Solo
ODRI · licence BSD-3-Clause · source: github.com/Gepetto/example-robot-data @ d0d9098d7
What you are looking at is RobotDescription.from_urdf(original).to_urdf_string(): the reference implementation's re-serialisation of the original file, not the original file itself.
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robot.urdf
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content b05c8a143289b71f -->
<robot name="solo">
<material name="grey">
<color rgba="0.8 0.8 0.8 1.0" />
</material>
<link name="base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/solo12/solo_12_base.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/solo12/solo_12_base.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1.16115091" />
<inertia ixx="0.00578574" ixy="0.0" ixz="0.0" iyy="0.01938108" iyz="0.0" izz="0.02476124" />
</inertial>
</link>
<joint name="FL_HAA" type="revolute">
<origin xyz="0.1946 0.0875 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="FL_SHOULDER" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FL_SHOULDER">
<visual>
<origin xyz="0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_fl.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_fl.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.078707 0.01 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.14853845" />
<inertia ixx="3.024e-05" ixy="4.671e-05" ixz="0.0" iyy="0.00041193" iyz="0.0" izz="0.00041107" />
</inertial>
</link>
<joint name="FL_HFE" type="revolute">
<origin xyz="0.0 0.014 0.0" rpy="0.0 0.0 0.0" />
<parent link="FL_SHOULDER" />
<child link="FL_UPPER_LEG" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FL_UPPER_LEG">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_upper_leg_left_side.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_upper_leg_left_side.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="1.377e-05 0.01935853 -0.078707" rpy="0.0 0.0 0.0" />
<mass value="0.14853845" />
<inertia ixx="0.00041107" ixy="0.0" ixz="0.0" iyy="0.00041193" iyz="4.671e-05" izz="3.024e-05" />
</inertial>
</link>
<joint name="FL_KFE" type="revolute">
<origin xyz="0.0 0.03745 -0.16" rpy="0.0 0.0 0.0" />
<parent link="FL_UPPER_LEG" />
<child link="FL_LOWER_LEG" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FL_LOWER_LEG">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_lower_leg_left_side.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_lower_leg_left_side.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.00787644 -0.08928215" rpy="0.0 0.0 0.0" />
<mass value="0.03070001" />
<inertia ixx="0.00012024" ixy="0.0" ixz="0.0" iyy="0.00012029" iyz="3.05e-06" izz="2.16e-06" />
</inertial>
</link>
<joint name="FL_ANKLE" type="fixed">
<origin xyz="0.0 0.008 -0.16" rpy="0.0 0.0 0.0" />
<parent link="FL_LOWER_LEG" />
<child link="FL_FOOT" />
</joint>
<link name="FL_FOOT">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_foot.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_foot.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.00035767" rpy="0.0 0.0 0.0" />
<mass value="0.00693606" />
<inertia ixx="5.7e-07" ixy="0.0" ixz="0.0" iyy="8.4e-07" iyz="0.0" izz="5.3e-07" />
</inertial>
</link>
<joint name="FR_HAA" type="revolute">
<origin xyz="0.1946 -0.0875 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="FR_SHOULDER" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FR_SHOULDER">
<visual>
<origin xyz="0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_fr.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_fr.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.078707 -0.01 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.14853845" />
<inertia ixx="3.024e-05" ixy="-4.671e-05" ixz="0.0" iyy="0.00041193" iyz="0.0" izz="0.00041107" />
</inertial>
</link>
<joint name="FR_HFE" type="revolute">
<origin xyz="0.0 -0.014 0.0" rpy="0.0 0.0 0.0" />
<parent link="FR_SHOULDER" />
<child link="FR_UPPER_LEG" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FR_UPPER_LEG">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_upper_leg_right_side.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_upper_leg_right_side.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-1.377e-05 -0.01935853 -0.078707" rpy="0.0 0.0 0.0" />
<mass value="0.14853845" />
<inertia ixx="0.00041107" ixy="0.0" ixz="0.0" iyy="0.00041193" iyz="-4.671e-05" izz="3.024e-05" />
</inertial>
</link>
<joint name="FR_KFE" type="revolute">
<origin xyz="0.0 -0.03745 -0.16" rpy="0.0 0.0 0.0" />
<parent link="FR_UPPER_LEG" />
<child link="FR_LOWER_LEG" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="FR_LOWER_LEG">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_lower_leg_right_side.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_lower_leg_right_side.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.00787644 -0.08928215" rpy="0.0 0.0 0.0" />
<mass value="0.03070001" />
<inertia ixx="0.00012024" ixy="0.0" ixz="0.0" iyy="0.00012029" iyz="-3.05e-06" izz="2.16e-06" />
</inertial>
</link>
<joint name="FR_ANKLE" type="fixed">
<origin xyz="0.0 -0.008 -0.16" rpy="0.0 0.0 0.0" />
<parent link="FR_LOWER_LEG" />
<child link="FR_FOOT" />
</joint>
<link name="FR_FOOT">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_foot.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_foot.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.00035767" rpy="0.0 0.0 0.0" />
<mass value="0.00693606" />
<inertia ixx="5.7e-07" ixy="0.0" ixz="0.0" iyy="8.4e-07" iyz="0.0" izz="5.3e-07" />
</inertial>
</link>
<joint name="HL_HAA" type="revolute">
<origin xyz="-0.1946 0.0875 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="HL_SHOULDER" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="HL_SHOULDER">
<visual>
<origin xyz="-0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_hl.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="-0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_hl.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.078707 0.01 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.14853845" />
<inertia ixx="3.024e-05" ixy="4.671e-05" ixz="0.0" iyy="0.00041193" iyz="0.0" izz="0.00041107" />
</inertial>
</link>
<joint name="HL_HFE" type="revolute">
<origin xyz="0.0 0.014 0.0" rpy="0.0 0.0 0.0" />
<parent link="HL_SHOULDER" />
<child link="HL_UPPER_LEG" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="HL_UPPER_LEG">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_upper_leg_left_side.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_upper_leg_left_side.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="1.377e-05 0.01935853 -0.078707" rpy="0.0 0.0 0.0" />
<mass value="0.14853845" />
<inertia ixx="0.00041107" ixy="0.0" ixz="0.0" iyy="0.00041193" iyz="4.671e-05" izz="3.024e-05" />
</inertial>
</link>
<joint name="HL_KFE" type="revolute">
<origin xyz="0.0 0.03745 -0.16" rpy="0.0 0.0 0.0" />
<parent link="HL_UPPER_LEG" />
<child link="HL_LOWER_LEG" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="HL_LOWER_LEG">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_lower_leg_left_side.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_lower_leg_left_side.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.00787644 -0.08928215" rpy="0.0 0.0 0.0" />
<mass value="0.03070001" />
<inertia ixx="0.00012024" ixy="0.0" ixz="0.0" iyy="0.00012029" iyz="3.05e-06" izz="2.16e-06" />
</inertial>
</link>
<joint name="HL_ANKLE" type="fixed">
<origin xyz="0.0 0.008 -0.16" rpy="0.0 0.0 0.0" />
<parent link="HL_LOWER_LEG" />
<child link="HL_FOOT" />
</joint>
<link name="HL_FOOT">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_foot.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_foot.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.00035767" rpy="0.0 0.0 0.0" />
<mass value="0.00693606" />
<inertia ixx="5.7e-07" ixy="0.0" ixz="0.0" iyy="8.4e-07" iyz="0.0" izz="5.3e-07" />
</inertial>
</link>
<joint name="HR_HAA" type="revolute">
<origin xyz="-0.1946 -0.0875 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="HR_SHOULDER" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="HR_SHOULDER">
<visual>
<origin xyz="-0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_hr.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="-0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_hr.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.078707 -0.01 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.14853845" />
<inertia ixx="3.024e-05" ixy="-4.671e-05" ixz="0.0" iyy="0.00041193" iyz="0.0" izz="0.00041107" />
</inertial>
</link>
<joint name="HR_HFE" type="revolute">
<origin xyz="0.0 -0.014 0.0" rpy="0.0 0.0 0.0" />
<parent link="HR_SHOULDER" />
<child link="HR_UPPER_LEG" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="HR_UPPER_LEG">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_upper_leg_right_side.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_upper_leg_right_side.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-1.377e-05 -0.01935853 -0.078707" rpy="0.0 0.0 0.0" />
<mass value="0.14853845" />
<inertia ixx="0.00041107" ixy="0.0" ixz="0.0" iyy="0.00041193" iyz="-4.671e-05" izz="3.024e-05" />
</inertial>
</link>
<joint name="HR_KFE" type="revolute">
<origin xyz="0.0 -0.03745 -0.16" rpy="0.0 0.0 0.0" />
<parent link="HR_UPPER_LEG" />
<child link="HR_LOWER_LEG" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="HR_LOWER_LEG">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_lower_leg_right_side.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_lower_leg_right_side.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.00787644 -0.08928215" rpy="0.0 0.0 0.0" />
<mass value="0.03070001" />
<inertia ixx="0.00012024" ixy="0.0" ixz="0.0" iyy="0.00012029" iyz="-3.05e-06" izz="2.16e-06" />
</inertial>
</link>
<joint name="HR_ANKLE" type="fixed">
<origin xyz="0.0 -0.008 -0.16" rpy="0.0 0.0 0.0" />
<parent link="HR_LOWER_LEG" />
<child link="HR_FOOT" />
</joint>
<link name="HR_FOOT">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_foot.stl" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_foot.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.00035767" rpy="0.0 0.0 0.0" />
<mass value="0.00693606" />
<inertia ixx="5.7e-07" ixy="0.0" ixz="0.0" iyy="8.4e-07" iyz="0.0" izz="5.3e-07" />
</inertial>
</link>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content b05c8a143289b71f -->
<mujoco model="solo">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="grey" rgba="0.8 0.8 0.8 1.0" />
<mesh name="solo_12_base" file="example-robot-data/robots/solo_description/meshes/stl/solo12/solo_12_base.stl" />
<mesh name="solo12_hip_fe_fl" file="example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_fl.stl" />
<mesh name="solo_upper_leg_left_side" file="example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_upper_leg_left_side.stl" />
<mesh name="solo_lower_leg_left_side" file="example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_lower_leg_left_side.stl" />
<mesh name="solo_foot" file="example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_foot.stl" />
<mesh name="solo12_hip_fe_fr" file="example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_fr.stl" />
<mesh name="solo_upper_leg_right_side" file="example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_upper_leg_right_side.stl" />
<mesh name="solo_lower_leg_right_side" file="example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_lower_leg_right_side.stl" />
<mesh name="solo12_hip_fe_hl" file="example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_hl.stl" />
<mesh name="solo12_hip_fe_hr" file="example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_hr.stl" />
</asset>
<worldbody>
<body name="base_link">
<inertial pos="0.0 0.0 0.0" mass="1.16115091" fullinertia="0.00578574 0.01938108 0.02476124 0.0 0.0 0.0" />
<geom name="base_link_vis_0" type="mesh" mesh="solo_12_base" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="base_link_col_0" type="mesh" mesh="solo_12_base" group="3" />
<body name="FL_SHOULDER" pos="0.1946 0.0875 0.0">
<joint name="FL_HAA" type="hinge" axis="1.0 0.0 0.0" range="-10.0 10.0" />
<inertial pos="-0.078707 0.01 0.0" mass="0.14853845" fullinertia="3.024e-05 0.00041193 0.00041107 4.671e-05 0.0 0.0" />
<geom name="FL_SHOULDER_vis_0" type="mesh" mesh="solo12_hip_fe_fl" pos="0.0195 0.0 0.0" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="FL_SHOULDER_col_0" type="mesh" mesh="solo12_hip_fe_fl" pos="0.0195 0.0 0.0" group="3" />
<body name="FL_UPPER_LEG" pos="0.0 0.014 0.0">
<joint name="FL_HFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
<inertial pos="1.377e-05 0.01935853 -0.078707" mass="0.14853845" fullinertia="0.00041107 0.00041193 3.024e-05 0.0 0.0 4.671e-05" />
<geom name="FL_UPPER_LEG_vis_0" type="mesh" mesh="solo_upper_leg_left_side" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="FL_UPPER_LEG_col_0" type="mesh" mesh="solo_upper_leg_left_side" group="3" />
<body name="FL_LOWER_LEG" pos="0.0 0.03745 -0.16">
<joint name="FL_KFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
<inertial pos="0.0 0.00787644 -0.08928215" mass="0.03070001" fullinertia="0.00012024 0.00012029 2.16e-06 0.0 0.0 3.05e-06" />
<geom name="FL_LOWER_LEG_vis_0" type="mesh" mesh="solo_lower_leg_left_side" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="FL_LOWER_LEG_col_0" type="mesh" mesh="solo_lower_leg_left_side" group="3" />
<body name="FL_FOOT" pos="0.0 0.008 -0.16">
<inertial pos="0.0 0.0 0.00035767" mass="0.00693606" fullinertia="5.7e-07 8.4e-07 5.3e-07 0.0 0.0 0.0" />
<geom name="FL_FOOT_vis_0" type="mesh" mesh="solo_foot" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="FL_FOOT_col_0" type="mesh" mesh="solo_foot" group="3" />
</body>
</body>
</body>
</body>
<body name="FR_SHOULDER" pos="0.1946 -0.0875 0.0">
<joint name="FR_HAA" type="hinge" axis="1.0 0.0 0.0" range="-10.0 10.0" />
<inertial pos="-0.078707 -0.01 0.0" mass="0.14853845" fullinertia="3.024e-05 0.00041193 0.00041107 -4.671e-05 0.0 0.0" />
<geom name="FR_SHOULDER_vis_0" type="mesh" mesh="solo12_hip_fe_fr" pos="0.0195 0.0 0.0" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="FR_SHOULDER_col_0" type="mesh" mesh="solo12_hip_fe_fr" pos="0.0195 0.0 0.0" group="3" />
<body name="FR_UPPER_LEG" pos="0.0 -0.014 0.0">
<joint name="FR_HFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
<inertial pos="-1.377e-05 -0.01935853 -0.078707" mass="0.14853845" fullinertia="0.00041107 0.00041193 3.024e-05 0.0 0.0 -4.671e-05" />
<geom name="FR_UPPER_LEG_vis_0" type="mesh" mesh="solo_upper_leg_right_side" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="FR_UPPER_LEG_col_0" type="mesh" mesh="solo_upper_leg_right_side" group="3" />
<body name="FR_LOWER_LEG" pos="0.0 -0.03745 -0.16">
<joint name="FR_KFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
<inertial pos="0.0 0.00787644 -0.08928215" mass="0.03070001" fullinertia="0.00012024 0.00012029 2.16e-06 0.0 0.0 -3.05e-06" />
<geom name="FR_LOWER_LEG_vis_0" type="mesh" mesh="solo_lower_leg_right_side" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="FR_LOWER_LEG_col_0" type="mesh" mesh="solo_lower_leg_right_side" group="3" />
<body name="FR_FOOT" pos="0.0 -0.008 -0.16">
<inertial pos="0.0 0.0 0.00035767" mass="0.00693606" fullinertia="5.7e-07 8.4e-07 5.3e-07 0.0 0.0 0.0" />
<geom name="FR_FOOT_vis_0" type="mesh" mesh="solo_foot" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="FR_FOOT_col_0" type="mesh" mesh="solo_foot" group="3" />
</body>
</body>
</body>
</body>
<body name="HL_SHOULDER" pos="-0.1946 0.0875 0.0">
<joint name="HL_HAA" type="hinge" axis="1.0 0.0 0.0" range="-10.0 10.0" />
<inertial pos="0.078707 0.01 0.0" mass="0.14853845" fullinertia="3.024e-05 0.00041193 0.00041107 4.671e-05 0.0 0.0" />
<geom name="HL_SHOULDER_vis_0" type="mesh" mesh="solo12_hip_fe_hl" pos="-0.0195 0.0 0.0" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="HL_SHOULDER_col_0" type="mesh" mesh="solo12_hip_fe_hl" pos="-0.0195 0.0 0.0" group="3" />
<body name="HL_UPPER_LEG" pos="0.0 0.014 0.0">
<joint name="HL_HFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
<inertial pos="1.377e-05 0.01935853 -0.078707" mass="0.14853845" fullinertia="0.00041107 0.00041193 3.024e-05 0.0 0.0 4.671e-05" />
<geom name="HL_UPPER_LEG_vis_0" type="mesh" mesh="solo_upper_leg_left_side" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="HL_UPPER_LEG_col_0" type="mesh" mesh="solo_upper_leg_left_side" group="3" />
<body name="HL_LOWER_LEG" pos="0.0 0.03745 -0.16">
<joint name="HL_KFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
<inertial pos="0.0 0.00787644 -0.08928215" mass="0.03070001" fullinertia="0.00012024 0.00012029 2.16e-06 0.0 0.0 3.05e-06" />
<geom name="HL_LOWER_LEG_vis_0" type="mesh" mesh="solo_lower_leg_left_side" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="HL_LOWER_LEG_col_0" type="mesh" mesh="solo_lower_leg_left_side" group="3" />
<body name="HL_FOOT" pos="0.0 0.008 -0.16">
<inertial pos="0.0 0.0 0.00035767" mass="0.00693606" fullinertia="5.7e-07 8.4e-07 5.3e-07 0.0 0.0 0.0" />
<geom name="HL_FOOT_vis_0" type="mesh" mesh="solo_foot" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="HL_FOOT_col_0" type="mesh" mesh="solo_foot" group="3" />
</body>
</body>
</body>
</body>
<body name="HR_SHOULDER" pos="-0.1946 -0.0875 0.0">
<joint name="HR_HAA" type="hinge" axis="1.0 0.0 0.0" range="-10.0 10.0" />
<inertial pos="0.078707 -0.01 0.0" mass="0.14853845" fullinertia="3.024e-05 0.00041193 0.00041107 -4.671e-05 0.0 0.0" />
<geom name="HR_SHOULDER_vis_0" type="mesh" mesh="solo12_hip_fe_hr" pos="-0.0195 0.0 0.0" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="HR_SHOULDER_col_0" type="mesh" mesh="solo12_hip_fe_hr" pos="-0.0195 0.0 0.0" group="3" />
<body name="HR_UPPER_LEG" pos="0.0 -0.014 0.0">
<joint name="HR_HFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
<inertial pos="-1.377e-05 -0.01935853 -0.078707" mass="0.14853845" fullinertia="0.00041107 0.00041193 3.024e-05 0.0 0.0 -4.671e-05" />
<geom name="HR_UPPER_LEG_vis_0" type="mesh" mesh="solo_upper_leg_right_side" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="HR_UPPER_LEG_col_0" type="mesh" mesh="solo_upper_leg_right_side" group="3" />
<body name="HR_LOWER_LEG" pos="0.0 -0.03745 -0.16">
<joint name="HR_KFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
<inertial pos="0.0 0.00787644 -0.08928215" mass="0.03070001" fullinertia="0.00012024 0.00012029 2.16e-06 0.0 0.0 -3.05e-06" />
<geom name="HR_LOWER_LEG_vis_0" type="mesh" mesh="solo_lower_leg_right_side" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="HR_LOWER_LEG_col_0" type="mesh" mesh="solo_lower_leg_right_side" group="3" />
<body name="HR_FOOT" pos="0.0 -0.008 -0.16">
<inertial pos="0.0 0.0 0.00035767" mass="0.00693606" fullinertia="5.7e-07 8.4e-07 5.3e-07 0.0 0.0 0.0" />
<geom name="HR_FOOT_vis_0" type="mesh" mesh="solo_foot" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="HR_FOOT_col_0" type="mesh" mesh="solo_foot" group="3" />
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base_link" body2="FL_SHOULDER" />
<exclude body1="FL_SHOULDER" body2="FL_UPPER_LEG" />
<exclude body1="FL_UPPER_LEG" body2="FL_LOWER_LEG" />
<exclude body1="FL_LOWER_LEG" body2="FL_FOOT" />
<exclude body1="base_link" body2="FR_SHOULDER" />
<exclude body1="FR_SHOULDER" body2="FR_UPPER_LEG" />
<exclude body1="FR_UPPER_LEG" body2="FR_LOWER_LEG" />
<exclude body1="FR_LOWER_LEG" body2="FR_FOOT" />
<exclude body1="base_link" body2="HL_SHOULDER" />
<exclude body1="HL_SHOULDER" body2="HL_UPPER_LEG" />
<exclude body1="HL_UPPER_LEG" body2="HL_LOWER_LEG" />
<exclude body1="HL_LOWER_LEG" body2="HL_FOOT" />
<exclude body1="base_link" body2="HR_SHOULDER" />
<exclude body1="HR_SHOULDER" body2="HR_UPPER_LEG" />
<exclude body1="HR_UPPER_LEG" body2="HR_LOWER_LEG" />
<exclude body1="HR_LOWER_LEG" body2="HR_FOOT" />
</contact>
</mujoco>
Import report
Counts
| Links | 17 |
|---|---|
| Joints | 16 |
| Moving joints | 12 |
| Visuals | 17 |
| Collisions | 17 |
| Materials | 1 |
Meshes
Formats: stl.
Asset size: 1.5 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
contact | 13 | <contact> is not part of the URDF subset RobotDescription mirrors |
dynamics | 4 | fixed joints carry no <dynamics>; URDF ignores it too |
limit | 4 | fixed joints carry no <limit>; URDF ignores it too |
material | 17 | <material> is not part of the URDF subset RobotDescription mirrors |
Forward-kinematics check
Forward kinematics of 17 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 · 2.0e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 12).
Source & licence
| Repository | https://github.com/Gepetto/example-robot-data |
|---|---|
| Commit | d0d9098d752014aec3725b07766962acf06c5418 |
| Original file | robots/solo_description/robots/solo12.urdf |
| Licence | BSD-3-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.