WL P311E
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 a4d0db78accbae07 -->
<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="0.0 0.0 -0.045" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://robot_description/wheellegged/WL_P311E/meshes/trunk.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="1.064 0.265 0.158" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00753 -0.00067 -0.04359" rpy="0.0 0.0 0.0" />
<mass value="23.787" />
<inertia ixx="0.17222073" ixy="0.00339712" ixz="-0.0092304" iyy="1.15539026" iyz="-0.00099682" izz="1.2147365" />
</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="0.2508 0.065 -0.045" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="LF_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="80.0" 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_P311E/meshes/LF_hip.STL" />
</geometry>
<material name="orange" />
</visual>
<inertial>
<origin xyz="0.057951 0.00922 -1.7e-05" rpy="0.0 0.0 0.0" />
<mass value="1.543" />
<inertia ixx="0.001250053" ixy="-3.0903e-05" ixz="-4.03e-06" iyy="0.002049507" iyz="5.045e-06" izz="0.001568073" />
</inertial>
</link>
<joint name="LF_HFE" type="revolute">
<origin xyz="0.064 0.0363 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="80.0" 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_P311E/meshes/LF_thigh.STL" />
</geometry>
<material name="orange" />
</visual>
<inertial>
<origin xyz="-0.061914 0.061328 0.00435" rpy="0.0 0.0 0.0" />
<mass value="2.997" />
<inertia ixx="0.005164125" ixy="0.00579372" ixz="0.001694032" iyy="0.036812985" iyz="-0.000522747" izz="0.038207062" />
</inertial>
</link>
<joint name="LF_KFE" type="revolute">
<origin xyz="-0.28 0.09075 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="80.0" 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_P311E/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="0.175672 0.004984 -0.145368" rpy="0.0 0.0 0.0" />
<mass value="1.405" />
<inertia ixx="0.006518228" ixy="-0.000248509" ixz="0.006450451" iyy="0.014553507" iyz="0.000233879" izz="0.008539584" />
</inertial>
</link>
<joint name="LF_WHL" type="revolute">
<origin xyz="0.21449 0.03459 -0.17998" rpy="0.0 -0.3 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_P311E/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="-3.6e-05 0.000971 -3.9e-05" rpy="0.0 0.0 0.0" />
<mass value="0.995" />
<inertia ixx="0.004921306" ixy="7e-09" ixz="1.942e-06" iyy="0.009327" iyz="6.3e-08" izz="0.004921781" />
</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="0.2508 -0.065 -0.045" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="RF_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="80.0" 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_P311E/meshes/RF_hip.STL" />
</geometry>
<material name="orange" />
</visual>
<inertial>
<origin xyz="0.057951 -0.00922 -1.7e-05" rpy="0.0 0.0 0.0" />
<mass value="1.543" />
<inertia ixx="0.001250053" ixy="3.0903e-05" ixz="-4.03e-06" iyy="0.002049507" iyz="-5.045e-06" izz="0.001568073" />
</inertial>
</link>
<joint name="RF_HFE" type="revolute">
<origin xyz="0.064 -0.0363 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="80.0" 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_P311E/meshes/RF_thigh.STL" />
</geometry>
<material name="orange" />
</visual>
<inertial>
<origin xyz="-0.061914 -0.061328 0.00435" rpy="0.0 0.0 0.0" />
<mass value="2.997" />
<inertia ixx="0.005164125" ixy="-0.00579372" ixz="0.001694032" iyy="0.036812985" iyz="0.000522747" izz="0.038207062" />
</inertial>
</link>
<joint name="RF_KFE" type="revolute">
<origin xyz="-0.28 -0.09075 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="80.0" 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_P311E/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="0.175672 -0.004984 -0.145368" rpy="0.0 0.0 0.0" />
<mass value="1.405" />
<inertia ixx="0.006518228" ixy="0.000248509" ixz="0.006450451" iyy="0.014553507" iyz="-0.000233879" izz="0.008539584" />
</inertial>
</link>
<joint name="RF_WHL" type="revolute">
<origin xyz="0.21449 -0.03459 -0.17998" rpy="0.0 -0.3 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_P311E/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="-3.6e-05 -0.000971 -3.9e-05" rpy="0.0 0.0 0.0" />
<mass value="0.995" />
<inertia ixx="0.004921306" ixy="-7e-09" ixz="1.942e-06" iyy="0.009327" iyz="-6.3e-08" izz="0.004921781" />
</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="-0.2508 0.065 -0.045" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="LH_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="80.0" 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_P311E/meshes/LH_hip.STL" />
</geometry>
<material name="orange" />
</visual>
<inertial>
<origin xyz="-0.057951 0.00922 -1.7e-05" rpy="0.0 0.0 0.0" />
<mass value="1.543" />
<inertia ixx="0.001250053" ixy="3.0903e-05" ixz="4.03e-06" iyy="0.002049507" iyz="5.045e-06" izz="0.001568073" />
</inertial>
</link>
<joint name="LH_HFE" type="revolute">
<origin xyz="-0.064 0.0363 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="80.0" 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_P311E/meshes/LH_thigh.STL" />
</geometry>
<material name="orange" />
</visual>
<inertial>
<origin xyz="-0.061914 0.061328 0.00435" rpy="0.0 0.0 0.0" />
<mass value="2.997" />
<inertia ixx="0.005164125" ixy="0.00579372" ixz="0.001694032" iyy="0.036812985" iyz="-0.000522747" izz="0.038207062" />
</inertial>
</link>
<joint name="LH_KFE" type="revolute">
<origin xyz="-0.28 0.09075 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="80.0" 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_P311E/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="0.175672 0.004984 -0.145368" rpy="0.0 0.0 0.0" />
<mass value="1.405" />
<inertia ixx="0.006518228" ixy="-0.000248509" ixz="0.006450451" iyy="0.014553507" iyz="0.000233879" izz="0.008539584" />
</inertial>
</link>
<joint name="LH_WHL" type="revolute">
<origin xyz="0.21449 0.03459 -0.17998" rpy="0.0 -0.3 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_P311E/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="-3.6e-05 0.000971 -3.9e-05" rpy="0.0 0.0 0.0" />
<mass value="0.995" />
<inertia ixx="0.004921306" ixy="7e-09" ixz="1.942e-06" iyy="0.009327" iyz="6.3e-08" izz="0.004921781" />
</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="-0.2508 -0.065 -0.045" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="RH_hip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="80.0" 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_P311E/meshes/RH_hip.STL" />
</geometry>
<material name="orange" />
</visual>
<inertial>
<origin xyz="-0.057951 -0.00922 -1.7e-05" rpy="0.0 0.0 0.0" />
<mass value="1.543" />
<inertia ixx="0.001250053" ixy="-3.0903e-05" ixz="4.03e-06" iyy="0.002049507" iyz="-5.045e-06" izz="0.001568073" />
</inertial>
</link>
<joint name="RH_HFE" type="revolute">
<origin xyz="-0.064 -0.0363 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="80.0" 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_P311E/meshes/RH_thigh.STL" />
</geometry>
<material name="orange" />
</visual>
<inertial>
<origin xyz="-0.061914 -0.061328 0.00435" rpy="0.0 0.0 0.0" />
<mass value="2.997" />
<inertia ixx="0.005164125" ixy="-0.00579372" ixz="0.001694032" iyy="0.036812985" iyz="0.000522747" izz="0.038207062" />
</inertial>
</link>
<joint name="RH_KFE" type="revolute">
<origin xyz="-0.28 -0.09075 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="80.0" 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_P311E/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="0.175672 -0.004984 -0.145368" rpy="0.0 0.0 0.0" />
<mass value="1.405" />
<inertia ixx="0.006518228" ixy="0.000248509" ixz="0.006450451" iyy="0.014553507" iyz="-0.000233879" izz="0.008539584" />
</inertial>
</link>
<joint name="RH_WHL" type="revolute">
<origin xyz="0.21449 -0.03459 -0.17998" rpy="0.0 -0.3 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_P311E/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="-3.6e-05 -0.000971 -3.9e-05" rpy="0.0 0.0 0.0" />
<mass value="0.995" />
<inertia ixx="0.004921306" ixy="-7e-09" ixz="1.942e-06" iyy="0.009327" iyz="-6.3e-08" izz="0.004921781" />
</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 a4d0db78accbae07 -->
<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="trunk" file="robot_description/wheellegged/WL_P311E/meshes/trunk.STL" />
<mesh name="LF_hip" file="robot_description/wheellegged/WL_P311E/meshes/LF_hip.STL" />
<mesh name="LF_thigh" file="robot_description/wheellegged/WL_P311E/meshes/LF_thigh.STL" />
<mesh name="LF_calf" file="robot_description/wheellegged/WL_P311E/meshes/LF_calf.STL" />
<mesh name="LF_wheel" file="robot_description/wheellegged/WL_P311E/meshes/LF_wheel.STL" />
<mesh name="RF_hip" file="robot_description/wheellegged/WL_P311E/meshes/RF_hip.STL" />
<mesh name="RF_thigh" file="robot_description/wheellegged/WL_P311E/meshes/RF_thigh.STL" />
<mesh name="RF_calf" file="robot_description/wheellegged/WL_P311E/meshes/RF_calf.STL" />
<mesh name="RF_wheel" file="robot_description/wheellegged/WL_P311E/meshes/RF_wheel.STL" />
<mesh name="LH_hip" file="robot_description/wheellegged/WL_P311E/meshes/LH_hip.STL" />
<mesh name="LH_thigh" file="robot_description/wheellegged/WL_P311E/meshes/LH_thigh.STL" />
<mesh name="LH_calf" file="robot_description/wheellegged/WL_P311E/meshes/LH_calf.STL" />
<mesh name="LH_wheel" file="robot_description/wheellegged/WL_P311E/meshes/LH_wheel.STL" />
<mesh name="RH_hip" file="robot_description/wheellegged/WL_P311E/meshes/RH_hip.STL" />
<mesh name="RH_thigh" file="robot_description/wheellegged/WL_P311E/meshes/RH_thigh.STL" />
<mesh name="RH_calf" file="robot_description/wheellegged/WL_P311E/meshes/RH_calf.STL" />
<mesh name="RH_wheel" file="robot_description/wheellegged/WL_P311E/meshes/RH_wheel.STL" />
</asset>
<worldbody>
<body name="base">
<inertial pos="0.00753 -0.00067 -0.04359" mass="23.787" fullinertia="0.17222073 1.15539026 1.2147365 0.00339712 -0.0092304 -0.00099682" />
<geom name="base_vis_0" type="mesh" mesh="trunk" pos="0.0 0.0 -0.045" contype="0" conaffinity="0" group="2" material="orange" />
<geom name="base_col_0" type="box" size="0.532 0.1325 0.079" 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="0.2508 0.065 -0.045">
<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="0.057951 0.00922 -1.7e-05" mass="1.543" fullinertia="0.001250053 0.002049507 0.001568073 -3.0903e-05 -4.03e-06 5.045e-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="0.064 0.0363 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="-0.061914 0.061328 0.00435" mass="2.997" fullinertia="0.005164125 0.036812985 0.038207062 0.00579372 0.001694032 -0.000522747" />
<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 0.09075 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="0.175672 0.004984 -0.145368" mass="1.405" fullinertia="0.006518228 0.014553507 0.008539584 -0.000248509 0.006450451 0.000233879" />
<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 0.03459 -0.17998" quat="0.9887710779360422 0.0 -0.14943813247359922 0.0">
<joint name="LF_WHL" type="hinge" axis="0.0 1.0 0.0" range="-1000.0 1000.0" frictionloss="1.0" />
<inertial pos="-3.6e-05 0.000971 -3.9e-05" mass="0.995" fullinertia="0.004921306 0.009327 0.004921781 7e-09 1.942e-06 6.3e-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="0.2508 -0.065 -0.045">
<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="0.057951 -0.00922 -1.7e-05" mass="1.543" fullinertia="0.001250053 0.002049507 0.001568073 3.0903e-05 -4.03e-06 -5.045e-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="0.064 -0.0363 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="-0.061914 -0.061328 0.00435" mass="2.997" fullinertia="0.005164125 0.036812985 0.038207062 -0.00579372 0.001694032 0.000522747" />
<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 -0.09075 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="0.175672 -0.004984 -0.145368" mass="1.405" fullinertia="0.006518228 0.014553507 0.008539584 0.000248509 0.006450451 -0.000233879" />
<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 -0.03459 -0.17998" quat="0.9887710779360422 0.0 -0.14943813247359922 0.0">
<joint name="RF_WHL" type="hinge" axis="0.0 1.0 0.0" range="-1000.0 1000.0" frictionloss="1.0" />
<inertial pos="-3.6e-05 -0.000971 -3.9e-05" mass="0.995" fullinertia="0.004921306 0.009327 0.004921781 -7e-09 1.942e-06 -6.3e-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="-0.2508 0.065 -0.045">
<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="-0.057951 0.00922 -1.7e-05" mass="1.543" fullinertia="0.001250053 0.002049507 0.001568073 3.0903e-05 4.03e-06 5.045e-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="-0.064 0.0363 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="-0.061914 0.061328 0.00435" mass="2.997" fullinertia="0.005164125 0.036812985 0.038207062 0.00579372 0.001694032 -0.000522747" />
<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 0.09075 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="0.175672 0.004984 -0.145368" mass="1.405" fullinertia="0.006518228 0.014553507 0.008539584 -0.000248509 0.006450451 0.000233879" />
<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 0.03459 -0.17998" quat="0.9887710779360422 0.0 -0.14943813247359922 0.0">
<joint name="LH_WHL" type="hinge" axis="0.0 1.0 0.0" range="-1000.0 1000.0" frictionloss="1.0" />
<inertial pos="-3.6e-05 0.000971 -3.9e-05" mass="0.995" fullinertia="0.004921306 0.009327 0.004921781 7e-09 1.942e-06 6.3e-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="-0.2508 -0.065 -0.045">
<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="-0.057951 -0.00922 -1.7e-05" mass="1.543" fullinertia="0.001250053 0.002049507 0.001568073 -3.0903e-05 4.03e-06 -5.045e-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="-0.064 -0.0363 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="-0.061914 -0.061328 0.00435" mass="2.997" fullinertia="0.005164125 0.036812985 0.038207062 -0.00579372 0.001694032 0.000522747" />
<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 -0.09075 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="0.175672 -0.004984 -0.145368" mass="1.405" fullinertia="0.006518228 0.014553507 0.008539584 0.000248509 0.006450451 -0.000233879" />
<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 -0.03459 -0.17998" quat="0.9887710779360422 0.0 -0.14943813247359922 0.0">
<joint name="RH_WHL" type="hinge" axis="0.0 1.0 0.0" range="-1000.0 1000.0" frictionloss="1.0" />
<inertial pos="-3.6e-05 -0.000971 -3.9e-05" mass="0.995" fullinertia="0.004921306 0.009327 0.004921781 -7e-09 1.942e-06 -6.3e-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: 31.8 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 · 2.9e-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_P311E/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.