WL P311D
LimX Dynamics · licence Apache-2.0 · source: github.com/limxdynamics/robot-description @ a09753337
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 2b86aca674509206 -->
<robot name="wheel_legged">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0" />
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0" />
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0" />
</material>
<material name="silver">
<color rgba="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0" />
</material>
<material name="orange">
<color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0" />
</material>
<material name="brown">
<color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0" />
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0" />
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0" />
</material>
<link name="base">
<visual>
<origin xyz="-0.0455 0.0 -0.07551" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/base_link.STL" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="-0.0455 0.0 -0.07551" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.515 0.2635 0.151" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.042212 -0.000883 -0.085535" rpy="0.0 0.0 0.0" />
<mass value="18.188" />
<inertia ixx="0.138596272" ixy="-0.000463223" ixz="0.001179281" iyy="0.539545026" iyz="7.664e-06" izz="0.5975639" />
</inertial>
</link>
<joint name="limx_imu_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="limx_imu" />
</joint>
<link name="limx_imu">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.015 0.015 0.004" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="LF_HAA" type="revolute">
<origin xyz="0.216 0.06 -0.07376" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="LF_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="60.0" velocity="20.0" lower="-0.87" upper="0.87" />
<dynamics damping="0.05" friction="0.01" />
</joint>
<link name="LF_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/LF_hip.STL" />
</geometry>
<material name="orange" />
</visual>
<inertial>
<origin xyz="0.053246 0.009578 -0.000256" rpy="0.0 0.0 0.0" />
<mass value="1.434" />
<inertia ixx="0.001158337" ixy="-2.5451e-05" ixz="7.91e-07" iyy="0.001701117" iyz="-1.883e-06" izz="0.001372051" />
</inertial>
</link>
<joint name="LF_HFE" type="revolute">
<origin xyz="0.058 0.0408 0.0" rpy="0.0 0.0 0.0" />
<parent link="LF_hip" />
<child link="LF_thigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="60.0" velocity="20.0" lower="-2.27" upper="1.22" />
<dynamics damping="0.05" friction="0.01" />
</joint>
<link name="LF_thigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/LF_thigh.STL" />
</geometry>
<material name="orange" />
</visual>
<inertial>
<origin xyz="-0.057303 0.055844 0.004528" rpy="0.0 0.0 0.0" />
<mass value="2.751" />
<inertia ixx="0.004607032" ixy="0.004707351" ixz="0.001380725" iyy="0.028533909" iyz="-0.000405022" izz="0.029844027" />
</inertial>
</link>
<joint name="LF_KFE" type="revolute">
<origin xyz="-0.28 0.08155 0.0" rpy="0.0 0.0 0.0" />
<parent link="LF_thigh" />
<child link="LF_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="60.0" velocity="20.0" lower="0.0" upper="2.0943951023932" />
<dynamics damping="0.05" friction="0.01" />
</joint>
<link name="LF_calf">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/LF_calf.STL" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.10876 0.0 -0.08805" rpy="0.0 0.680678408 0.0" />
<geometry>
<box size="0.28 0.023 0.0451" />
</geometry>
</collision>
<inertial>
<origin xyz="0.172578 0.002711 -0.142172" rpy="0.0 0.0 0.0" />
<mass value="1.326" />
<inertia ixx="0.006426995" ixy="-0.000131916" ixz="0.006446843" iyy="0.01424856" iyz="0.000130699" izz="0.008429207" />
</inertial>
</link>
<joint name="LF_WHL" type="revolute">
<origin xyz="0.21449 0.03434 -0.17998" rpy="0.0 0.0 0.0" />
<parent link="LF_calf" />
<child link="LF_wheel" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="40.0" velocity="20.0" lower="-1000.0" upper="1000.0" />
<dynamics damping="0.0" friction="1.0" />
</joint>
<link name="LF_wheel">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/LF_wheel.STL" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.017" radius="0.127" />
</geometry>
</collision>
<inertial>
<origin xyz="3.8e-05 0.000878 5.1e-05" rpy="0.0 0.0 0.0" />
<mass value="0.818" />
<inertia ixx="0.003929539" ixy="1e-08" ixz="1.808e-06" iyy="0.007451249" iyz="6.7e-08" izz="0.003930825" />
</inertial>
</link>
<joint name="LF_foot_fixed" type="fixed">
<origin xyz="0.0 0.0 -0.127" rpy="0.0 0.0 0.0" />
<parent link="LF_wheel" />
<child link="LF_foot" />
</joint>
<link name="LF_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.03" />
</geometry>
</visual>
</link>
<joint name="RF_HAA" type="revolute">
<origin xyz="0.216 -0.06 -0.07376" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="RF_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="60.0" velocity="20.0" lower="-0.87" upper="0.87" />
<dynamics damping="0.05" friction="0.01" />
</joint>
<link name="RF_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/RF_hip.STL" />
</geometry>
<material name="orange" />
</visual>
<inertial>
<origin xyz="0.053246 -0.009578 -0.000256" rpy="0.0 0.0 0.0" />
<mass value="1.434" />
<inertia ixx="0.001158337" ixy="2.5451e-05" ixz="7.91e-07" iyy="0.001701117" iyz="1.883e-06" izz="0.001372051" />
</inertial>
</link>
<joint name="RF_HFE" type="revolute">
<origin xyz="0.058 -0.0408 0.0" rpy="0.0 0.0 0.0" />
<parent link="RF_hip" />
<child link="RF_thigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="60.0" velocity="20.0" lower="-2.27" upper="1.22" />
<dynamics damping="0.05" friction="0.01" />
</joint>
<link name="RF_thigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/RF_thigh.STL" />
</geometry>
<material name="orange" />
</visual>
<inertial>
<origin xyz="-0.057303 -0.055844 0.004528" rpy="0.0 0.0 0.0" />
<mass value="2.751" />
<inertia ixx="0.004607032" ixy="-0.004707351" ixz="0.001380725" iyy="0.028533909" iyz="0.000405022" izz="0.029844027" />
</inertial>
</link>
<joint name="RF_KFE" type="revolute">
<origin xyz="-0.28 -0.08155 0.0" rpy="0.0 0.0 0.0" />
<parent link="RF_thigh" />
<child link="RF_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="60.0" velocity="20.0" lower="0.0" upper="2.0943951023932" />
<dynamics damping="0.05" friction="0.01" />
</joint>
<link name="RF_calf">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/RF_calf.STL" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.10876 0.0 -0.08805" rpy="0.0 0.680678408 0.0" />
<geometry>
<box size="0.28 0.023 0.0451" />
</geometry>
</collision>
<inertial>
<origin xyz="0.172578 -0.002711 -0.142172" rpy="0.0 0.0 0.0" />
<mass value="1.326" />
<inertia ixx="0.006426995" ixy="0.000131916" ixz="0.006446843" iyy="0.01424856" iyz="-0.000130699" izz="0.008429207" />
</inertial>
</link>
<joint name="RF_WHL" type="revolute">
<origin xyz="0.21449 -0.03434 -0.17998" rpy="0.0 0.0 0.0" />
<parent link="RF_calf" />
<child link="RF_wheel" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="40.0" velocity="20.0" lower="-1000.0" upper="1000.0" />
<dynamics damping="0.0" friction="1.0" />
</joint>
<link name="RF_wheel">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/RF_wheel.STL" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.017" radius="0.127" />
</geometry>
</collision>
<inertial>
<origin xyz="3.8e-05 -0.000878 5.1e-05" rpy="0.0 0.0 0.0" />
<mass value="0.818" />
<inertia ixx="0.003929539" ixy="-1e-08" ixz="1.808e-06" iyy="0.007451249" iyz="-6.7e-08" izz="0.003930825" />
</inertial>
</link>
<joint name="RF_foot_fixed" type="fixed">
<origin xyz="0.0 0.0 -0.127" rpy="0.0 0.0 0.0" />
<parent link="RF_wheel" />
<child link="RF_foot" />
</joint>
<link name="RF_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.03" />
</geometry>
</visual>
</link>
<joint name="LH_HAA" type="revolute">
<origin xyz="-0.307 0.06 -0.07376" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="LH_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="60.0" velocity="20.0" lower="-0.87" upper="0.87" />
<dynamics damping="0.05" friction="0.01" />
</joint>
<link name="LH_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/LH_hip.STL" />
</geometry>
<material name="orange" />
</visual>
<inertial>
<origin xyz="-0.053246 0.009578 -0.000256" rpy="0.0 0.0 0.0" />
<mass value="1.434" />
<inertia ixx="0.001158337" ixy="2.5451e-05" ixz="-7.91e-07" iyy="0.001701117" iyz="-1.883e-06" izz="0.001372051" />
</inertial>
</link>
<joint name="LH_HFE" type="revolute">
<origin xyz="-0.058 0.0408 0.0" rpy="0.0 0.0 0.0" />
<parent link="LH_hip" />
<child link="LH_thigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="60.0" velocity="20.0" lower="-2.27" upper="1.22" />
<dynamics damping="0.05" friction="0.01" />
</joint>
<link name="LH_thigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/LH_thigh.STL" />
</geometry>
<material name="orange" />
</visual>
<inertial>
<origin xyz="-0.057303 0.055844 0.004528" rpy="0.0 0.0 0.0" />
<mass value="2.751" />
<inertia ixx="0.004607032" ixy="0.004707351" ixz="0.001380725" iyy="0.028533909" iyz="-0.000405022" izz="0.029844027" />
</inertial>
</link>
<joint name="LH_KFE" type="revolute">
<origin xyz="-0.28 0.08155 0.0" rpy="0.0 0.0 0.0" />
<parent link="LH_thigh" />
<child link="LH_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="60.0" velocity="20.0" lower="0.0" upper="2.0943951023932" />
<dynamics damping="0.05" friction="0.01" />
</joint>
<link name="LH_calf">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/LH_calf.STL" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.10876 0.0 -0.08805" rpy="0.0 0.680678408 0.0" />
<geometry>
<box size="0.28 0.023 0.0451" />
</geometry>
</collision>
<inertial>
<origin xyz="0.172578 0.002711 -0.142172" rpy="0.0 0.0 0.0" />
<mass value="1.326" />
<inertia ixx="0.006426995" ixy="-0.000131916" ixz="0.006446843" iyy="0.01424856" iyz="0.000130699" izz="0.008429207" />
</inertial>
</link>
<joint name="LH_WHL" type="revolute">
<origin xyz="0.21449 0.03434 -0.17998" rpy="0.0 0.0 0.0" />
<parent link="LH_calf" />
<child link="LH_wheel" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="40.0" velocity="20.0" lower="-1000.0" upper="1000.0" />
<dynamics damping="0.0" friction="1.0" />
</joint>
<link name="LH_wheel">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/LH_wheel.STL" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.017" radius="0.127" />
</geometry>
</collision>
<inertial>
<origin xyz="3.8e-05 0.000878 5.1e-05" rpy="0.0 0.0 0.0" />
<mass value="0.818" />
<inertia ixx="0.003929539" ixy="1e-08" ixz="1.808e-06" iyy="0.007451249" iyz="6.7e-08" izz="0.003930825" />
</inertial>
</link>
<joint name="LH_foot_fixed" type="fixed">
<origin xyz="0.0 0.0 -0.127" rpy="0.0 0.0 0.0" />
<parent link="LH_wheel" />
<child link="LH_foot" />
</joint>
<link name="LH_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.03" />
</geometry>
</visual>
</link>
<joint name="RH_HAA" type="revolute">
<origin xyz="-0.307 -0.06 -0.07376" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="RH_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="60.0" velocity="20.0" lower="-0.87" upper="0.87" />
<dynamics damping="0.05" friction="0.01" />
</joint>
<link name="RH_hip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/RH_hip.STL" />
</geometry>
<material name="orange" />
</visual>
<inertial>
<origin xyz="-0.053246 -0.009578 -0.000256" rpy="0.0 0.0 0.0" />
<mass value="1.434" />
<inertia ixx="0.001158337" ixy="-2.5451e-05" ixz="-7.91e-07" iyy="0.001701117" iyz="1.883e-06" izz="0.001372051" />
</inertial>
</link>
<joint name="RH_HFE" type="revolute">
<origin xyz="-0.058 -0.0408 0.0" rpy="0.0 0.0 0.0" />
<parent link="RH_hip" />
<child link="RH_thigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="60.0" velocity="20.0" lower="-2.27" upper="1.22" />
<dynamics damping="0.05" friction="0.01" />
</joint>
<link name="RH_thigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/RH_thigh.STL" />
</geometry>
<material name="orange" />
</visual>
<inertial>
<origin xyz="-0.057303 -0.055844 0.004528" rpy="0.0 0.0 0.0" />
<mass value="2.751" />
<inertia ixx="0.004607032" ixy="-0.004707351" ixz="0.001380725" iyy="0.028533909" iyz="0.000405022" izz="0.029844027" />
</inertial>
</link>
<joint name="RH_KFE" type="revolute">
<origin xyz="-0.28 -0.08155 0.0" rpy="0.0 0.0 0.0" />
<parent link="RH_thigh" />
<child link="RH_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="60.0" velocity="20.0" lower="0.0" upper="2.0943951023932" />
<dynamics damping="0.05" friction="0.01" />
</joint>
<link name="RH_calf">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/RH_calf.STL" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.10876 0.0 -0.08805" rpy="0.0 0.680678408 0.0" />
<geometry>
<box size="0.28 0.023 0.0451" />
</geometry>
</collision>
<inertial>
<origin xyz="0.172578 -0.002711 -0.142172" rpy="0.0 0.0 0.0" />
<mass value="1.326" />
<inertia ixx="0.006426995" ixy="0.000131916" ixz="0.006446843" iyy="0.01424856" iyz="-0.000130699" izz="0.008429207" />
</inertial>
</link>
<joint name="RH_WHL" type="revolute">
<origin xyz="0.21449 -0.03434 -0.17998" rpy="0.0 0.0 0.0" />
<parent link="RH_calf" />
<child link="RH_wheel" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="40.0" velocity="20.0" lower="-1000.0" upper="1000.0" />
<dynamics damping="0.0" friction="1.0" />
</joint>
<link name="RH_wheel">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/RH_wheel.STL" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<geometry>
<cylinder length="0.017" radius="0.127" />
</geometry>
</collision>
<inertial>
<origin xyz="3.8e-05 -0.000878 5.1e-05" rpy="0.0 0.0 0.0" />
<mass value="0.818" />
<inertia ixx="0.003929539" ixy="-1e-08" ixz="1.808e-06" iyy="0.007451249" iyz="-6.7e-08" izz="0.003930825" />
</inertial>
</link>
<joint name="RH_foot_fixed" type="fixed">
<origin xyz="0.0 0.0 -0.127" rpy="0.0 0.0 0.0" />
<parent link="RH_wheel" />
<child link="RH_foot" />
</joint>
<link name="RH_foot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.03" />
</geometry>
</visual>
</link>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 2b86aca674509206 -->
<mujoco model="wheel_legged">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="black" rgba="0.0 0.0 0.0 1.0" />
<material name="blue" rgba="0.0 0.0 0.8 1.0" />
<material name="green" rgba="0.0 0.8 0.0 1.0" />
<material name="grey" rgba="0.2 0.2 0.2 1.0" />
<material name="silver" rgba="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0" />
<material name="orange" rgba="1.0 0.4235294117647059 0.0392156862745098 1.0" />
<material name="brown" rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0" />
<material name="red" rgba="0.8 0.0 0.0 1.0" />
<material name="white" rgba="1.0 1.0 1.0 1.0" />
<mesh name="base_link" file="robot_description/wheellegged/WL_P311D/meshes/base_link.STL" />
<mesh name="LF_hip" file="robot_description/wheellegged/WL_P311D/meshes/LF_hip.STL" />
<mesh name="LF_thigh" file="robot_description/wheellegged/WL_P311D/meshes/LF_thigh.STL" />
<mesh name="LF_calf" file="robot_description/wheellegged/WL_P311D/meshes/LF_calf.STL" />
<mesh name="LF_wheel" file="robot_description/wheellegged/WL_P311D/meshes/LF_wheel.STL" />
<mesh name="RF_hip" file="robot_description/wheellegged/WL_P311D/meshes/RF_hip.STL" />
<mesh name="RF_thigh" file="robot_description/wheellegged/WL_P311D/meshes/RF_thigh.STL" />
<mesh name="RF_calf" file="robot_description/wheellegged/WL_P311D/meshes/RF_calf.STL" />
<mesh name="RF_wheel" file="robot_description/wheellegged/WL_P311D/meshes/RF_wheel.STL" />
<mesh name="LH_hip" file="robot_description/wheellegged/WL_P311D/meshes/LH_hip.STL" />
<mesh name="LH_thigh" file="robot_description/wheellegged/WL_P311D/meshes/LH_thigh.STL" />
<mesh name="LH_calf" file="robot_description/wheellegged/WL_P311D/meshes/LH_calf.STL" />
<mesh name="LH_wheel" file="robot_description/wheellegged/WL_P311D/meshes/LH_wheel.STL" />
<mesh name="RH_hip" file="robot_description/wheellegged/WL_P311D/meshes/RH_hip.STL" />
<mesh name="RH_thigh" file="robot_description/wheellegged/WL_P311D/meshes/RH_thigh.STL" />
<mesh name="RH_calf" file="robot_description/wheellegged/WL_P311D/meshes/RH_calf.STL" />
<mesh name="RH_wheel" file="robot_description/wheellegged/WL_P311D/meshes/RH_wheel.STL" />
</asset>
<worldbody>
<body name="base">
<inertial pos="-0.042212 -0.000883 -0.085535" mass="18.188" fullinertia="0.138596272 0.539545026 0.5975639 -0.000463223 0.001179281 7.664e-06" />
<geom name="base_vis_0" type="mesh" mesh="base_link" pos="-0.0455 0.0 -0.07551" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="base_col_0" type="box" size="0.2575 0.13175 0.0755" pos="-0.0455 0.0 -0.07551" group="3" />
<body name="limx_imu">
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
<geom name="limx_imu_vis_0" type="box" size="0.0075 0.0075 0.002" contype="0" conaffinity="0" group="2" />
</body>
<body name="LF_hip" pos="0.216 0.06 -0.07376">
<joint name="LF_HAA" type="hinge" axis="1.0 0.0 0.0" range="-0.87 0.87" damping="0.05" frictionloss="0.01" />
<inertial pos="0.053246 0.009578 -0.000256" mass="1.434" fullinertia="0.001158337 0.001701117 0.001372051 -2.5451e-05 7.91e-07 -1.883e-06" />
<geom name="LF_hip_vis_0" type="mesh" mesh="LF_hip" contype="0" conaffinity="0" group="2" material="orange" />
<body name="LF_thigh" pos="0.058 0.0408 0.0">
<joint name="LF_HFE" type="hinge" axis="0.0 1.0 0.0" range="-2.27 1.22" damping="0.05" frictionloss="0.01" />
<inertial pos="-0.057303 0.055844 0.004528" mass="2.751" fullinertia="0.004607032 0.028533909 0.029844027 0.004707351 0.001380725 -0.000405022" />
<geom name="LF_thigh_vis_0" type="mesh" mesh="LF_thigh" contype="0" conaffinity="0" group="2" material="orange" />
<body name="LF_calf" pos="-0.28 0.08155 0.0">
<joint name="LF_KFE" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.0943951023932" damping="0.05" frictionloss="0.01" />
<inertial pos="0.172578 0.002711 -0.142172" mass="1.326" fullinertia="0.006426995 0.01424856 0.008429207 -0.000131916 0.006446843 0.000130699" />
<geom name="LF_calf_vis_0" type="mesh" mesh="LF_calf" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="LF_calf_col_0" type="box" size="0.14 0.0115 0.02255" pos="0.10876 0.0 -0.08805" quat="0.9426414911385422 0.0 0.3338068591028434 0.0" group="3" />
<body name="LF_wheel" pos="0.21449 0.03434 -0.17998">
<joint name="LF_WHL" type="hinge" axis="0.0 1.0 0.0" range="-1000.0 1000.0" frictionloss="1.0" />
<inertial pos="3.8e-05 0.000878 5.1e-05" mass="0.818" fullinertia="0.003929539 0.007451249 0.003930825 1e-08 1.808e-06 6.7e-08" />
<geom name="LF_wheel_vis_0" type="mesh" mesh="LF_wheel" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="LF_wheel_col_0" type="cylinder" size="0.127 0.0085" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
<body name="LF_foot" pos="0.0 0.0 -0.127">
<geom name="LF_foot_vis_0" type="sphere" size="0.03" contype="0" conaffinity="0" group="2" />
</body>
</body>
</body>
</body>
</body>
<body name="RF_hip" pos="0.216 -0.06 -0.07376">
<joint name="RF_HAA" type="hinge" axis="1.0 0.0 0.0" range="-0.87 0.87" damping="0.05" frictionloss="0.01" />
<inertial pos="0.053246 -0.009578 -0.000256" mass="1.434" fullinertia="0.001158337 0.001701117 0.001372051 2.5451e-05 7.91e-07 1.883e-06" />
<geom name="RF_hip_vis_0" type="mesh" mesh="RF_hip" contype="0" conaffinity="0" group="2" material="orange" />
<body name="RF_thigh" pos="0.058 -0.0408 0.0">
<joint name="RF_HFE" type="hinge" axis="0.0 1.0 0.0" range="-2.27 1.22" damping="0.05" frictionloss="0.01" />
<inertial pos="-0.057303 -0.055844 0.004528" mass="2.751" fullinertia="0.004607032 0.028533909 0.029844027 -0.004707351 0.001380725 0.000405022" />
<geom name="RF_thigh_vis_0" type="mesh" mesh="RF_thigh" contype="0" conaffinity="0" group="2" material="orange" />
<body name="RF_calf" pos="-0.28 -0.08155 0.0">
<joint name="RF_KFE" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.0943951023932" damping="0.05" frictionloss="0.01" />
<inertial pos="0.172578 -0.002711 -0.142172" mass="1.326" fullinertia="0.006426995 0.01424856 0.008429207 0.000131916 0.006446843 -0.000130699" />
<geom name="RF_calf_vis_0" type="mesh" mesh="RF_calf" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="RF_calf_col_0" type="box" size="0.14 0.0115 0.02255" pos="0.10876 0.0 -0.08805" quat="0.9426414911385422 0.0 0.3338068591028434 0.0" group="3" />
<body name="RF_wheel" pos="0.21449 -0.03434 -0.17998">
<joint name="RF_WHL" type="hinge" axis="0.0 1.0 0.0" range="-1000.0 1000.0" frictionloss="1.0" />
<inertial pos="3.8e-05 -0.000878 5.1e-05" mass="0.818" fullinertia="0.003929539 0.007451249 0.003930825 -1e-08 1.808e-06 -6.7e-08" />
<geom name="RF_wheel_vis_0" type="mesh" mesh="RF_wheel" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="RF_wheel_col_0" type="cylinder" size="0.127 0.0085" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
<body name="RF_foot" pos="0.0 0.0 -0.127">
<geom name="RF_foot_vis_0" type="sphere" size="0.03" contype="0" conaffinity="0" group="2" />
</body>
</body>
</body>
</body>
</body>
<body name="LH_hip" pos="-0.307 0.06 -0.07376">
<joint name="LH_HAA" type="hinge" axis="1.0 0.0 0.0" range="-0.87 0.87" damping="0.05" frictionloss="0.01" />
<inertial pos="-0.053246 0.009578 -0.000256" mass="1.434" fullinertia="0.001158337 0.001701117 0.001372051 2.5451e-05 -7.91e-07 -1.883e-06" />
<geom name="LH_hip_vis_0" type="mesh" mesh="LH_hip" contype="0" conaffinity="0" group="2" material="orange" />
<body name="LH_thigh" pos="-0.058 0.0408 0.0">
<joint name="LH_HFE" type="hinge" axis="0.0 1.0 0.0" range="-2.27 1.22" damping="0.05" frictionloss="0.01" />
<inertial pos="-0.057303 0.055844 0.004528" mass="2.751" fullinertia="0.004607032 0.028533909 0.029844027 0.004707351 0.001380725 -0.000405022" />
<geom name="LH_thigh_vis_0" type="mesh" mesh="LH_thigh" contype="0" conaffinity="0" group="2" material="orange" />
<body name="LH_calf" pos="-0.28 0.08155 0.0">
<joint name="LH_KFE" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.0943951023932" damping="0.05" frictionloss="0.01" />
<inertial pos="0.172578 0.002711 -0.142172" mass="1.326" fullinertia="0.006426995 0.01424856 0.008429207 -0.000131916 0.006446843 0.000130699" />
<geom name="LH_calf_vis_0" type="mesh" mesh="LH_calf" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="LH_calf_col_0" type="box" size="0.14 0.0115 0.02255" pos="0.10876 0.0 -0.08805" quat="0.9426414911385422 0.0 0.3338068591028434 0.0" group="3" />
<body name="LH_wheel" pos="0.21449 0.03434 -0.17998">
<joint name="LH_WHL" type="hinge" axis="0.0 1.0 0.0" range="-1000.0 1000.0" frictionloss="1.0" />
<inertial pos="3.8e-05 0.000878 5.1e-05" mass="0.818" fullinertia="0.003929539 0.007451249 0.003930825 1e-08 1.808e-06 6.7e-08" />
<geom name="LH_wheel_vis_0" type="mesh" mesh="LH_wheel" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="LH_wheel_col_0" type="cylinder" size="0.127 0.0085" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
<body name="LH_foot" pos="0.0 0.0 -0.127">
<geom name="LH_foot_vis_0" type="sphere" size="0.03" contype="0" conaffinity="0" group="2" />
</body>
</body>
</body>
</body>
</body>
<body name="RH_hip" pos="-0.307 -0.06 -0.07376">
<joint name="RH_HAA" type="hinge" axis="1.0 0.0 0.0" range="-0.87 0.87" damping="0.05" frictionloss="0.01" />
<inertial pos="-0.053246 -0.009578 -0.000256" mass="1.434" fullinertia="0.001158337 0.001701117 0.001372051 -2.5451e-05 -7.91e-07 1.883e-06" />
<geom name="RH_hip_vis_0" type="mesh" mesh="RH_hip" contype="0" conaffinity="0" group="2" material="orange" />
<body name="RH_thigh" pos="-0.058 -0.0408 0.0">
<joint name="RH_HFE" type="hinge" axis="0.0 1.0 0.0" range="-2.27 1.22" damping="0.05" frictionloss="0.01" />
<inertial pos="-0.057303 -0.055844 0.004528" mass="2.751" fullinertia="0.004607032 0.028533909 0.029844027 -0.004707351 0.001380725 0.000405022" />
<geom name="RH_thigh_vis_0" type="mesh" mesh="RH_thigh" contype="0" conaffinity="0" group="2" material="orange" />
<body name="RH_calf" pos="-0.28 -0.08155 0.0">
<joint name="RH_KFE" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.0943951023932" damping="0.05" frictionloss="0.01" />
<inertial pos="0.172578 -0.002711 -0.142172" mass="1.326" fullinertia="0.006426995 0.01424856 0.008429207 0.000131916 0.006446843 -0.000130699" />
<geom name="RH_calf_vis_0" type="mesh" mesh="RH_calf" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="RH_calf_col_0" type="box" size="0.14 0.0115 0.02255" pos="0.10876 0.0 -0.08805" quat="0.9426414911385422 0.0 0.3338068591028434 0.0" group="3" />
<body name="RH_wheel" pos="0.21449 -0.03434 -0.17998">
<joint name="RH_WHL" type="hinge" axis="0.0 1.0 0.0" range="-1000.0 1000.0" frictionloss="1.0" />
<inertial pos="3.8e-05 -0.000878 5.1e-05" mass="0.818" fullinertia="0.003929539 0.007451249 0.003930825 -1e-08 1.808e-06 -6.7e-08" />
<geom name="RH_wheel_vis_0" type="mesh" mesh="RH_wheel" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="RH_wheel_col_0" type="cylinder" size="0.127 0.0085" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
<body name="RH_foot" pos="0.0 0.0 -0.127">
<geom name="RH_foot_vis_0" type="sphere" size="0.03" contype="0" conaffinity="0" group="2" />
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base" body2="limx_imu" />
<exclude body1="base" body2="LF_hip" />
<exclude body1="LF_hip" body2="LF_thigh" />
<exclude body1="LF_thigh" body2="LF_calf" />
<exclude body1="LF_calf" body2="LF_wheel" />
<exclude body1="LF_wheel" body2="LF_foot" />
<exclude body1="base" body2="RF_hip" />
<exclude body1="RF_hip" body2="RF_thigh" />
<exclude body1="RF_thigh" body2="RF_calf" />
<exclude body1="RF_calf" body2="RF_wheel" />
<exclude body1="RF_wheel" body2="RF_foot" />
<exclude body1="base" body2="LH_hip" />
<exclude body1="LH_hip" body2="LH_thigh" />
<exclude body1="LH_thigh" body2="LH_calf" />
<exclude body1="LH_calf" body2="LH_wheel" />
<exclude body1="LH_wheel" body2="LH_foot" />
<exclude body1="base" body2="RH_hip" />
<exclude body1="RH_hip" body2="RH_thigh" />
<exclude body1="RH_thigh" body2="RH_calf" />
<exclude body1="RH_calf" body2="RH_wheel" />
<exclude body1="RH_wheel" body2="RH_foot" />
</contact>
</mujoco>
Import report
Counts
| Links | 22 |
|---|---|
| Joints | 21 |
| Moving joints | 16 |
| Visuals | 22 |
| Collisions | 9 |
| Materials | 9 |
Meshes
Formats: stl.
Asset size: 27.2 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
color | 16 | <color> is not part of the URDF subset RobotDescription mirrors |
gazebo | 30 | Gazebo simulator extensions are not part of the description |
material | 2 | same name as an earlier material with a different colour; the earlier colour is used |
transmission | 16 | ROS transmissions (actuator-to-joint wiring) have no RobotDescription field yet |
Forward-kinematics check
Forward kinematics of 22 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 · 2.4e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 16).
Source & licence
| Repository | https://github.com/limxdynamics/robot-description |
|---|---|
| Commit | a097533372a08298d45af391cbdfc2fd2dc3da6f |
| Original file | wheellegged/WL_P311D/urdf/robot.urdf |
| Licence | Apache-2.0 · the upstream LICENSE file |
| Files | robot.urdf · robot.xml |
Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.