Valkyrie
NASA JSC Robotics · licence NASA-1.3 · source: github.com/gkjohnson/nasa-urdf-robots @ 54cdeb1db
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 47d047bed9a37990 -->
<robot name="valkyrie">
<link name="head">
<collision>
<origin xyz="-0.0503 0.0 -0.00195" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1311 0.12 0.0591" />
</geometry>
</collision>
<collision>
<origin xyz="-0.093 0.0 0.0868" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0468 0.12 0.1184" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.075493 3.3383e-05 0.02774" rpy="0.0 0.0 0.0" />
<mass value="1.41984" />
<inertia ixx="0.0039688" ixy="-1.5797e-06" ixz="-0.00089293" iyy="0.0041178" iyz="-6.8415e-07" izz="0.0035243" />
</inertial>
</link>
<link name="hokuyo_link">
<visual>
<origin xyz="0.045 -0.0261018277 -0.08342369" rpy="-0.314 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/multisense/head_camera.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.01885 0.0 -0.02119" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.08 0.06 0.04238" />
</geometry>
</collision>
<collision>
<origin xyz="0.03 0.0 0.0235" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.047" radius="0.024425" />
</geometry>
</collision>
<inertial>
<origin xyz="0.032428 0.0004084 -0.0041835" rpy="0.0 0.0 0.0" />
<mass value="0.057654" />
<inertia ixx="3.7174e-05" ixy="4.9927e-08" ixz="1.1015e-05" iyy="4.2412e-05" iyz="-9.8165e-09" izz="4.167e-05" />
</inertial>
</link>
<joint name="hokuyo_joint" type="continuous">
<origin xyz="-0.0446 0.0 0.088" rpy="0.0 0.0 0.0" />
<parent link="head" />
<child link="hokuyo_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.01" friction="0.0" />
</joint>
<joint name="head_hokuyo_joint" type="fixed">
<origin xyz="0.03 0.0 0.015" rpy="0.0 0.0 0.0" />
<parent link="hokuyo_link" />
<child link="head_hokuyo_frame" />
</joint>
<link name="head_hokuyo_frame">
<inertial>
<origin xyz="0.042428 0.0004084 0.0108165" rpy="0.0 0.0 0.0" />
<mass value="1e-05" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="left_camera_frame_joint" type="fixed">
<origin xyz="0.0 0.035 -0.002" rpy="0.0 0.0 0.0" />
<parent link="head" />
<child link="left_camera_frame" />
</joint>
<link name="left_camera_frame">
<inertial>
<origin xyz="-0.075493 0.035033383 0.02574" />
<mass value="1e-05" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="left_camera_optical_frame_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.5708 0.0 -1.5708" />
<parent link="left_camera_frame" />
<child link="left_camera_optical_frame" />
</joint>
<link name="left_camera_optical_frame" />
<joint name="right_camera_frame_joint" type="fixed">
<origin xyz="0.0 -0.035 -0.002" rpy="0.0 0.0 0.0" />
<parent link="head" />
<child link="right_camera_frame" />
</joint>
<link name="right_camera_frame">
<inertial>
<origin xyz="-0.075493 -0.034966617 0.02574" />
<mass value="1e-05" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="right_camera_optical_frame_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.5708 0.0 -1.5708" />
<parent link="right_camera_frame" />
<child link="right_camera_optical_frame" />
</joint>
<link name="right_camera_optical_frame" />
<joint name="center_top_led_frame_joint" type="fixed">
<origin xyz="0.01125 0.0 0.0105" rpy="0.0 0.0 0.0" />
<parent link="head" />
<child link="center_top_led_frame" />
</joint>
<link name="center_top_led_frame">
<inertial>
<origin xyz="-0.064243 3.3383e-05 0.03824" rpy="0.0 0.0 0.0" />
<mass value="1e-05" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="center_bottom_led_frame_joint" type="fixed">
<origin xyz="0.01125 0.0 -0.0155" rpy="0.0 0.0 0.0" />
<parent link="head" />
<child link="center_bottom_led_frame" />
</joint>
<link name="center_bottom_led_frame">
<inertial>
<origin xyz="-0.064243 3.3383e-05 0.01224" rpy="0.0 0.0 0.0" />
<mass value="1e-05" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="left_led_frame_joint" type="fixed">
<origin xyz="-0.01443 0.07452 0.050346" rpy="0.0 -0.15 0.53" />
<parent link="head" />
<child link="left_led_frame" />
</joint>
<link name="left_led_frame">
<inertial>
<origin xyz="-0.089923 0.074553383 0.078086" rpy="0.0 -0.15 0.53" />
<mass value="1e-05" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="right_led_frame_joint" type="fixed">
<origin xyz="-0.01443 -0.07452 0.050346" rpy="0.0 -0.15 -0.53" />
<parent link="head" />
<child link="right_led_frame" />
</joint>
<link name="right_led_frame">
<inertial>
<origin xyz="-0.089923 -0.074486617 0.07908" rpy="0.0 -0.15 -0.53" />
<mass value="1e-05" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<link name="head_imu_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.122993 0.035033383 0.02774" rpy="0.0 0.0 0.0" />
<mass value="1e-05" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="head_imu_joint" type="fixed">
<origin xyz="-0.0475 0.035 0.0" rpy="0.0 0.0 0.0" />
<parent link="head" />
<child link="head_imu_link" />
</joint>
<link name="pelvis">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/pelvis/pelvis.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/pelvis/pelvis.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00532 -0.003512 -0.0036" rpy="0.0 0.0 0.0" />
<mass value="8.22" />
<inertia ixx="0.11866378" ixy="-0.000143482" ixz="0.003271293" iyy="0.097963425" iyz="0.002159545" izz="0.083854638" />
</inertial>
</link>
<link name="torsoYawLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/torso/torsoyaw.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/torso/torsoyaw.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.01" rpy="0.0 0.0 0.0" />
<mass value="0.5" />
<inertia ixx="0.000608427" ixy="-1.172e-06" ixz="1.647e-06" iyy="0.000620328" iyz="-2.33e-07" izz="0.001078108" />
</inertial>
</link>
<link name="torsoPitchLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/torso/torsopitch.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/torso/torsopitch.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.005" rpy="0.0 0.0 0.0" />
<mass value="0.1" />
<inertia ixx="3.032e-05" ixy="0.0" ixz="-1.145e-06" iyy="2.1274e-05" iyz="0.0" izz="2.8285e-05" />
</inertial>
</link>
<link name="torso">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/torso/torso.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/torso/torso.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.095548 -0.003337 0.243098" rpy="0.0 0.0 0.0" />
<mass value="39.47" />
<inertia ixx="0.87326933" ixy="9.9563e-05" ixz="0.061345211" iyy="1.0108485" iyz="0.00181849" izz="0.77839801" />
</inertial>
</link>
<joint name="torsoYaw" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="pelvis" />
<child link="torsoYawLink" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="190.0" velocity="5.89" lower="-1.329" upper="1.181" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="torsoPitch" type="revolute">
<origin xyz="0.04191 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="torsoYawLink" />
<child link="torsoPitchLink" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="150.0" velocity="9.0" lower="-0.13" upper="0.666" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="torsoRoll" type="revolute">
<origin xyz="0.0 0.0 0.0203" rpy="0.0 0.0 0.0" />
<parent link="torsoPitchLink" />
<child link="torso" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="150.0" velocity="9.0" lower="-0.23" upper="0.255" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<link name="lowerNeckPitchLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/head/neckj1.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/head/neckj1.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.02 0.0 0.04" rpy="0.0 0.0 0.0" />
<mass value="1.05" />
<inertia ixx="0.001470716" ixy="-0.000126021" ixz="0.000632521" iyy="0.001851919" iyz="0.000243012" izz="0.000832117" />
</inertial>
</link>
<link name="neckYawLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/head/neckj2.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/head/neckj2.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.03 -0.01 0.15" rpy="0.0 0.0 0.0" />
<mass value="1.4" />
<inertia ixx="0.001997698" ixy="-0.000180062" ixz="0.000723677" iyy="0.002919928" iyz="0.000246467" izz="0.002119751" />
</inertial>
</link>
<link name="upperNeckPitchLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/head/head_multisense_no_visor.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/head/head_multisense_no_visor.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.100912 0.005783 0.034787" rpy="0.0 0.0 0.0" />
<mass value="3.89" />
<inertia ixx="0.039847525" ixy="-0.000470418" ixz="-0.002829842" iyy="0.041418564" iyz="-0.000782564" izz="0.036841236" />
</inertial>
</link>
<joint name="lowerNeckPitch" type="revolute">
<origin xyz="0.0203518 0.0 0.33845" rpy="0.0 0.0 0.0" />
<parent link="torso" />
<child link="lowerNeckPitchLink" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="26.0" velocity="5.0" lower="0.0" upper="1.162" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="neckYaw" type="revolute">
<origin xyz="-0.051924 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="lowerNeckPitchLink" />
<child link="neckYawLink" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="26.0" velocity="5.0" lower="-1.04719755" upper="1.04719755" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="upperNeckPitch" type="revolute">
<origin xyz="-0.06 0.0 0.195997" rpy="0.0 0.0 0.0" />
<parent link="neckYawLink" />
<child link="upperNeckPitchLink" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="26.0" velocity="5.0" lower="-0.872" upper="0.0" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<link name="rightShoulderPitchLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj1_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj1_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.012 -0.251 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.65" />
<inertia ixx="0.013718167" ixy="0.0" ixz="0.0" iyy="0.010502833" iyz="0.0" izz="0.014806433" />
</inertial>
</link>
<link name="rightShoulderRollLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj2_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj2_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.008513 -0.02068 -0.001088" rpy="0.0 0.0 0.0" />
<mass value="3.97" />
<inertia ixx="0.014598842" ixy="-0.00066764" ixz="3.629e-05" iyy="0.006452136" iyz="8.283e-05" izz="0.016848319" />
</inertial>
</link>
<link name="rightShoulderYawLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj3_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj3_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.004304 -0.209832 -0.007295" rpy="0.0 0.0 0.0" />
<mass value="3.085" />
<inertia ixx="0.039355177" ixy="0.007827077" ixz="0.000753947" iyy="0.004905765" iyz="-0.002723873" izz="0.041879481" />
</inertial>
</link>
<link name="rightElbowPitchLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj4_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj4_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.020344 -0.014722 -0.0223" rpy="0.0 0.0 0.0" />
<mass value="1.83" />
<inertia ixx="0.003314516" ixy="-0.000535099" ixz="-0.000728077" iyy="0.003505669" iyz="-0.000423865" izz="0.003011283" />
</inertial>
</link>
<joint name="rightShoulderPitch" type="revolute">
<origin xyz="-0.0316 0.0 0.2984" rpy="0.0 0.0 0.0" />
<parent link="torso" />
<child link="rightShoulderPitchLink" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="190.0" velocity="5.89" lower="-2.85" upper="2.0" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="rightShoulderRoll" type="revolute">
<origin xyz="0.0 -0.2499 0.0" rpy="0.0 0.0 0.0" />
<parent link="rightShoulderPitchLink" />
<child link="rightShoulderRollLink" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="190.0" velocity="5.89" lower="-1.266" upper="1.519" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="rightShoulderYaw" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="rightShoulderRollLink" />
<child link="rightShoulderYawLink" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="65.0" velocity="11.5" lower="-3.1" upper="2.18" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="rightElbowPitch" type="revolute">
<origin xyz="0.0254 -0.33 0.0" rpy="0.0 0.0 0.0" />
<parent link="rightShoulderYawLink" />
<child link="rightElbowPitchLink" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="65.0" velocity="11.5" lower="-0.12" upper="2.174" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<link name="rightForearmLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj5_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj5_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.015 -0.13 0.019564" rpy="0.0 0.0 0.0" />
<mass value="2.476" />
<inertia ixx="0.01175543" ixy="-0.001300853" ixz="-0.000727141" iyy="0.005071567" iyz="-0.001695416" izz="0.011365657" />
</inertial>
</link>
<link name="rightWristRollLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj6_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj6_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.14" />
<inertia ixx="3.0251e-05" ixy="-1.25e-07" ixz="-3.6e-08" iyy="3.772e-05" iyz="0.0" izz="9.395e-06" />
</inertial>
</link>
<link name="rightPalm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/palm_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/palm_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.002954 -0.052034 -0.000236" rpy="0.0 0.0 0.0" />
<mass value="0.712" />
<inertia ixx="0.000943493" ixy="3.4393e-05" ixz="-3.8828e-05" iyy="0.000711024" iyz="2.3429e-05" izz="0.000610199" />
</inertial>
</link>
<joint name="rightForearmYaw" type="revolute">
<origin xyz="-0.0254 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="rightElbowPitchLink" />
<child link="rightForearmLink" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="26.0" velocity="5.0" lower="-2.019" upper="3.14" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="rightWristRoll" type="revolute">
<origin xyz="0.0 -0.2871 0.0" rpy="0.0 0.0 0.0" />
<parent link="rightForearmLink" />
<child link="rightWristRollLink" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="14.0" velocity="1.0" lower="-0.625" upper="0.62" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="rightWristPitch" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="rightWristRollLink" />
<child link="rightPalm" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="14.0" velocity="1.0" lower="-0.49" upper="0.36" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<link name="rightThumbRollLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/thumbj1_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/thumbj1_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.0 0.01" rpy="0.0 0.0 0.0" />
<mass value="0.017" />
<inertia ixx="2.7778767e-06" ixy="5.6718533e-09" ixz="-9.5523207e-08" iyy="3.5462642e-06" iyz="3.663718e-08" izz="1.3553297e-06" />
</inertial>
</link>
<link name="rightThumbPitch1Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/thumbj2_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/thumbj2_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.005 0.02" rpy="0.0 0.0 0.0" />
<mass value="0.02" />
<inertia ixx="4.239e-06" ixy="0.0" ixz="-0.0" iyy="4.582e-06" iyz="0.0" izz="1.47e-06" />
</inertial>
</link>
<link name="rightThumbPitch2Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/thumbj3_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/thumbj3_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.004 0.017" rpy="0.0 0.0 0.0" />
<mass value="0.013" />
<inertia ixx="1.266e-06" ixy="0.0" ixz="-0.0" iyy="1.503e-06" iyz="-0.0" izz="6.99e-07" />
</inertial>
</link>
<link name="rightThumbPitch3Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/thumbj4_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/thumbj4_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.004 0.01" rpy="0.0 0.0 0.0" />
<mass value="0.006" />
<inertia ixx="3.22e-07" ixy="0.0" ixz="0.0" iyy="4.06e-07" iyz="0.0" izz="2.1e-07" />
</inertial>
</link>
<joint name="rightThumbRoll" type="revolute">
<origin xyz="0.0049 -0.0351 0.0228" rpy="0.3491 0.0 0.0" />
<parent link="rightPalm" />
<child link="rightThumbRollLink" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="10.0" velocity="1.0" lower="0.0" upper="2.356" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<joint name="rightThumbPitch1" type="revolute">
<origin xyz="0.0 0.0 0.0229" rpy="-0.3491 0.0 0.0" />
<parent link="rightThumbRollLink" />
<child link="rightThumbPitch1Link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="10.0" velocity="1.0" lower="0.0" upper="1.658" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<joint name="rightThumbPitch2" type="revolute">
<origin xyz="0.0 -0.0066 0.0375" rpy="0.0 0.0 0.0" />
<parent link="rightThumbPitch1Link" />
<child link="rightThumbPitch2Link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="10.0" velocity="1.0" lower="0.0" upper="1.92" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<joint name="rightThumbPitch3" type="revolute">
<origin xyz="0.0 -0.0049 0.0275" rpy="0.0 0.0 0.0" />
<parent link="rightThumbPitch2Link" />
<child link="rightThumbPitch3Link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="10.0" velocity="1.0" lower="0.0" upper="1.57" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<link name="rightIndexFingerPitch1Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/indexj1_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/indexj1_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.02 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.02" />
<inertia ixx="4.232e-06" ixy="-6e-08" ixz="-8e-09" iyy="1.215e-06" iyz="-7e-09" izz="3.892e-06" />
</inertial>
</link>
<link name="rightIndexFingerPitch2Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/indexj2_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/indexj2_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.013 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.018" />
<inertia ixx="1.562e-06" ixy="-1.7e-08" ixz="-1.3e-08" iyy="7.22e-07" iyz="3.1e-08" izz="1.255e-06" />
</inertial>
</link>
<link name="rightIndexFingerPitch3Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/indexj3_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/indexj3_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.01 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="6.02e-07" ixy="-2.4e-08" ixz="0.0" iyy="2.09e-07" iyz="1.7e-08" izz="5.02e-07" />
</inertial>
</link>
<joint name="rightIndexFingerPitch1" type="revolute">
<origin xyz="0.0022 -0.0976 0.0235" rpy="-0.1745 0.0 0.0" />
<parent link="rightPalm" />
<child link="rightIndexFingerPitch1Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="1.0" lower="0.0" upper="1.57" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<joint name="rightIndexFingerPitch2" type="revolute">
<origin xyz="0.0 -0.0381 0.0" rpy="0.0 0.0 0.0" />
<parent link="rightIndexFingerPitch1Link" />
<child link="rightIndexFingerPitch2Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="1.0" lower="0.0" upper="1.658" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<joint name="rightIndexFingerPitch3" type="revolute">
<origin xyz="0.0 -0.0229 0.0" rpy="0.0 0.0 0.0" />
<parent link="rightIndexFingerPitch2Link" />
<child link="rightIndexFingerPitch3Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="1.0" lower="0.0" upper="1.92" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<link name="rightMiddleFingerPitch1Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/middlej1_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/middlej1_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.02 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.02" />
<inertia ixx="5.148e-06" ixy="-4.2e-08" ixz="-1.1e-08" iyy="1.322e-06" iyz="-4e-09" izz="4.592e-06" />
</inertial>
</link>
<link name="rightMiddleFingerPitch2Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/middlej2_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/middlej2_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.013 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.011" />
<inertia ixx="1.97e-06" ixy="3.4e-08" ixz="-1.1e-08" iyy="5.54e-07" iyz="-7.8e-08" izz="2.272e-06" />
</inertial>
</link>
<link name="rightMiddleFingerPitch3Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/middlej3_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/middlej3_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.01 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.006" />
<inertia ixx="3.96e-07" ixy="-9e-09" ixz="-1e-09" iyy="1.6e-07" iyz="1.6e-08" izz="3.03e-07" />
</inertial>
</link>
<joint name="rightMiddleFingerPitch1" type="revolute">
<origin xyz="0.0022 -0.097 -0.0119" rpy="0.1222 0.0 0.0" />
<parent link="rightPalm" />
<child link="rightMiddleFingerPitch1Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="1.0" lower="0.0" upper="1.658" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<joint name="rightMiddleFingerPitch2" type="revolute">
<origin xyz="0.0 -0.0381 0.0" rpy="0.0 0.0 0.0" />
<parent link="rightMiddleFingerPitch1Link" />
<child link="rightMiddleFingerPitch2Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="1.0" lower="0.0" upper="1.92" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<joint name="rightMiddleFingerPitch3" type="revolute">
<origin xyz="0.0 -0.0229 0.0" rpy="0.0 0.0 0.0" />
<parent link="rightMiddleFingerPitch2Link" />
<child link="rightMiddleFingerPitch3Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="1.0" lower="0.0" upper="1.57" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<link name="rightPinkyPitch1Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/pinkyj1_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/pinkyj1_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.02 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.02" />
<inertia ixx="5.148e-06" ixy="-4.2e-08" ixz="-1.1e-08" iyy="1.322e-06" iyz="-4e-09" izz="4.592e-06" />
</inertial>
</link>
<link name="rightPinkyPitch2Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/pinkyj2_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/pinkyj2_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.013 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.011" />
<inertia ixx="1.97e-06" ixy="3.4e-08" ixz="-1.1e-08" iyy="5.54e-07" iyz="-7.8e-08" izz="2.272e-06" />
</inertial>
</link>
<link name="rightPinkyPitch3Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/pinkyj3_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/pinkyj3_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.01 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.006" />
<inertia ixx="3.96e-07" ixy="-9e-09" ixz="-1e-09" iyy="1.6e-07" iyz="1.6e-08" izz="3.03e-07" />
</inertial>
</link>
<joint name="rightPinkyPitch1" type="revolute">
<origin xyz="0.0022 -0.0838 -0.041" rpy="0.1222 0.0 0.0" />
<parent link="rightPalm" />
<child link="rightPinkyPitch1Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="1.0" lower="0.0" upper="1.57" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<joint name="rightPinkyPitch2" type="revolute">
<origin xyz="0.0 -0.0381 0.0" rpy="0.0 0.0 0.0" />
<parent link="rightPinkyPitch1Link" />
<child link="rightPinkyPitch2Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="1.0" lower="0.0" upper="1.658" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<joint name="rightPinkyPitch3" type="revolute">
<origin xyz="0.0 -0.0229 0.0" rpy="0.0 0.0 0.0" />
<parent link="rightPinkyPitch2Link" />
<child link="rightPinkyPitch3Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="1.0" lower="0.0" upper="1.92" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<link name="leftShoulderPitchLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj1_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj1_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.012 0.251 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.65" />
<inertia ixx="0.013718167" ixy="0.0" ixz="0.0" iyy="0.010502833" iyz="0.0" izz="0.014806433" />
</inertial>
</link>
<link name="leftShoulderRollLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj2_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj2_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.008513 0.02068 -0.001088" rpy="0.0 0.0 0.0" />
<mass value="3.97" />
<inertia ixx="0.014598842" ixy="-0.00066764" ixz="-3.629e-05" iyy="0.006452136" iyz="-8.283e-05" izz="0.016848319" />
</inertial>
</link>
<link name="leftShoulderYawLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj3_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj3_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.004304 0.209832 0.007295" rpy="0.0 0.0 0.0" />
<mass value="3.085" />
<inertia ixx="0.039355177" ixy="-0.007827077" ixz="-0.000753947" iyy="0.004905765" iyz="0.002723873" izz="0.041879481" />
</inertial>
</link>
<link name="leftElbowPitchLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj4_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj4_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.020344 0.014722 0.0223" rpy="0.0 0.0 0.0" />
<mass value="1.83" />
<inertia ixx="0.003314516" ixy="0.000535099" ixz="0.000728077" iyy="0.003505669" iyz="-0.000423865" izz="0.003011283" />
</inertial>
</link>
<joint name="leftShoulderPitch" type="revolute">
<origin xyz="-0.0316 0.0 0.2984" rpy="0.0 0.0 0.0" />
<parent link="torso" />
<child link="leftShoulderPitchLink" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="190.0" velocity="5.89" lower="-2.85" upper="2.0" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="leftShoulderRoll" type="revolute">
<origin xyz="0.0 0.2499 0.0" rpy="0.0 0.0 0.0" />
<parent link="leftShoulderPitchLink" />
<child link="leftShoulderRollLink" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="190.0" velocity="5.89" lower="-1.519" upper="1.266" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="leftShoulderYaw" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="leftShoulderRollLink" />
<child link="leftShoulderYawLink" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="65.0" velocity="11.5" lower="-3.1" upper="2.18" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="leftElbowPitch" type="revolute">
<origin xyz="0.0254 0.33 0.0" rpy="0.0 0.0 0.0" />
<parent link="leftShoulderYawLink" />
<child link="leftElbowPitchLink" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="65.0" velocity="11.5" lower="-2.174" upper="0.12" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<link name="leftForearmLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj5_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj5_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.015 0.13 0.019564" rpy="0.0 0.0 0.0" />
<mass value="2.476" />
<inertia ixx="0.01175543" ixy="0.001300853" ixz="-0.000727141" iyy="0.005071567" iyz="0.001695416" izz="0.011365657" />
</inertial>
</link>
<link name="leftWristRollLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj6_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/aj6_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.14" />
<inertia ixx="3.0251e-05" ixy="1.25e-07" ixz="3.6e-08" iyy="3.772e-05" iyz="0.0" izz="9.395e-06" />
</inertial>
</link>
<link name="leftPalm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/palm_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/arms/palm_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.002954 0.052034 -0.000236" rpy="0.0 0.0 0.0" />
<mass value="0.712" />
<inertia ixx="0.000943493" ixy="3.4393e-05" ixz="3.8828e-05" iyy="0.000711024" iyz="-2.3429e-05" izz="0.000610199" />
</inertial>
</link>
<joint name="leftForearmYaw" type="revolute">
<origin xyz="-0.0254 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="leftElbowPitchLink" />
<child link="leftForearmLink" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="26.0" velocity="5.0" lower="-2.019" upper="3.14" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="leftWristRoll" type="revolute">
<origin xyz="0.0 0.2871 0.0" rpy="0.0 0.0 0.0" />
<parent link="leftForearmLink" />
<child link="leftWristRollLink" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="14.0" velocity="1.0" lower="-0.62" upper="0.625" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="leftWristPitch" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="leftWristRollLink" />
<child link="leftPalm" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="14.0" velocity="1.0" lower="-0.36" upper="0.49" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<link name="leftThumbRollLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/thumbj1_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/thumbj1_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.01" rpy="0.0 0.0 0.0" />
<mass value="0.017" />
<inertia ixx="2.7778767e-06" ixy="5.6718533e-09" ixz="9.5523207e-08" iyy="3.5462642e-06" iyz="-3.663718e-08" izz="1.3553297e-06" />
</inertial>
</link>
<link name="leftThumbPitch1Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/thumbj2_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/thumbj2_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.005 0.02" rpy="0.0 0.0 0.0" />
<mass value="0.02" />
<inertia ixx="4.239e-06" ixy="0.0" ixz="0.0" iyy="4.582e-06" iyz="-0.0" izz="1.47e-06" />
</inertial>
</link>
<link name="leftThumbPitch2Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/thumbj3_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/thumbj3_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.004 0.017" rpy="0.0 0.0 0.0" />
<mass value="0.013" />
<inertia ixx="1.266e-06" ixy="0.0" ixz="0.0" iyy="1.503e-06" iyz="0.0" izz="6.99e-07" />
</inertial>
</link>
<link name="leftThumbPitch3Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/thumbj4_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/thumbj4_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.004 0.01" rpy="0.0 0.0 0.0" />
<mass value="0.006" />
<inertia ixx="3.22e-07" ixy="0.0" ixz="0.0" iyy="4.06e-07" iyz="0.0" izz="2.1e-07" />
</inertial>
</link>
<joint name="leftThumbRoll" type="revolute">
<origin xyz="0.0049 0.0351 0.0228" rpy="-0.3491 0.0 0.0" />
<parent link="leftPalm" />
<child link="leftThumbRollLink" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="10.0" velocity="1.0" lower="0.0" upper="2.356" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<joint name="leftThumbPitch1" type="revolute">
<origin xyz="0.0 0.0 0.0229" rpy="0.3491 0.0 0.0" />
<parent link="leftThumbRollLink" />
<child link="leftThumbPitch1Link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="10.0" velocity="1.0" lower="-1.658" upper="-0.0" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<joint name="leftThumbPitch2" type="revolute">
<origin xyz="0.0 0.0066 0.0375" rpy="0.0 0.0 0.0" />
<parent link="leftThumbPitch1Link" />
<child link="leftThumbPitch2Link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="10.0" velocity="1.0" lower="-1.92" upper="-0.0" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<joint name="leftThumbPitch3" type="revolute">
<origin xyz="0.0 0.0049 0.0275" rpy="0.0 0.0 0.0" />
<parent link="leftThumbPitch2Link" />
<child link="leftThumbPitch3Link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="10.0" velocity="1.0" lower="-1.57" upper="-0.0" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<link name="leftIndexFingerPitch1Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/indexj1_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/indexj1_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.02 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.02" />
<inertia ixx="4.232e-06" ixy="6e-08" ixz="8e-09" iyy="1.215e-06" iyz="-7e-09" izz="3.892e-06" />
</inertial>
</link>
<link name="leftIndexFingerPitch2Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/indexj2_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/indexj2_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.013 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.018" />
<inertia ixx="1.562e-06" ixy="1.7e-08" ixz="1.3e-08" iyy="7.22e-07" iyz="3.1e-08" izz="1.255e-06" />
</inertial>
</link>
<link name="leftIndexFingerPitch3Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/indexj3_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/indexj3_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.01 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="6.02e-07" ixy="2.4e-08" ixz="-0.0" iyy="2.09e-07" iyz="1.7e-08" izz="5.02e-07" />
</inertial>
</link>
<joint name="leftIndexFingerPitch1" type="revolute">
<origin xyz="0.0022 0.0976 0.0235" rpy="0.1745 0.0 0.0" />
<parent link="leftPalm" />
<child link="leftIndexFingerPitch1Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="1.0" lower="-1.57" upper="-0.0" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<joint name="leftIndexFingerPitch2" type="revolute">
<origin xyz="0.0 0.0381 0.0" rpy="0.0 0.0 0.0" />
<parent link="leftIndexFingerPitch1Link" />
<child link="leftIndexFingerPitch2Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="1.0" lower="-1.658" upper="-0.0" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<joint name="leftIndexFingerPitch3" type="revolute">
<origin xyz="0.0 0.0229 0.0" rpy="0.0 0.0 0.0" />
<parent link="leftIndexFingerPitch2Link" />
<child link="leftIndexFingerPitch3Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="1.0" lower="-1.92" upper="-0.0" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<link name="leftMiddleFingerPitch1Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/middlej1_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/middlej1_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.02 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.02" />
<inertia ixx="5.148e-06" ixy="4.2e-08" ixz="1.1e-08" iyy="1.322e-06" iyz="-4e-09" izz="4.592e-06" />
</inertial>
</link>
<link name="leftMiddleFingerPitch2Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/middlej2_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/middlej2_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.013 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.011" />
<inertia ixx="1.97e-06" ixy="-3.4e-08" ixz="1.1e-08" iyy="5.54e-07" iyz="-7.8e-08" izz="2.272e-06" />
</inertial>
</link>
<link name="leftMiddleFingerPitch3Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/middlej3_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/middlej3_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.01 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.006" />
<inertia ixx="3.96e-07" ixy="9e-09" ixz="1e-09" iyy="1.6e-07" iyz="1.6e-08" izz="3.03e-07" />
</inertial>
</link>
<joint name="leftMiddleFingerPitch1" type="revolute">
<origin xyz="0.0022 0.097 -0.0119" rpy="-0.1222 0.0 0.0" />
<parent link="leftPalm" />
<child link="leftMiddleFingerPitch1Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="1.0" lower="-1.658" upper="-0.0" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<joint name="leftMiddleFingerPitch2" type="revolute">
<origin xyz="0.0 0.0381 0.0" rpy="0.0 0.0 0.0" />
<parent link="leftMiddleFingerPitch1Link" />
<child link="leftMiddleFingerPitch2Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="1.0" lower="-1.92" upper="-0.0" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<joint name="leftMiddleFingerPitch3" type="revolute">
<origin xyz="0.0 0.0229 0.0" rpy="0.0 0.0 0.0" />
<parent link="leftMiddleFingerPitch2Link" />
<child link="leftMiddleFingerPitch3Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="1.0" lower="-1.57" upper="-0.0" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<link name="leftPinkyPitch1Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/pinkyj1_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/pinkyj1_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.02 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.02" />
<inertia ixx="5.148e-06" ixy="4.2e-08" ixz="1.1e-08" iyy="1.322e-06" iyz="-4e-09" izz="4.592e-06" />
</inertial>
</link>
<link name="leftPinkyPitch2Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/pinkyj2_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/pinkyj2_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.013 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.011" />
<inertia ixx="1.97e-06" ixy="-3.4e-08" ixz="1.1e-08" iyy="5.54e-07" iyz="-7.8e-08" izz="2.272e-06" />
</inertial>
</link>
<link name="leftPinkyPitch3Link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/pinkyj3_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/fingers/pinkyj3_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.01 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.006" />
<inertia ixx="3.96e-07" ixy="9e-09" ixz="1e-09" iyy="1.6e-07" iyz="1.6e-08" izz="3.03e-07" />
</inertial>
</link>
<joint name="leftPinkyPitch1" type="revolute">
<origin xyz="0.0022 0.0838 -0.041" rpy="-0.1222 0.0 0.0" />
<parent link="leftPalm" />
<child link="leftPinkyPitch1Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="1.0" lower="-1.57" upper="-0.0" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<joint name="leftPinkyPitch2" type="revolute">
<origin xyz="0.0 0.0381 0.0" rpy="0.0 0.0 0.0" />
<parent link="leftPinkyPitch1Link" />
<child link="leftPinkyPitch2Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="1.0" lower="-1.658" upper="-0.0" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<joint name="leftPinkyPitch3" type="revolute">
<origin xyz="0.0 0.0229 0.0" rpy="0.0 0.0 0.0" />
<parent link="leftPinkyPitch2Link" />
<child link="leftPinkyPitch3Link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="1.0" lower="-1.92" upper="-0.0" />
<dynamics damping="0.5" friction="0.5" />
</joint>
<link name="rightHipYawLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/legs/lj1_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/legs/lj1_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.02176 0.00131 0.03867" rpy="0.0 0.0 0.0" />
<mass value="2.39" />
<inertia ixx="0.017260978" ixy="0.0" ixz="0.0" iyy="0.014866198" iyz="0.0" izz="0.011238178" />
</inertial>
</link>
<link name="rightHipRollLink">
<inertial>
<origin xyz="0.012959 -0.00755 -0.01595" rpy="0.0 0.0 0.0" />
<mass value="3.665" />
<inertia ixx="0.005978962" ixy="0.000234823" ixz="0.000553962" iyy="0.009372646" iyz="-0.000778956" izz="0.008193117" />
</inertial>
</link>
<link name="rightHipPitchLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/legs/lj3_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/legs/lj3_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.016691 -0.091397 -0.207875" rpy="0.0 0.0 0.0" />
<mass value="10.2" />
<inertia ixx="0.24083413" ixy="-3.5915e-05" ixz="0.003699383" iyy="0.25689705" iyz="0.001333005" izz="0.023276352" />
</inertial>
</link>
<link name="rightKneePitchLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/legs/lj4_right.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/legs/lj4_right.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.022183 0.001703 -0.189418" rpy="0.0 0.0 0.0" />
<mass value="6.2" />
<inertia ixx="0.086935683" ixy="9.929e-05" ixz="0.000573207" iyy="0.091584066" iyz="0.000313745" izz="0.014017272" />
</inertial>
</link>
<link name="rightAnklePitchLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/legs/lj5.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/legs/lj5.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.03" />
<inertia ixx="4.377e-06" ixy="0.0" ixz="0.0" iyy="4.322e-06" iyz="0.0" izz="7.015e-06" />
</inertial>
</link>
<link name="rightFoot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/legs/foot.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.045 0.0 -0.056" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.27 0.16 0.064" />
</geometry>
</collision>
<inertial>
<origin xyz="0.037702 0.005161 -0.047634" rpy="0.0 0.0 0.0" />
<mass value="2.27" />
<inertia ixx="0.00623936" ixy="0.000217174" ixz="0.001340587" iyy="0.017786991" iyz="-0.000187749" izz="0.020774433" />
</inertial>
</link>
<joint name="rightHipYaw" type="revolute">
<origin xyz="0.0 -0.1016 -0.1853" rpy="0.0 0.0 0.0" />
<parent link="pelvis" />
<child link="rightHipYawLink" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="190.0" velocity="5.89" lower="-1.1" upper="0.4141" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="rightHipRoll" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="rightHipYawLink" />
<child link="rightHipRollLink" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="350.0" velocity="7.0" lower="-0.5515" upper="0.467" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="rightHipPitch" type="revolute">
<origin xyz="0.0 0.0 -0.0609" rpy="0.0 0.0 0.0" />
<parent link="rightHipRollLink" />
<child link="rightHipPitchLink" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="350.0" velocity="6.11" lower="-2.42" upper="1.619" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="rightKneePitch" type="revolute">
<origin xyz="0.000112225 -0.0361046 -0.430959" rpy="0.0 0.0 0.0" />
<parent link="rightHipPitchLink" />
<child link="rightKneePitchLink" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="350.0" velocity="6.11" lower="-0.083" upper="2.057" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="rightAnklePitch" type="revolute">
<origin xyz="-0.0102381 0.0 -0.40627" rpy="0.0 0.0 0.0" />
<parent link="rightKneePitchLink" />
<child link="rightAnklePitchLink" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="205.0" velocity="11.0" lower="-0.93" upper="0.65" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="rightAnkleRoll" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="rightAnklePitchLink" />
<child link="rightFoot" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="205.0" velocity="11.0" lower="-0.4" upper="0.4" />
<dynamics damping="0.3" friction="0.0" />
</joint>
<link name="leftHipYawLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/legs/lj1_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/legs/lj1_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.02176 -0.00131 0.03867" rpy="0.0 0.0 0.0" />
<mass value="2.39" />
<inertia ixx="0.017260978" ixy="0.0" ixz="0.0" iyy="0.014866198" iyz="0.0" izz="0.011238178" />
</inertial>
</link>
<link name="leftHipRollLink">
<inertial>
<origin xyz="0.012959 0.00755 -0.01595" rpy="0.0 0.0 0.0" />
<mass value="3.665" />
<inertia ixx="0.005978962" ixy="-0.000234823" ixz="0.000553962" iyy="0.009372646" iyz="0.000778956" izz="0.008193117" />
</inertial>
</link>
<link name="leftHipPitchLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/legs/lj3_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/legs/lj3_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.016691 0.091397 -0.207875" rpy="0.0 0.0 0.0" />
<mass value="10.2" />
<inertia ixx="0.24083413" ixy="3.5915e-05" ixz="0.003699383" iyy="0.25689705" iyz="-0.001333005" izz="0.023276352" />
</inertial>
</link>
<link name="leftKneePitchLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/legs/lj4_left.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/legs/lj4_left.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.022183 0.001703 -0.189418" rpy="0.0 0.0 0.0" />
<mass value="6.2" />
<inertia ixx="0.086935683" ixy="9.929e-05" ixz="0.000573207" iyy="0.091584066" iyz="0.000313745" izz="0.014017272" />
</inertial>
</link>
<link name="leftAnklePitchLink">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/legs/lj5.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/legs/lj5.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.03" />
<inertia ixx="4.377e-06" ixy="0.0" ixz="0.0" iyy="4.322e-06" iyz="0.0" izz="7.015e-06" />
</inertial>
</link>
<link name="leftFoot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://val_description/model/meshes/legs/foot.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.045 0.0 -0.056" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.27 0.16 0.064" />
</geometry>
</collision>
<inertial>
<origin xyz="0.037702 0.005161 -0.047634" rpy="0.0 0.0 0.0" />
<mass value="2.27" />
<inertia ixx="0.00623936" ixy="0.000217174" ixz="0.001340587" iyy="0.017786991" iyz="-0.000187749" izz="0.020774433" />
</inertial>
</link>
<joint name="leftHipYaw" type="revolute">
<origin xyz="0.0 0.1016 -0.1853" rpy="0.0 0.0 0.0" />
<parent link="pelvis" />
<child link="leftHipYawLink" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="190.0" velocity="5.89" lower="-0.4141" upper="1.1" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="leftHipRoll" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="leftHipYawLink" />
<child link="leftHipRollLink" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="350.0" velocity="7.0" lower="-0.467" upper="0.5515" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="leftHipPitch" type="revolute">
<origin xyz="0.0 0.0 -0.0609" rpy="0.0 0.0 0.0" />
<parent link="leftHipRollLink" />
<child link="leftHipPitchLink" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="350.0" velocity="6.11" lower="-2.42" upper="1.619" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="leftKneePitch" type="revolute">
<origin xyz="0.000112225 0.0361046 -0.430959" rpy="0.0 0.0 0.0" />
<parent link="leftHipPitchLink" />
<child link="leftKneePitchLink" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="350.0" velocity="6.11" lower="-0.083" upper="2.057" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="leftAnklePitch" type="revolute">
<origin xyz="-0.0102381 0.0 -0.40627" rpy="0.0 0.0 0.0" />
<parent link="leftKneePitchLink" />
<child link="leftAnklePitchLink" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="205.0" velocity="11.0" lower="-0.93" upper="0.65" />
<dynamics damping="0.1" friction="0.0" />
</joint>
<joint name="leftAnkleRoll" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="leftAnklePitchLink" />
<child link="leftFoot" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="205.0" velocity="11.0" lower="-0.4" upper="0.4" />
<dynamics damping="0.3" friction="0.0" />
</joint>
<link name="leftCOP_Frame">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.1" />
<inertia ixx="8.33333333333e-05" ixy="0.0" ixz="0.0" iyy="8.33333333333e-05" iyz="0.0" izz="0.000125" />
</inertial>
</link>
<joint name="leftCOP_Offset" type="fixed">
<origin xyz="0.0189 0.0 -0.0783" rpy="0.0 0.0 0.0" />
<parent link="leftFoot" />
<child link="leftCOP_Frame" />
</joint>
<link name="leftFootSixAxis_Frame">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1e-07" />
<inertia ixx="3.33333333333e-22" ixy="0.0" ixz="0.0" iyy="3.33333333333e-22" iyz="0.0" izz="5e-22" />
</inertial>
</link>
<joint name="leftFootSixAxis_Offset" type="fixed">
<origin xyz="0.0215646 0.0 -0.051054" rpy="3.14 0.0 0.0" />
<parent link="leftFoot" />
<child link="leftFootSixAxis_Frame" />
</joint>
<link name="rightCOP_Frame">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.1" />
<inertia ixx="8.33333333333e-05" ixy="0.0" ixz="0.0" iyy="8.33333333333e-05" iyz="0.0" izz="0.000125" />
</inertial>
</link>
<joint name="rightCOP_Offset" type="fixed">
<origin xyz="0.0189 0.0 -0.0783" rpy="0.0 0.0 0.0" />
<parent link="rightFoot" />
<child link="rightCOP_Frame" />
</joint>
<link name="rightFootSixAxis_Frame">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1e-07" />
<inertia ixx="3.33333333333e-22" ixy="0.0" ixz="0.0" iyy="3.33333333333e-22" iyz="0.0" izz="5e-22" />
</inertial>
</link>
<joint name="rightFootSixAxis_Offset" type="fixed">
<origin xyz="0.0215646 0.0 -0.051054" rpy="3.14 0.0 0.0" />
<parent link="rightFoot" />
<child link="rightFootSixAxis_Frame" />
</joint>
<joint name="multisense_head_root_joint" type="fixed">
<origin xyz="0.183585961 0.0 0.075353826" rpy="-3.14159 0.130899694 0.0" />
<parent link="upperNeckPitchLink" />
<child link="head" />
</joint>
<link name="leftTorsoImu_Frame">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1e-07" />
<inertia ixx="3.33333333333e-22" ixy="0.0" ixz="0.0" iyy="3.33333333333e-22" iyz="0.0" izz="5e-22" />
</inertial>
</link>
<joint name="leftTorsoImu_Offset" type="fixed">
<origin xyz="-0.0627634 0.134239 0.3630676" rpy="-1.5707 0.0 0.0" />
<parent link="torso" />
<child link="leftTorsoImu_Frame" />
</joint>
<link name="rightHazardCamera_Frame">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1e-07" />
<inertia ixx="3.33333333333e-22" ixy="0.0" ixz="0.0" iyy="3.33333333333e-22" iyz="0.0" izz="5e-22" />
</inertial>
</link>
<joint name="rightHazardCamera_Offset" type="fixed">
<origin xyz="0.0345 -0.0406 0.1135" rpy="1.57 0.0 1.57" />
<parent link="torso" />
<child link="rightHazardCamera_Frame" />
</joint>
<link name="leftHazardCamera_Frame">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1e-07" />
<inertia ixx="3.33333333333e-22" ixy="0.0" ixz="0.0" iyy="3.33333333333e-22" iyz="0.0" izz="5e-22" />
</inertial>
</link>
<joint name="leftHazardCamera_Offset" type="fixed">
<origin xyz="0.0345 0.0406 0.1135" rpy="1.57 0.0 1.57" />
<parent link="torso" />
<child link="leftHazardCamera_Frame" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 47d047bed9a37990 -->
<mujoco model="valkyrie">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="head_camera" file="val_description/model/meshes/multisense/head_camera.dae" />
<mesh name="pelvis" file="val_description/model/meshes/pelvis/pelvis.dae" />
<mesh name="torsoyaw" file="val_description/model/meshes/torso/torsoyaw.dae" />
<mesh name="torsopitch" file="val_description/model/meshes/torso/torsopitch.dae" />
<mesh name="torso" file="val_description/model/meshes/torso/torso.dae" />
<mesh name="neckj1" file="val_description/model/meshes/head/neckj1.dae" />
<mesh name="neckj2" file="val_description/model/meshes/head/neckj2.dae" />
<mesh name="head_multisense_no_visor" file="val_description/model/meshes/head/head_multisense_no_visor.dae" />
<mesh name="aj1_right" file="val_description/model/meshes/arms/aj1_right.dae" />
<mesh name="aj2_right" file="val_description/model/meshes/arms/aj2_right.dae" />
<mesh name="aj3_right" file="val_description/model/meshes/arms/aj3_right.dae" />
<mesh name="aj4_right" file="val_description/model/meshes/arms/aj4_right.dae" />
<mesh name="aj5_right" file="val_description/model/meshes/arms/aj5_right.dae" />
<mesh name="aj6_right" file="val_description/model/meshes/arms/aj6_right.dae" />
<mesh name="palm_right" file="val_description/model/meshes/arms/palm_right.dae" />
<mesh name="thumbj1_right" file="val_description/model/meshes/fingers/thumbj1_right.dae" />
<mesh name="thumbj2_right" file="val_description/model/meshes/fingers/thumbj2_right.dae" />
<mesh name="thumbj3_right" file="val_description/model/meshes/fingers/thumbj3_right.dae" />
<mesh name="thumbj4_right" file="val_description/model/meshes/fingers/thumbj4_right.dae" />
<mesh name="indexj1_right" file="val_description/model/meshes/fingers/indexj1_right.dae" />
<mesh name="indexj2_right" file="val_description/model/meshes/fingers/indexj2_right.dae" />
<mesh name="indexj3_right" file="val_description/model/meshes/fingers/indexj3_right.dae" />
<mesh name="middlej1_right" file="val_description/model/meshes/fingers/middlej1_right.dae" />
<mesh name="middlej2_right" file="val_description/model/meshes/fingers/middlej2_right.dae" />
<mesh name="middlej3_right" file="val_description/model/meshes/fingers/middlej3_right.dae" />
<mesh name="pinkyj1_right" file="val_description/model/meshes/fingers/pinkyj1_right.dae" />
<mesh name="pinkyj2_right" file="val_description/model/meshes/fingers/pinkyj2_right.dae" />
<mesh name="pinkyj3_right" file="val_description/model/meshes/fingers/pinkyj3_right.dae" />
<mesh name="aj1_left" file="val_description/model/meshes/arms/aj1_left.dae" />
<mesh name="aj2_left" file="val_description/model/meshes/arms/aj2_left.dae" />
<mesh name="aj3_left" file="val_description/model/meshes/arms/aj3_left.dae" />
<mesh name="aj4_left" file="val_description/model/meshes/arms/aj4_left.dae" />
<mesh name="aj5_left" file="val_description/model/meshes/arms/aj5_left.dae" />
<mesh name="aj6_left" file="val_description/model/meshes/arms/aj6_left.dae" />
<mesh name="palm_left" file="val_description/model/meshes/arms/palm_left.dae" />
<mesh name="thumbj1_left" file="val_description/model/meshes/fingers/thumbj1_left.dae" />
<mesh name="thumbj2_left" file="val_description/model/meshes/fingers/thumbj2_left.dae" />
<mesh name="thumbj3_left" file="val_description/model/meshes/fingers/thumbj3_left.dae" />
<mesh name="thumbj4_left" file="val_description/model/meshes/fingers/thumbj4_left.dae" />
<mesh name="indexj1_left" file="val_description/model/meshes/fingers/indexj1_left.dae" />
<mesh name="indexj2_left" file="val_description/model/meshes/fingers/indexj2_left.dae" />
<mesh name="indexj3_left" file="val_description/model/meshes/fingers/indexj3_left.dae" />
<mesh name="middlej1_left" file="val_description/model/meshes/fingers/middlej1_left.dae" />
<mesh name="middlej2_left" file="val_description/model/meshes/fingers/middlej2_left.dae" />
<mesh name="middlej3_left" file="val_description/model/meshes/fingers/middlej3_left.dae" />
<mesh name="pinkyj1_left" file="val_description/model/meshes/fingers/pinkyj1_left.dae" />
<mesh name="pinkyj2_left" file="val_description/model/meshes/fingers/pinkyj2_left.dae" />
<mesh name="pinkyj3_left" file="val_description/model/meshes/fingers/pinkyj3_left.dae" />
<mesh name="lj1_right" file="val_description/model/meshes/legs/lj1_right.dae" />
<mesh name="lj3_right" file="val_description/model/meshes/legs/lj3_right.dae" />
<mesh name="lj4_right" file="val_description/model/meshes/legs/lj4_right.dae" />
<mesh name="lj5" file="val_description/model/meshes/legs/lj5.dae" />
<mesh name="foot" file="val_description/model/meshes/legs/foot.dae" />
<mesh name="lj1_left" file="val_description/model/meshes/legs/lj1_left.dae" />
<mesh name="lj3_left" file="val_description/model/meshes/legs/lj3_left.dae" />
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<body name="leftShoulderYawLink">
<joint name="leftShoulderYaw" type="hinge" axis="0.0 1.0 0.0" range="-3.1 2.18" damping="0.1" />
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<joint name="leftElbowPitch" type="hinge" axis="0.0 0.0 1.0" range="-2.174 0.12" damping="0.1" />
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<body name="leftForearmLink" pos="-0.0254 0.0 0.0">
<joint name="leftForearmYaw" type="hinge" axis="0.0 1.0 0.0" range="-2.019 3.14" damping="0.1" />
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<joint name="leftWristRoll" type="hinge" axis="1.0 0.0 0.0" range="-0.62 0.625" damping="0.1" />
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<geom name="leftWristRollLink_col_0" type="mesh" mesh="aj6_left" group="3" />
<body name="leftPalm">
<joint name="leftWristPitch" type="hinge" axis="0.0 0.0 1.0" range="-0.36 0.49" damping="0.1" />
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<geom name="leftPalm_vis_0" type="mesh" mesh="palm_left" contype="0" conaffinity="0" group="2" />
<geom name="leftPalm_col_0" type="mesh" mesh="palm_left" group="3" />
<body name="leftThumbRollLink" pos="0.0049 0.0351 0.0228" quat="0.984804787860646 -0.17366499303759564 0.0 0.0">
<joint name="leftThumbRoll" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.356" damping="0.5" frictionloss="0.5" />
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<body name="leftThumbPitch1Link" pos="0.0 0.0 0.0229" quat="0.984804787860646 0.17366499303759564 0.0 0.0">
<joint name="leftThumbPitch1" type="hinge" axis="1.0 0.0 0.0" range="-1.658 -0.0" damping="0.5" frictionloss="0.5" />
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<body name="leftThumbPitch2Link" pos="0.0 0.0066 0.0375">
<joint name="leftThumbPitch2" type="hinge" axis="1.0 0.0 0.0" range="-1.92 -0.0" damping="0.5" frictionloss="0.5" />
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<geom name="leftThumbPitch2Link_vis_0" type="mesh" mesh="thumbj3_left" contype="0" conaffinity="0" group="2" />
<geom name="leftThumbPitch2Link_col_0" type="mesh" mesh="thumbj3_left" group="3" />
<body name="leftThumbPitch3Link" pos="0.0 0.0049 0.0275">
<joint name="leftThumbPitch3" type="hinge" axis="1.0 0.0 0.0" range="-1.57 -0.0" damping="0.5" frictionloss="0.5" />
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<geom name="leftThumbPitch3Link_vis_0" type="mesh" mesh="thumbj4_left" contype="0" conaffinity="0" group="2" />
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<body name="leftIndexFingerPitch1Link" pos="0.0022 0.0976 0.0235" quat="0.9961961327668584 0.08713934278129419 0.0 0.0">
<joint name="leftIndexFingerPitch1" type="hinge" axis="0.0 0.0 1.0" range="-1.57 -0.0" damping="0.5" frictionloss="0.5" />
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<body name="leftIndexFingerPitch2Link" pos="0.0 0.0381 0.0">
<joint name="leftIndexFingerPitch2" type="hinge" axis="0.0 0.0 1.0" range="-1.658 -0.0" damping="0.5" frictionloss="0.5" />
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<geom name="leftIndexFingerPitch2Link_vis_0" type="mesh" mesh="indexj2_left" contype="0" conaffinity="0" group="2" />
<geom name="leftIndexFingerPitch2Link_col_0" type="mesh" mesh="indexj2_left" group="3" />
<body name="leftIndexFingerPitch3Link" pos="0.0 0.0229 0.0">
<joint name="leftIndexFingerPitch3" type="hinge" axis="0.0 0.0 1.0" range="-1.92 -0.0" damping="0.5" frictionloss="0.5" />
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<geom name="leftIndexFingerPitch3Link_vis_0" type="mesh" mesh="indexj3_left" contype="0" conaffinity="0" group="2" />
<geom name="leftIndexFingerPitch3Link_col_0" type="mesh" mesh="indexj3_left" group="3" />
</body>
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<body name="leftMiddleFingerPitch1Link" pos="0.0022 0.097 -0.0119" quat="0.9981339756301131 -0.06106199057371892 0.0 0.0">
<joint name="leftMiddleFingerPitch1" type="hinge" axis="0.0 0.0 1.0" range="-1.658 -0.0" damping="0.5" frictionloss="0.5" />
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<geom name="leftMiddleFingerPitch1Link_vis_0" type="mesh" mesh="middlej1_left" contype="0" conaffinity="0" group="2" />
<geom name="leftMiddleFingerPitch1Link_col_0" type="mesh" mesh="middlej1_left" group="3" />
<body name="leftMiddleFingerPitch2Link" pos="0.0 0.0381 0.0">
<joint name="leftMiddleFingerPitch2" type="hinge" axis="0.0 0.0 1.0" range="-1.92 -0.0" damping="0.5" frictionloss="0.5" />
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<geom name="leftMiddleFingerPitch2Link_vis_0" type="mesh" mesh="middlej2_left" contype="0" conaffinity="0" group="2" />
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<body name="leftMiddleFingerPitch3Link" pos="0.0 0.0229 0.0">
<joint name="leftMiddleFingerPitch3" type="hinge" axis="0.0 0.0 1.0" range="-1.57 -0.0" damping="0.5" frictionloss="0.5" />
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<geom name="leftMiddleFingerPitch3Link_vis_0" type="mesh" mesh="middlej3_left" contype="0" conaffinity="0" group="2" />
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</body>
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<body name="leftPinkyPitch1Link" pos="0.0022 0.0838 -0.041" quat="0.9981339756301131 -0.06106199057371892 0.0 0.0">
<joint name="leftPinkyPitch1" type="hinge" axis="0.0 0.0 1.0" range="-1.57 -0.0" damping="0.5" frictionloss="0.5" />
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<geom name="leftPinkyPitch1Link_vis_0" type="mesh" mesh="pinkyj1_left" contype="0" conaffinity="0" group="2" />
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<body name="leftPinkyPitch2Link" pos="0.0 0.0381 0.0">
<joint name="leftPinkyPitch2" type="hinge" axis="0.0 0.0 1.0" range="-1.658 -0.0" damping="0.5" frictionloss="0.5" />
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<geom name="leftPinkyPitch2Link_vis_0" type="mesh" mesh="pinkyj2_left" contype="0" conaffinity="0" group="2" />
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<joint name="leftPinkyPitch3" type="hinge" axis="0.0 0.0 1.0" range="-1.92 -0.0" damping="0.5" frictionloss="0.5" />
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<geom name="leftPinkyPitch3Link_vis_0" type="mesh" mesh="pinkyj3_left" contype="0" conaffinity="0" group="2" />
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<body name="leftTorsoImu_Frame" pos="-0.0627634 0.134239 0.3630676" quat="0.7071408370313327 -0.7070727237014777 0.0 0.0">
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<body name="leftHazardCamera_Frame" pos="0.0345 0.0406 0.1135" quat="0.5003981633553667 0.49999984146591736 0.49960183664463337 0.49999984146591736">
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<body name="leftHipYawLink" pos="0.0 0.1016 -0.1853">
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<body name="leftKneePitchLink" pos="0.000112225 0.0361046 -0.430959">
<joint name="leftKneePitch" type="hinge" axis="0.0 1.0 0.0" range="-0.083 2.057" damping="0.1" />
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<body name="leftAnklePitchLink" pos="-0.0102381 0.0 -0.40627">
<joint name="leftAnklePitch" type="hinge" axis="0.0 1.0 0.0" range="-0.93 0.65" damping="0.1" />
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<body name="leftFoot">
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<contact>
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<exclude body1="left_camera_frame" body2="left_camera_optical_frame" />
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<exclude body1="right_camera_frame" body2="right_camera_optical_frame" />
<exclude body1="head" body2="center_top_led_frame" />
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<exclude body1="head" body2="left_led_frame" />
<exclude body1="head" body2="right_led_frame" />
<exclude body1="head" body2="head_imu_link" />
<exclude body1="pelvis" body2="torsoYawLink" />
<exclude body1="torsoYawLink" body2="torsoPitchLink" />
<exclude body1="torsoPitchLink" body2="torso" />
<exclude body1="torso" body2="lowerNeckPitchLink" />
<exclude body1="lowerNeckPitchLink" body2="neckYawLink" />
<exclude body1="neckYawLink" body2="upperNeckPitchLink" />
<exclude body1="torso" body2="rightShoulderPitchLink" />
<exclude body1="rightShoulderPitchLink" body2="rightShoulderRollLink" />
<exclude body1="rightShoulderRollLink" body2="rightShoulderYawLink" />
<exclude body1="rightShoulderYawLink" body2="rightElbowPitchLink" />
<exclude body1="rightElbowPitchLink" body2="rightForearmLink" />
<exclude body1="rightForearmLink" body2="rightWristRollLink" />
<exclude body1="rightWristRollLink" body2="rightPalm" />
<exclude body1="rightPalm" body2="rightThumbRollLink" />
<exclude body1="rightThumbRollLink" body2="rightThumbPitch1Link" />
<exclude body1="rightThumbPitch1Link" body2="rightThumbPitch2Link" />
<exclude body1="rightThumbPitch2Link" body2="rightThumbPitch3Link" />
<exclude body1="rightPalm" body2="rightIndexFingerPitch1Link" />
<exclude body1="rightIndexFingerPitch1Link" body2="rightIndexFingerPitch2Link" />
<exclude body1="rightIndexFingerPitch2Link" body2="rightIndexFingerPitch3Link" />
<exclude body1="rightPalm" body2="rightMiddleFingerPitch1Link" />
<exclude body1="rightMiddleFingerPitch1Link" body2="rightMiddleFingerPitch2Link" />
<exclude body1="rightMiddleFingerPitch2Link" body2="rightMiddleFingerPitch3Link" />
<exclude body1="rightPalm" body2="rightPinkyPitch1Link" />
<exclude body1="rightPinkyPitch1Link" body2="rightPinkyPitch2Link" />
<exclude body1="rightPinkyPitch2Link" body2="rightPinkyPitch3Link" />
<exclude body1="torso" body2="leftShoulderPitchLink" />
<exclude body1="leftShoulderPitchLink" body2="leftShoulderRollLink" />
<exclude body1="leftShoulderRollLink" body2="leftShoulderYawLink" />
<exclude body1="leftShoulderYawLink" body2="leftElbowPitchLink" />
<exclude body1="leftElbowPitchLink" body2="leftForearmLink" />
<exclude body1="leftForearmLink" body2="leftWristRollLink" />
<exclude body1="leftWristRollLink" body2="leftPalm" />
<exclude body1="leftPalm" body2="leftThumbRollLink" />
<exclude body1="leftThumbRollLink" body2="leftThumbPitch1Link" />
<exclude body1="leftThumbPitch1Link" body2="leftThumbPitch2Link" />
<exclude body1="leftThumbPitch2Link" body2="leftThumbPitch3Link" />
<exclude body1="leftPalm" body2="leftIndexFingerPitch1Link" />
<exclude body1="leftIndexFingerPitch1Link" body2="leftIndexFingerPitch2Link" />
<exclude body1="leftIndexFingerPitch2Link" body2="leftIndexFingerPitch3Link" />
<exclude body1="leftPalm" body2="leftMiddleFingerPitch1Link" />
<exclude body1="leftMiddleFingerPitch1Link" body2="leftMiddleFingerPitch2Link" />
<exclude body1="leftMiddleFingerPitch2Link" body2="leftMiddleFingerPitch3Link" />
<exclude body1="leftPalm" body2="leftPinkyPitch1Link" />
<exclude body1="leftPinkyPitch1Link" body2="leftPinkyPitch2Link" />
<exclude body1="leftPinkyPitch2Link" body2="leftPinkyPitch3Link" />
<exclude body1="pelvis" body2="rightHipYawLink" />
<exclude body1="rightHipYawLink" body2="rightHipRollLink" />
<exclude body1="rightHipRollLink" body2="rightHipPitchLink" />
<exclude body1="rightHipPitchLink" body2="rightKneePitchLink" />
<exclude body1="rightKneePitchLink" body2="rightAnklePitchLink" />
<exclude body1="rightAnklePitchLink" body2="rightFoot" />
<exclude body1="pelvis" body2="leftHipYawLink" />
<exclude body1="leftHipYawLink" body2="leftHipRollLink" />
<exclude body1="leftHipRollLink" body2="leftHipPitchLink" />
<exclude body1="leftHipPitchLink" body2="leftKneePitchLink" />
<exclude body1="leftKneePitchLink" body2="leftAnklePitchLink" />
<exclude body1="leftAnklePitchLink" body2="leftFoot" />
<exclude body1="leftFoot" body2="leftCOP_Frame" />
<exclude body1="leftFoot" body2="leftFootSixAxis_Frame" />
<exclude body1="rightFoot" body2="rightCOP_Frame" />
<exclude body1="rightFoot" body2="rightFootSixAxis_Frame" />
<exclude body1="upperNeckPitchLink" body2="head" />
<exclude body1="torso" body2="leftTorsoImu_Frame" />
<exclude body1="torso" body2="rightHazardCamera_Frame" />
<exclude body1="torso" body2="leftHazardCamera_Frame" />
</contact>
</mujoco>
Import report
Counts
| Links | 78 |
|---|---|
| Joints | 77 |
| Moving joints | 59 |
| Visuals | 59 |
| Collisions | 61 |
| Materials | 0 |
Meshes
Formats: dae.
Asset size: 3.6 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
axis | 9 | fixed joints carry no <axis>; URDF ignores it too |
controller_gains | 58 | <controller_gains> is not part of the URDF subset RobotDescription mirrors |
gazebo | 115 | Gazebo simulator extensions are not part of the description |
limit | 1 | no <limit>; RobotDescription always writes one, so effort = velocity = 0 |
material | 1 | anonymous material (empty name) cannot be referenced; its colour is not kept |
schedule_topic_creator_file | 1 | <schedule_topic_creator_file> is not part of the URDF subset RobotDescription mirrors |
transmission | 58 | ROS transmissions (actuator-to-joint wiring) have no RobotDescription field yet |
{http://ros.org/wiki/xacro}v1_pelvis_sensors_usb | 1 | <{http://ros.org/wiki/xacro}v1_pelvis_sensors_usb> is not part of the URDF subset RobotDescription mirrors |
Forward-kinematics check
Forward kinematics of 78 link frames at 20 random joint positions within limits, original URDF against robot.urdf, computed by pinocchio 3.8.0. Worst difference: 0.0e+00 m · 6.3e-16 rad.
MuJoCo
robot.xml did not compile in MuJoCo: Error: error 'inertia must have positive eigenvalues' in fullinertia
Source & licence
| Repository | https://github.com/gkjohnson/nasa-urdf-robots |
|---|---|
| Commit | 54cdeb1dbfb529b79ae3185a53e24fce26e1b74b |
| Original file | val_description/model/robots/valkyrie_sim.urdf |
| Licence | NASA-1.3 · 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.