.025 0.015 0.0875" pos="0.0 0.03 -0.1125" contype="0" conaffinity="0" group="2" />
<body name="r_wrist">
<joint name="RARM_WRIST_R" type="hinge" axis="1.0 0.0 0.0" range="-0.680678408278 0.680678408278" />
<inertial pos="0.0 0.0 -0.1" mass="0.4" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="r_wrist_vis_0" type="box" size="0.025 0.015 0.075" pos="0.0 -0.03 -0.1" contype="0" conaffinity="0" group="2" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="LARM_LINK1" pos="0.0 0.21 0.0">
<joint name="LARM_SHOULDER_P" type="hinge" axis="0.0 1.0 0.0" range="-1.57079632679 0.785398163397" />
<inertial pos="0.1 0.0 0.0" mass="3.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="LARM_LINK1_vis_0" type="cylinder" size="0.025 0.025" pos="0.0 -0.05 0.0" contype="0" conaffinity="0" group="2" />
<body name="LARM_LINK2">
<joint name="LARM_SHOULDER_R" type="hinge" axis="1.0 0.0 0.0" range="0.00872664625997 2.87106661953" />
<inertial pos="0.0 0.0 -0.1" mass="0.6" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="LARM_LINK2_vis_0" type="cylinder" size="0.025 0.025" quat="0.7071054825112363 0.0 0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
<geom name="LARM_LINK2_vis_1" type="box" size="0.025 0.025 0.0815" pos="0.0 0.0 -0.1065" contype="0" conaffinity="0" group="2" />
<body name="LARM_LINK3" pos="0.0 0.0 -0.263">
<joint name="LARM_SHOULDER_Y" type="hinge" axis="0.0 0.0 1.0" range="-1.57079632679 0.785398163397" />
<inertial pos="0.0 0.0 0.0" mass="1.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="LARM_LINK3_vis_0" type="cylinder" size="0.025 0.025" pos="0.0 0.0 0.05" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" contype="0" conaffinity="0" group="2" />
<body name="LARM_LINK4">
<joint name="LARM_ELBOW" type="hinge" axis="0.0 1.0 0.0" range="-2.42600766027 2.42600766027" />
<inertial pos="0.0 0.0 -0.3" mass="0.6" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="LARM_LINK4_vis_0" type="cylinder" size="0.025 0.025" contype="0" conaffinity="0" group="2" material="WAIST_LINK3_APP" />
<geom name="LARM_LINK4_vis_1" type="box" size="0.025 0.025 0.0735" pos="0.0 0.0 -0.0985" contype="0" conaffinity="0" group="2" />
<body name="LARM_LINK5" pos="0.0 0.0 -0.247">
<joint name="LARM_WRIST_Y" type="hinge" axis="0.0 0.0 1.0" range="-2.23402144255 0.00349065850399" />
<inertial pos="0.0 0.0 0.1" mass="0.4" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="LARM_LINK5_vis_0" type="cylinder" size="0.025 0.025" pos="0.0 0.0 0.05" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" contype="0" conaffinity="0" group="2" />
<body name="LARM_LINK6">
<joint name="LARM_WRIST_P" type="hinge" axis="0.0 1.0 0.0" range="-2.51327412287 2.51327412287" />
<inertial pos="-0.1 0.0 0.0" mass="0.4" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="LARM_LINK6_vis_0" type="cylinder" size="0.025 0.025" contype="0" conaffinity="0" group="2" />
<geom name="LARM_LINK6_vis_1" type="cylinder" size="0.025 0.025" quat="0.7071054825112363 0.0 0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
<geom name="LARM_LINK6_vis_2" type="box" size="0.025 0.015 0.0875" pos="0.0 0.03 -0.1125" contype="0" conaffinity="0" group="2" />
<body name="l_wrist">
<joint name="LARM_WRIST_R" type="hinge" axis="1.0 0.0 0.0" range="-1.37008346282 1.37008346282" />
<inertial pos="0.0 0.0 -0.1" mass="0.4" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
<geom name="l_wrist_vis_0" type="box" size="0.025 0.015 0.075" pos="0.0 -0.03 -0.1" contype="0" conaffinity="0" group="2" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base_link" body2="BODY" />
<exclude body1="BODY" body2="RLEG_LINK1" />
<exclude body1="RLEG_LINK1" body2="RLEG_LINK2" />
<exclude body1="RLEG_LINK2" body2="RLEG_LINK3" />
<exclude body1="RLEG_LINK3" body2="RLEG_LINK4" />
<exclude body1="RLEG_LINK4" body2="RLEG_LINK5" />
<exclude body1="RLEG_LINK5" body2="r_ankle" />
<exclude body1="torso" body2="RARM_LINK1" />
<exclude body1="RARM_LINK1" body2="RARM_LINK2" />
<exclude body1="RARM_LINK2" body2="RARM_LINK3" />
<exclude body1="RARM_LINK3" body2="RARM_LINK4" />
<exclude body1="RARM_LINK4" body2="RARM_LINK5" />
<exclude body1="RARM_LINK5" body2="RARM_LINK6" />
<exclude body1="RARM_LINK6" body2="r_wrist" />
<exclude body1="BODY" body2="LLEG_LINK1" />
<exclude body1="LLEG_LINK1" body2="LLEG_LINK2" />
<exclude body1="LLEG_LINK2" body2="LLEG_LINK3" />
<exclude body1="LLEG_LINK3" body2="LLEG_LINK4" />
<exclude body1="LLEG_LINK4" body2="LLEG_LINK5" />
<exclude body1="LLEG_LINK5" body2="l_ankle" />
<exclude body1="torso" body2="LARM_LINK1" />
<exclude body1="LARM_LINK1" body2="LARM_LINK2" />
<exclude body1="LARM_LINK2" body2="LARM_LINK3" />
<exclude body1="LARM_LINK3" body2="LARM_LINK4" />
<exclude body1="LARM_LINK4" body2="LARM_LINK5" />
<exclude body1="LARM_LINK5" body2="LARM_LINK6" />
<exclude body1="LARM_LINK6" body2="l_wrist" />
<exclude body1="BODY" body2="WAIST_LINK1" />
<exclude body1="WAIST_LINK1" body2="WAIST_LINK2" />
<exclude body1="WAIST_LINK2" body2="torso" />
</contact>
</mujoco>
Import report
Counts
| Links | 31 |
|---|---|
| Joints | 30 |
| Moving joints | 29 |
| Visuals | 49 |
| Collisions | 0 |
| Materials | 3 |
Meshes
Formats: none (primitive shapes).
Asset size: 0.0 MB.
Dropped on import
Nothing dropped: every tag in the original is carried.
Forward-kinematics check
Forward kinematics of 31 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 · 4.0e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 29).
Source & licence
| Repository | https://github.com/laas/simple_humanoid_description |
|---|---|
| Commit | 4e859aed7df3c29954c9cca2a1ecb94069f7cfce |
| Original file | urdf/simple_humanoid.urdf |
| Licence | BSD-2-Clause · the upstream LICENSE file |
| Files | robot.urdf · robot.xml |
Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.