Commit ·
461a28b
1
Parent(s): 807b494
Update the G1 Inspire URDFs for HuG
Browse files- robots/robot_description/humanoids/g1_inspire/urdf/g1_29dof_head.urdf +1209 -1208
- robots/robot_description/humanoids/g1_inspire/urdf/g1_inspire_head.urdf +36 -35
- robots/robot_description/humanoids/g1_inspire/urdf/g1_inspire_upper_head.urdf +65 -50
- robots/robot_description/humanoids/g1_inspire/urdf/r_hand_inspire.urdf +13 -3
robots/robot_description/humanoids/g1_inspire/urdf/g1_29dof_head.urdf
CHANGED
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@@ -1,1209 +1,1210 @@
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-
<
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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<
|
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|
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|
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|
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<
|
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<
|
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|
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<
|
| 709 |
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<
|
| 710 |
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|
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|
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|
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<
|
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|
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|
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|
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|
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|
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<
|
| 720 |
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|
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<
|
| 722 |
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|
| 723 |
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|
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<
|
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|
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|
| 727 |
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|
| 728 |
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<
|
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|
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<
|
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|
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|
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|
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|
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<
|
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|
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|
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<
|
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<
|
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<
|
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|
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<
|
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|
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|
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<
|
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|
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|
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<
|
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|
| 750 |
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<
|
| 751 |
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|
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|
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<
|
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|
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|
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<
|
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|
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<
|
| 760 |
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|
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|
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|
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|
| 764 |
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<
|
| 765 |
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|
| 766 |
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<
|
| 767 |
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<
|
| 768 |
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<
|
| 769 |
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<
|
| 770 |
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|
| 771 |
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<
|
| 772 |
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|
| 773 |
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|
| 774 |
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<
|
| 775 |
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<
|
| 776 |
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|
| 777 |
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<
|
| 778 |
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|
| 779 |
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<
|
| 780 |
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|
| 781 |
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|
| 782 |
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<
|
| 783 |
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|
| 784 |
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|
| 785 |
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|
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<
|
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|
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<
|
| 789 |
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|
| 790 |
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|
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|
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|
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<
|
| 794 |
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|
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<
|
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<
|
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<
|
| 798 |
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<
|
| 799 |
-
|
| 800 |
-
<
|
| 801 |
-
|
| 802 |
-
|
| 803 |
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<
|
| 804 |
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<
|
| 805 |
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|
| 806 |
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<
|
| 807 |
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|
| 808 |
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<
|
| 809 |
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|
| 810 |
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|
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<
|
| 812 |
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|
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|
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|
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<
|
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|
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<
|
| 818 |
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|
| 819 |
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|
| 820 |
-
|
| 821 |
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|
| 822 |
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<
|
| 823 |
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|
| 824 |
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<
|
| 825 |
-
<
|
| 826 |
-
<
|
| 827 |
-
<
|
| 828 |
-
|
| 829 |
-
<joint
|
| 830 |
-
|
| 831 |
-
<
|
| 832 |
-
<
|
| 833 |
-
<
|
| 834 |
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<
|
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|
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<
|
| 837 |
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|
| 838 |
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|
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|
| 840 |
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|
| 841 |
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|
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|
| 843 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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<
|
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|
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<
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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<
|
| 883 |
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|
| 884 |
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|
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|
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|
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<
|
| 888 |
-
|
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<
|
| 890 |
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<
|
| 891 |
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<
|
| 892 |
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<
|
| 893 |
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|
| 894 |
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<
|
| 895 |
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|
| 896 |
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|
| 897 |
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<
|
| 898 |
-
<
|
| 899 |
-
|
| 900 |
-
<
|
| 901 |
-
|
| 902 |
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<
|
| 903 |
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|
| 904 |
-
|
| 905 |
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<
|
| 906 |
-
|
| 907 |
-
|
| 908 |
-
|
| 909 |
-
<
|
| 910 |
-
|
| 911 |
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<
|
| 912 |
-
|
| 913 |
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|
| 914 |
-
|
| 915 |
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|
| 916 |
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<
|
| 917 |
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|
| 918 |
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<
|
| 919 |
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<
|
| 920 |
-
|
| 921 |
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<
|
| 922 |
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|
| 923 |
-
|
| 924 |
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<
|
| 925 |
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<
|
| 926 |
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|
| 927 |
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<
|
| 928 |
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|
| 929 |
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<
|
| 930 |
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|
| 931 |
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|
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<
|
| 933 |
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|
| 934 |
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|
| 935 |
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|
| 936 |
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|
| 937 |
-
<link
|
| 938 |
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|
| 939 |
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|
| 940 |
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<
|
| 941 |
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<
|
| 942 |
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|
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|
| 944 |
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|
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|
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|
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<
|
| 949 |
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|
| 950 |
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|
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|
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|
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|
| 955 |
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|
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|
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|
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|
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|
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|
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|
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|
| 963 |
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<
|
| 964 |
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<
|
| 965 |
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|
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|
| 967 |
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|
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|
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|
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|
| 971 |
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|
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<
|
| 973 |
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|
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<
|
| 975 |
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|
| 976 |
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|
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<
|
| 978 |
-
|
| 979 |
-
|
| 980 |
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|
| 981 |
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<
|
| 982 |
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|
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<
|
| 984 |
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|
| 985 |
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|
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-
|
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|
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<
|
| 989 |
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|
| 990 |
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<
|
| 991 |
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<
|
| 992 |
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<
|
| 993 |
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<
|
| 994 |
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|
| 995 |
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<
|
| 996 |
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|
| 997 |
-
|
| 998 |
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<
|
| 999 |
-
<
|
| 1000 |
-
|
| 1001 |
-
<
|
| 1002 |
-
|
| 1003 |
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<
|
| 1004 |
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|
| 1005 |
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|
| 1006 |
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<
|
| 1007 |
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|
| 1008 |
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|
| 1009 |
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|
| 1010 |
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<
|
| 1011 |
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|
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<
|
| 1013 |
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|
| 1014 |
-
|
| 1015 |
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|
| 1016 |
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|
| 1017 |
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<
|
| 1018 |
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|
| 1019 |
-
<
|
| 1020 |
-
<
|
| 1021 |
-
<
|
| 1022 |
-
<
|
| 1023 |
-
|
| 1024 |
-
<
|
| 1025 |
-
|
| 1026 |
-
|
| 1027 |
-
<
|
| 1028 |
-
<
|
| 1029 |
-
|
| 1030 |
-
<
|
| 1031 |
-
|
| 1032 |
-
<
|
| 1033 |
-
|
| 1034 |
-
|
| 1035 |
-
<
|
| 1036 |
-
|
| 1037 |
-
|
| 1038 |
-
|
| 1039 |
-
<
|
| 1040 |
-
|
| 1041 |
-
<
|
| 1042 |
-
|
| 1043 |
-
|
| 1044 |
-
|
| 1045 |
-
|
| 1046 |
-
<
|
| 1047 |
-
|
| 1048 |
-
<
|
| 1049 |
-
<
|
| 1050 |
-
<
|
| 1051 |
-
<
|
| 1052 |
-
|
| 1053 |
-
<joint
|
| 1054 |
-
|
| 1055 |
-
<
|
| 1056 |
-
<
|
| 1057 |
-
<
|
| 1058 |
-
<
|
| 1059 |
-
|
| 1060 |
-
<
|
| 1061 |
-
|
| 1062 |
-
|
| 1063 |
-
<
|
| 1064 |
-
<
|
| 1065 |
-
|
| 1066 |
-
<
|
| 1067 |
-
|
| 1068 |
-
<
|
| 1069 |
-
|
| 1070 |
-
|
| 1071 |
-
<
|
| 1072 |
-
|
| 1073 |
-
|
| 1074 |
-
|
| 1075 |
-
<
|
| 1076 |
-
|
| 1077 |
-
<
|
| 1078 |
-
|
| 1079 |
-
|
| 1080 |
-
|
| 1081 |
-
|
| 1082 |
-
<
|
| 1083 |
-
|
| 1084 |
-
<
|
| 1085 |
-
<
|
| 1086 |
-
<
|
| 1087 |
-
<
|
| 1088 |
-
|
| 1089 |
-
<
|
| 1090 |
-
|
| 1091 |
-
|
| 1092 |
-
<
|
| 1093 |
-
<
|
| 1094 |
-
|
| 1095 |
-
<
|
| 1096 |
-
|
| 1097 |
-
<
|
| 1098 |
-
|
| 1099 |
-
|
| 1100 |
-
<
|
| 1101 |
-
|
| 1102 |
-
|
| 1103 |
-
|
| 1104 |
-
<
|
| 1105 |
-
|
| 1106 |
-
<
|
| 1107 |
-
|
| 1108 |
-
|
| 1109 |
-
|
| 1110 |
-
|
| 1111 |
-
<
|
| 1112 |
-
|
| 1113 |
-
<
|
| 1114 |
-
<
|
| 1115 |
-
<
|
| 1116 |
-
<
|
| 1117 |
-
|
| 1118 |
-
<
|
| 1119 |
-
|
| 1120 |
-
|
| 1121 |
-
<
|
| 1122 |
-
<
|
| 1123 |
-
|
| 1124 |
-
<
|
| 1125 |
-
|
| 1126 |
-
<
|
| 1127 |
-
|
| 1128 |
-
|
| 1129 |
-
<
|
| 1130 |
-
|
| 1131 |
-
|
| 1132 |
-
|
| 1133 |
-
<
|
| 1134 |
-
|
| 1135 |
-
<
|
| 1136 |
-
|
| 1137 |
-
|
| 1138 |
-
|
| 1139 |
-
|
| 1140 |
-
|
| 1141 |
-
|
| 1142 |
-
|
| 1143 |
-
|
| 1144 |
-
|
| 1145 |
-
|
| 1146 |
-
|
| 1147 |
-
|
| 1148 |
-
|
| 1149 |
-
<
|
| 1150 |
-
|
| 1151 |
-
|
| 1152 |
-
|
| 1153 |
-
|
| 1154 |
-
|
| 1155 |
-
|
| 1156 |
-
|
| 1157 |
-
|
| 1158 |
-
|
| 1159 |
-
|
| 1160 |
-
|
| 1161 |
-
|
| 1162 |
-
|
| 1163 |
-
|
| 1164 |
-
|
| 1165 |
-
|
| 1166 |
-
|
| 1167 |
-
<
|
| 1168 |
-
|
| 1169 |
-
|
| 1170 |
-
|
| 1171 |
-
|
| 1172 |
-
|
| 1173 |
-
|
| 1174 |
-
<
|
| 1175 |
-
|
| 1176 |
-
|
| 1177 |
-
|
| 1178 |
-
<
|
| 1179 |
-
|
| 1180 |
-
|
| 1181 |
-
|
| 1182 |
-
|
| 1183 |
-
|
| 1184 |
-
|
| 1185 |
-
|
| 1186 |
-
|
| 1187 |
-
|
| 1188 |
-
|
| 1189 |
-
|
| 1190 |
-
<
|
| 1191 |
-
<
|
| 1192 |
-
|
| 1193 |
-
<
|
| 1194 |
-
|
| 1195 |
-
|
| 1196 |
-
<
|
| 1197 |
-
<
|
| 1198 |
-
|
| 1199 |
-
<
|
| 1200 |
-
|
| 1201 |
-
<
|
| 1202 |
-
|
| 1203 |
-
|
| 1204 |
-
<
|
| 1205 |
-
|
| 1206 |
-
|
| 1207 |
-
|
| 1208 |
-
|
|
|
|
| 1209 |
</robot>
|
|
|
|
| 1 |
+
<!-- 2026-10-26: joint origins and link inertials unified with humanoid-locomanip bimanual/stable g1_29dof_rev_1_0_inspire.urdf (Unitree rev_1_0 kinematics, field-verified inertials); the 3-DoF head is g1_inspire_head.urdf's kinematics at ~zero mass. All four HuG G1 URDFs agree on every shared joint and link. -->
|
| 2 |
+
<robot name="g1_29dof">
|
| 3 |
+
<mujoco>
|
| 4 |
+
<compiler meshdir="meshes" discardvisual="false"/>
|
| 5 |
+
</mujoco>
|
| 6 |
+
|
| 7 |
+
<!-- [CAUTION] uncomment when convert to mujoco -->
|
| 8 |
+
<!-- <link name="world"></link>
|
| 9 |
+
<joint name="floating_base_joint" type="floating">
|
| 10 |
+
<parent link="world"/>
|
| 11 |
+
<child link="pelvis"/>
|
| 12 |
+
</joint> -->
|
| 13 |
+
|
| 14 |
+
<link name="pelvis">
|
| 15 |
+
<inertial>
|
| 16 |
+
<origin xyz="0 0 -0.07605" rpy="0 0 0"/>
|
| 17 |
+
<mass value="3.813"/>
|
| 18 |
+
<inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184"/>
|
| 19 |
+
</inertial>
|
| 20 |
+
<visual>
|
| 21 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 22 |
+
<geometry>
|
| 23 |
+
<mesh filename="../meshes/pelvis.STL"/>
|
| 24 |
+
</geometry>
|
| 25 |
+
<material name="dark">
|
| 26 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 27 |
+
</material>
|
| 28 |
+
</visual>
|
| 29 |
+
</link>
|
| 30 |
+
<link name="pelvis_contour_link">
|
| 31 |
+
<inertial>
|
| 32 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 33 |
+
<mass value="0.001"/>
|
| 34 |
+
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
| 35 |
+
</inertial>
|
| 36 |
+
<visual>
|
| 37 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 38 |
+
<geometry>
|
| 39 |
+
<mesh filename="../meshes/pelvis_contour_link.STL"/>
|
| 40 |
+
</geometry>
|
| 41 |
+
<material name="white">
|
| 42 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 43 |
+
</material>
|
| 44 |
+
</visual>
|
| 45 |
+
<collision>
|
| 46 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 47 |
+
<geometry>
|
| 48 |
+
<mesh filename="../meshes/pelvis_contour_link.STL"/>
|
| 49 |
+
</geometry>
|
| 50 |
+
</collision>
|
| 51 |
+
</link>
|
| 52 |
+
<joint name="pelvis_contour_joint" type="fixed">
|
| 53 |
+
<parent link="pelvis"/>
|
| 54 |
+
<child link="pelvis_contour_link"/>
|
| 55 |
+
</joint>
|
| 56 |
+
|
| 57 |
+
<!-- Legs -->
|
| 58 |
+
<link name="left_hip_pitch_link">
|
| 59 |
+
<inertial>
|
| 60 |
+
<origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0"/>
|
| 61 |
+
<mass value="1.35"/>
|
| 62 |
+
<inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812"/>
|
| 63 |
+
</inertial>
|
| 64 |
+
<visual>
|
| 65 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 66 |
+
<geometry>
|
| 67 |
+
<mesh filename="../meshes/left_hip_pitch_link.STL"/>
|
| 68 |
+
</geometry>
|
| 69 |
+
<material name="dark">
|
| 70 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 71 |
+
</material>
|
| 72 |
+
</visual>
|
| 73 |
+
<collision>
|
| 74 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 75 |
+
<geometry>
|
| 76 |
+
<mesh filename="../meshes/left_hip_pitch_link.STL"/>
|
| 77 |
+
</geometry>
|
| 78 |
+
</collision>
|
| 79 |
+
</link>
|
| 80 |
+
<joint name="left_hip_pitch_joint" type="revolute">
|
| 81 |
+
<origin xyz="0 0.064452 -0.1027" rpy="0 0 0"/>
|
| 82 |
+
<parent link="pelvis"/>
|
| 83 |
+
<child link="left_hip_pitch_link"/>
|
| 84 |
+
<axis xyz="0 1 0"/>
|
| 85 |
+
<limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
|
| 86 |
+
</joint>
|
| 87 |
+
<link name="left_hip_roll_link">
|
| 88 |
+
<inertial>
|
| 89 |
+
<origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0"/>
|
| 90 |
+
<mass value="1.52"/>
|
| 91 |
+
<inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595"/>
|
| 92 |
+
</inertial>
|
| 93 |
+
<visual>
|
| 94 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 95 |
+
<geometry>
|
| 96 |
+
<mesh filename="../meshes/left_hip_roll_link.STL"/>
|
| 97 |
+
</geometry>
|
| 98 |
+
<material name="white">
|
| 99 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 100 |
+
</material>
|
| 101 |
+
</visual>
|
| 102 |
+
<collision>
|
| 103 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 104 |
+
<geometry>
|
| 105 |
+
<mesh filename="../meshes/left_hip_roll_link.STL"/>
|
| 106 |
+
</geometry>
|
| 107 |
+
</collision>
|
| 108 |
+
</link>
|
| 109 |
+
<joint name="left_hip_roll_joint" type="revolute">
|
| 110 |
+
<origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0"/>
|
| 111 |
+
<parent link="left_hip_pitch_link"/>
|
| 112 |
+
<child link="left_hip_roll_link"/>
|
| 113 |
+
<axis xyz="1 0 0"/>
|
| 114 |
+
<limit lower="-0.5236" upper="2.9671" effort="88" velocity="32"/>
|
| 115 |
+
</joint>
|
| 116 |
+
<link name="left_hip_yaw_link">
|
| 117 |
+
<inertial>
|
| 118 |
+
<origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0"/>
|
| 119 |
+
<mass value="1.702"/>
|
| 120 |
+
<inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149"/>
|
| 121 |
+
</inertial>
|
| 122 |
+
<visual>
|
| 123 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 124 |
+
<geometry>
|
| 125 |
+
<mesh filename="../meshes/left_hip_yaw_link.STL"/>
|
| 126 |
+
</geometry>
|
| 127 |
+
<material name="white">
|
| 128 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 129 |
+
</material>
|
| 130 |
+
</visual>
|
| 131 |
+
<collision>
|
| 132 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 133 |
+
<geometry>
|
| 134 |
+
<mesh filename="../meshes/left_hip_yaw_link.STL"/>
|
| 135 |
+
</geometry>
|
| 136 |
+
</collision>
|
| 137 |
+
</link>
|
| 138 |
+
<joint name="left_hip_yaw_joint" type="revolute">
|
| 139 |
+
<origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
|
| 140 |
+
<parent link="left_hip_roll_link"/>
|
| 141 |
+
<child link="left_hip_yaw_link"/>
|
| 142 |
+
<axis xyz="0 0 1"/>
|
| 143 |
+
<limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
|
| 144 |
+
</joint>
|
| 145 |
+
<link name="left_knee_link">
|
| 146 |
+
<inertial>
|
| 147 |
+
<origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0"/>
|
| 148 |
+
<mass value="1.932"/>
|
| 149 |
+
<inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168"/>
|
| 150 |
+
</inertial>
|
| 151 |
+
<visual>
|
| 152 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 153 |
+
<geometry>
|
| 154 |
+
<mesh filename="../meshes/left_knee_link.STL"/>
|
| 155 |
+
</geometry>
|
| 156 |
+
<material name="white">
|
| 157 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 158 |
+
</material>
|
| 159 |
+
</visual>
|
| 160 |
+
<collision>
|
| 161 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 162 |
+
<geometry>
|
| 163 |
+
<mesh filename="../meshes/left_knee_link.STL"/>
|
| 164 |
+
</geometry>
|
| 165 |
+
</collision>
|
| 166 |
+
</link>
|
| 167 |
+
<joint name="left_knee_joint" type="revolute">
|
| 168 |
+
<origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0"/>
|
| 169 |
+
<parent link="left_hip_yaw_link"/>
|
| 170 |
+
<child link="left_knee_link"/>
|
| 171 |
+
<axis xyz="0 1 0"/>
|
| 172 |
+
<limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
|
| 173 |
+
</joint>
|
| 174 |
+
<link name="left_ankle_pitch_link">
|
| 175 |
+
<inertial>
|
| 176 |
+
<origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
|
| 177 |
+
<mass value="0.074"/>
|
| 178 |
+
<inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
|
| 179 |
+
</inertial>
|
| 180 |
+
<visual>
|
| 181 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 182 |
+
<geometry>
|
| 183 |
+
<mesh filename="../meshes/left_ankle_pitch_link.STL"/>
|
| 184 |
+
</geometry>
|
| 185 |
+
<material name="white">
|
| 186 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 187 |
+
</material>
|
| 188 |
+
</visual>
|
| 189 |
+
<collision>
|
| 190 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 191 |
+
<geometry>
|
| 192 |
+
<mesh filename="../meshes/left_ankle_pitch_link.STL"/>
|
| 193 |
+
</geometry>
|
| 194 |
+
</collision>
|
| 195 |
+
</link>
|
| 196 |
+
<joint name="left_ankle_pitch_joint" type="revolute">
|
| 197 |
+
<origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0"/>
|
| 198 |
+
<parent link="left_knee_link"/>
|
| 199 |
+
<child link="left_ankle_pitch_link"/>
|
| 200 |
+
<axis xyz="0 1 0"/>
|
| 201 |
+
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
|
| 202 |
+
</joint>
|
| 203 |
+
<link name="left_ankle_roll_link">
|
| 204 |
+
<inertial>
|
| 205 |
+
<origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
|
| 206 |
+
<mass value="0.608"/>
|
| 207 |
+
<inertia ixx="0.0002231" ixy="2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="-1E-07" izz="0.0016667"/>
|
| 208 |
+
</inertial>
|
| 209 |
+
<visual>
|
| 210 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 211 |
+
<geometry>
|
| 212 |
+
<mesh filename="../meshes/left_ankle_roll_link.STL"/>
|
| 213 |
+
</geometry>
|
| 214 |
+
<material name="dark">
|
| 215 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 216 |
+
</material>
|
| 217 |
+
</visual>
|
| 218 |
+
<collision>
|
| 219 |
+
<origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
|
| 220 |
+
<geometry>
|
| 221 |
+
<sphere radius="0.005"/>
|
| 222 |
+
</geometry>
|
| 223 |
+
</collision>
|
| 224 |
+
<collision>
|
| 225 |
+
<origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
|
| 226 |
+
<geometry>
|
| 227 |
+
<sphere radius="0.005"/>
|
| 228 |
+
</geometry>
|
| 229 |
+
</collision>
|
| 230 |
+
<collision>
|
| 231 |
+
<origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
|
| 232 |
+
<geometry>
|
| 233 |
+
<sphere radius="0.005"/>
|
| 234 |
+
</geometry>
|
| 235 |
+
</collision>
|
| 236 |
+
<collision>
|
| 237 |
+
<origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
|
| 238 |
+
<geometry>
|
| 239 |
+
<sphere radius="0.005"/>
|
| 240 |
+
</geometry>
|
| 241 |
+
</collision>
|
| 242 |
+
</link>
|
| 243 |
+
<joint name="left_ankle_roll_joint" type="revolute">
|
| 244 |
+
<origin xyz="0 0 -0.017558" rpy="0 0 0"/>
|
| 245 |
+
<parent link="left_ankle_pitch_link"/>
|
| 246 |
+
<child link="left_ankle_roll_link"/>
|
| 247 |
+
<axis xyz="1 0 0"/>
|
| 248 |
+
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
|
| 249 |
+
</joint>
|
| 250 |
+
<link name="right_hip_pitch_link">
|
| 251 |
+
<inertial>
|
| 252 |
+
<origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0"/>
|
| 253 |
+
<mass value="1.35"/>
|
| 254 |
+
<inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812"/>
|
| 255 |
+
</inertial>
|
| 256 |
+
<visual>
|
| 257 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 258 |
+
<geometry>
|
| 259 |
+
<mesh filename="../meshes/right_hip_pitch_link.STL"/>
|
| 260 |
+
</geometry>
|
| 261 |
+
<material name="dark">
|
| 262 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 263 |
+
</material>
|
| 264 |
+
</visual>
|
| 265 |
+
<collision>
|
| 266 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 267 |
+
<geometry>
|
| 268 |
+
<mesh filename="../meshes/right_hip_pitch_link.STL"/>
|
| 269 |
+
</geometry>
|
| 270 |
+
</collision>
|
| 271 |
+
</link>
|
| 272 |
+
<joint name="right_hip_pitch_joint" type="revolute">
|
| 273 |
+
<origin xyz="0 -0.064452 -0.1027" rpy="0 0 0"/>
|
| 274 |
+
<parent link="pelvis"/>
|
| 275 |
+
<child link="right_hip_pitch_link"/>
|
| 276 |
+
<axis xyz="0 1 0"/>
|
| 277 |
+
<limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
|
| 278 |
+
</joint>
|
| 279 |
+
<link name="right_hip_roll_link">
|
| 280 |
+
<inertial>
|
| 281 |
+
<origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0"/>
|
| 282 |
+
<mass value="1.52"/>
|
| 283 |
+
<inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595"/>
|
| 284 |
+
</inertial>
|
| 285 |
+
<visual>
|
| 286 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 287 |
+
<geometry>
|
| 288 |
+
<mesh filename="../meshes/right_hip_roll_link.STL"/>
|
| 289 |
+
</geometry>
|
| 290 |
+
<material name="white">
|
| 291 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 292 |
+
</material>
|
| 293 |
+
</visual>
|
| 294 |
+
<collision>
|
| 295 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 296 |
+
<geometry>
|
| 297 |
+
<mesh filename="../meshes/right_hip_roll_link.STL"/>
|
| 298 |
+
</geometry>
|
| 299 |
+
</collision>
|
| 300 |
+
</link>
|
| 301 |
+
<joint name="right_hip_roll_joint" type="revolute">
|
| 302 |
+
<origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0"/>
|
| 303 |
+
<parent link="right_hip_pitch_link"/>
|
| 304 |
+
<child link="right_hip_roll_link"/>
|
| 305 |
+
<axis xyz="1 0 0"/>
|
| 306 |
+
<limit lower="-2.9671" upper="0.5236" effort="88" velocity="32"/>
|
| 307 |
+
</joint>
|
| 308 |
+
<link name="right_hip_yaw_link">
|
| 309 |
+
<inertial>
|
| 310 |
+
<origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0"/>
|
| 311 |
+
<mass value="1.702"/>
|
| 312 |
+
<inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149"/>
|
| 313 |
+
</inertial>
|
| 314 |
+
<visual>
|
| 315 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 316 |
+
<geometry>
|
| 317 |
+
<mesh filename="../meshes/right_hip_yaw_link.STL"/>
|
| 318 |
+
</geometry>
|
| 319 |
+
<material name="white">
|
| 320 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 321 |
+
</material>
|
| 322 |
+
</visual>
|
| 323 |
+
<collision>
|
| 324 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 325 |
+
<geometry>
|
| 326 |
+
<mesh filename="../meshes/right_hip_yaw_link.STL"/>
|
| 327 |
+
</geometry>
|
| 328 |
+
</collision>
|
| 329 |
+
</link>
|
| 330 |
+
<joint name="right_hip_yaw_joint" type="revolute">
|
| 331 |
+
<origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
|
| 332 |
+
<parent link="right_hip_roll_link"/>
|
| 333 |
+
<child link="right_hip_yaw_link"/>
|
| 334 |
+
<axis xyz="0 0 1"/>
|
| 335 |
+
<limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
|
| 336 |
+
</joint>
|
| 337 |
+
<link name="right_knee_link">
|
| 338 |
+
<inertial>
|
| 339 |
+
<origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0"/>
|
| 340 |
+
<mass value="1.932"/>
|
| 341 |
+
<inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168"/>
|
| 342 |
+
</inertial>
|
| 343 |
+
<visual>
|
| 344 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 345 |
+
<geometry>
|
| 346 |
+
<mesh filename="../meshes/right_knee_link.STL"/>
|
| 347 |
+
</geometry>
|
| 348 |
+
<material name="white">
|
| 349 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 350 |
+
</material>
|
| 351 |
+
</visual>
|
| 352 |
+
<collision>
|
| 353 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 354 |
+
<geometry>
|
| 355 |
+
<mesh filename="../meshes/right_knee_link.STL"/>
|
| 356 |
+
</geometry>
|
| 357 |
+
</collision>
|
| 358 |
+
</link>
|
| 359 |
+
<joint name="right_knee_joint" type="revolute">
|
| 360 |
+
<origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0"/>
|
| 361 |
+
<parent link="right_hip_yaw_link"/>
|
| 362 |
+
<child link="right_knee_link"/>
|
| 363 |
+
<axis xyz="0 1 0"/>
|
| 364 |
+
<limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
|
| 365 |
+
</joint>
|
| 366 |
+
<link name="right_ankle_pitch_link">
|
| 367 |
+
<inertial>
|
| 368 |
+
<origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
|
| 369 |
+
<mass value="0.074"/>
|
| 370 |
+
<inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
|
| 371 |
+
</inertial>
|
| 372 |
+
<visual>
|
| 373 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 374 |
+
<geometry>
|
| 375 |
+
<mesh filename="../meshes/right_ankle_pitch_link.STL"/>
|
| 376 |
+
</geometry>
|
| 377 |
+
<material name="white">
|
| 378 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 379 |
+
</material>
|
| 380 |
+
</visual>
|
| 381 |
+
<collision>
|
| 382 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 383 |
+
<geometry>
|
| 384 |
+
<mesh filename="../meshes/right_ankle_pitch_link.STL"/>
|
| 385 |
+
</geometry>
|
| 386 |
+
</collision>
|
| 387 |
+
</link>
|
| 388 |
+
<joint name="right_ankle_pitch_joint" type="revolute">
|
| 389 |
+
<origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0"/>
|
| 390 |
+
<parent link="right_knee_link"/>
|
| 391 |
+
<child link="right_ankle_pitch_link"/>
|
| 392 |
+
<axis xyz="0 1 0"/>
|
| 393 |
+
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
|
| 394 |
+
</joint>
|
| 395 |
+
<link name="right_ankle_roll_link">
|
| 396 |
+
<inertial>
|
| 397 |
+
<origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
|
| 398 |
+
<mass value="0.608"/>
|
| 399 |
+
<inertia ixx="0.0002231" ixy="-2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="1E-07" izz="0.0016667"/>
|
| 400 |
+
</inertial>
|
| 401 |
+
<visual>
|
| 402 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 403 |
+
<geometry>
|
| 404 |
+
<mesh filename="../meshes/right_ankle_roll_link.STL"/>
|
| 405 |
+
</geometry>
|
| 406 |
+
<material name="dark">
|
| 407 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 408 |
+
</material>
|
| 409 |
+
</visual>
|
| 410 |
+
<collision>
|
| 411 |
+
<origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
|
| 412 |
+
<geometry>
|
| 413 |
+
<sphere radius="0.005"/>
|
| 414 |
+
</geometry>
|
| 415 |
+
</collision>
|
| 416 |
+
<collision>
|
| 417 |
+
<origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
|
| 418 |
+
<geometry>
|
| 419 |
+
<sphere radius="0.005"/>
|
| 420 |
+
</geometry>
|
| 421 |
+
</collision>
|
| 422 |
+
<collision>
|
| 423 |
+
<origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
|
| 424 |
+
<geometry>
|
| 425 |
+
<sphere radius="0.005"/>
|
| 426 |
+
</geometry>
|
| 427 |
+
</collision>
|
| 428 |
+
<collision>
|
| 429 |
+
<origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
|
| 430 |
+
<geometry>
|
| 431 |
+
<sphere radius="0.005"/>
|
| 432 |
+
</geometry>
|
| 433 |
+
</collision>
|
| 434 |
+
</link>
|
| 435 |
+
<joint name="right_ankle_roll_joint" type="revolute">
|
| 436 |
+
<origin xyz="0 0 -0.017558" rpy="0 0 0"/>
|
| 437 |
+
<parent link="right_ankle_pitch_link"/>
|
| 438 |
+
<child link="right_ankle_roll_link"/>
|
| 439 |
+
<axis xyz="1 0 0"/>
|
| 440 |
+
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
|
| 441 |
+
</joint>
|
| 442 |
+
|
| 443 |
+
<!-- Torso -->
|
| 444 |
+
<link name="waist_yaw_link">
|
| 445 |
+
<inertial>
|
| 446 |
+
<origin xyz="0.003964 0 0.018769" rpy="0 0 0"/>
|
| 447 |
+
<mass value="0.244"/>
|
| 448 |
+
<inertia ixx="9.9587E-05" ixy="-1.833E-06" ixz="-1.2617E-05" iyy="0.00012411" iyz="-1.18E-07" izz="0.00015586"/>
|
| 449 |
+
</inertial>
|
| 450 |
+
<visual>
|
| 451 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 452 |
+
<geometry>
|
| 453 |
+
<mesh filename="../meshes/waist_yaw_link.STL"/>
|
| 454 |
+
</geometry>
|
| 455 |
+
<material name="white">
|
| 456 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 457 |
+
</material>
|
| 458 |
+
</visual>
|
| 459 |
+
</link>
|
| 460 |
+
<joint name="waist_yaw_joint" type="revolute">
|
| 461 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 462 |
+
<parent link="pelvis"/>
|
| 463 |
+
<child link="waist_yaw_link"/>
|
| 464 |
+
<axis xyz="0 0 1"/>
|
| 465 |
+
<limit lower="-2.618" upper="2.618" effort="88" velocity="32"/>
|
| 466 |
+
</joint>
|
| 467 |
+
<link name="waist_roll_link">
|
| 468 |
+
<inertial>
|
| 469 |
+
<origin xyz="0 -0.000236 0.010111" rpy="0 0 0"/>
|
| 470 |
+
<mass value="0.047"/>
|
| 471 |
+
<inertia ixx="7.515E-06" ixy="0" ixz="0" iyy="6.398E-06" iyz="9.9E-08" izz="3.988E-06"/>
|
| 472 |
+
</inertial>
|
| 473 |
+
<visual>
|
| 474 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 475 |
+
<geometry>
|
| 476 |
+
<mesh filename="../meshes/waist_roll_link.STL"/>
|
| 477 |
+
</geometry>
|
| 478 |
+
<material name="white">
|
| 479 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 480 |
+
</material>
|
| 481 |
+
</visual>
|
| 482 |
+
</link>
|
| 483 |
+
<joint name="waist_roll_joint" type="revolute">
|
| 484 |
+
<origin xyz="-0.0039635 0 0.044" rpy="0 0 0"/>
|
| 485 |
+
<parent link="waist_yaw_link"/>
|
| 486 |
+
<child link="waist_roll_link"/>
|
| 487 |
+
<axis xyz="1 0 0"/>
|
| 488 |
+
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
|
| 489 |
+
</joint>
|
| 490 |
+
<link name="torso_link">
|
| 491 |
+
<inertial>
|
| 492 |
+
<origin xyz="0.002601 0.000257 0.153719" rpy="0 0 0"/>
|
| 493 |
+
<mass value="8.562"/>
|
| 494 |
+
<inertia ixx="0.065674966" ixy="-8.597E-05" ixz="-0.001737252" iyy="0.053535188" iyz="8.6899E-05" izz="0.030808125"/>
|
| 495 |
+
</inertial>
|
| 496 |
+
<visual>
|
| 497 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 498 |
+
<geometry>
|
| 499 |
+
<mesh filename="../meshes/torso_link.STL"/>
|
| 500 |
+
</geometry>
|
| 501 |
+
<material name="white">
|
| 502 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 503 |
+
</material>
|
| 504 |
+
</visual>
|
| 505 |
+
<collision>
|
| 506 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 507 |
+
<geometry>
|
| 508 |
+
<mesh filename="../meshes/torso_link.STL"/>
|
| 509 |
+
</geometry>
|
| 510 |
+
</collision>
|
| 511 |
+
</link>
|
| 512 |
+
<joint name="waist_pitch_joint" type="revolute">
|
| 513 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 514 |
+
<parent link="waist_roll_link"/>
|
| 515 |
+
<child link="torso_link"/>
|
| 516 |
+
<axis xyz="0 1 0"/>
|
| 517 |
+
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
|
| 518 |
+
</joint>
|
| 519 |
+
|
| 520 |
+
<!-- LOGO -->
|
| 521 |
+
<joint name="logo_joint" type="fixed">
|
| 522 |
+
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0" />
|
| 523 |
+
<parent link="torso_link"/>
|
| 524 |
+
<child link="logo_link"/>
|
| 525 |
+
</joint>
|
| 526 |
+
<link name="logo_link">
|
| 527 |
+
<inertial>
|
| 528 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 529 |
+
<mass value="0.001"/>
|
| 530 |
+
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
| 531 |
+
</inertial>
|
| 532 |
+
<visual>
|
| 533 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 534 |
+
<geometry>
|
| 535 |
+
<mesh filename="../meshes/logo_link.STL"/>
|
| 536 |
+
</geometry>
|
| 537 |
+
<material name="dark">
|
| 538 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 539 |
+
</material>
|
| 540 |
+
</visual>
|
| 541 |
+
<collision>
|
| 542 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 543 |
+
<geometry>
|
| 544 |
+
<mesh filename="../meshes/logo_link.STL"/>
|
| 545 |
+
</geometry>
|
| 546 |
+
</collision>
|
| 547 |
+
</link>
|
| 548 |
+
|
| 549 |
+
<!-- Head -->
|
| 550 |
+
<link name="head_base_link">
|
| 551 |
+
<inertial>
|
| 552 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 553 |
+
<mass value="0.001" />
|
| 554 |
+
<inertia ixx="1e-07" ixy="0" ixz="0" iyy="1e-07" iyz="0" izz="1e-07" />
|
| 555 |
+
</inertial>
|
| 556 |
+
<visual>
|
| 557 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 558 |
+
<geometry>
|
| 559 |
+
<box size="0.005 0.005 0.005"/>
|
| 560 |
+
</geometry>
|
| 561 |
+
<material name="white">
|
| 562 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 563 |
+
</material>
|
| 564 |
+
</visual>
|
| 565 |
+
<collision>
|
| 566 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 567 |
+
<geometry>
|
| 568 |
+
<box size="0.005 0.005 0.005"/>
|
| 569 |
+
</geometry>
|
| 570 |
+
</collision>
|
| 571 |
+
</link>
|
| 572 |
+
<!-- Head chain origins below match assets/g1_inspire/g1_inspire_3dofhead*.xml
|
| 573 |
+
body pos values exactly. Keeping URDF FK in sync with MJCF physics is
|
| 574 |
+
critical for the grasp pipeline: the camera_optical_frame FK is what
|
| 575 |
+
transform_pc_cam_to_world() in g1_wbc_grasp_policy uses to put the
|
| 576 |
+
point cloud into W0. A mismatch here shifts the entire perceived scene
|
| 577 |
+
and the policy outputs grasp poses at the wrong world location. -->
|
| 578 |
+
<joint name="head_base_joint" type="fixed">
|
| 579 |
+
<origin xyz="0 0 0.296" rpy="0 0 0"/>
|
| 580 |
+
<parent link="torso_link"/>
|
| 581 |
+
<child link="head_base_link"/>
|
| 582 |
+
</joint>
|
| 583 |
+
<link name="head_yaw_link">
|
| 584 |
+
<inertial>
|
| 585 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 586 |
+
<mass value="0.001" />
|
| 587 |
+
<inertia ixx="1e-07" ixy="0" ixz="0" iyy="1e-07" iyz="0" izz="1e-07" />
|
| 588 |
+
</inertial>
|
| 589 |
+
</link>
|
| 590 |
+
<joint name="head_yaw_joint" type="revolute">
|
| 591 |
+
<origin xyz="0.02 0 0.05" rpy="0 0 0"/>
|
| 592 |
+
<parent link="head_base_link"/>
|
| 593 |
+
<child link="head_yaw_link"/>
|
| 594 |
+
<axis xyz="0 0 1"/>
|
| 595 |
+
<limit lower="-0.75" upper="0.75" effort="25" velocity="37"/>
|
| 596 |
+
</joint>
|
| 597 |
+
<link name="head_roll_link">
|
| 598 |
+
<inertial>
|
| 599 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 600 |
+
<mass value="0.001" />
|
| 601 |
+
<inertia ixx="1e-07" ixy="0" ixz="0" iyy="1e-07" iyz="0" izz="1e-07" />
|
| 602 |
+
</inertial>
|
| 603 |
+
</link>
|
| 604 |
+
<joint name="head_roll_joint" type="revolute">
|
| 605 |
+
<origin xyz="-0.075 0 0.0675" rpy="0 0 0"/>
|
| 606 |
+
<parent link="head_yaw_link"/>
|
| 607 |
+
<child link="head_roll_link"/>
|
| 608 |
+
<axis xyz="1 0 0"/>
|
| 609 |
+
<limit lower="-0.5" upper="0.5" effort="25" velocity="37"/>
|
| 610 |
+
</joint>
|
| 611 |
+
<link name="head_pitch_link">
|
| 612 |
+
<inertial>
|
| 613 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 614 |
+
<mass value="0.001" />
|
| 615 |
+
<inertia ixx="1e-07" ixy="0" ixz="0" iyy="1e-07" iyz="0" izz="1e-07" />
|
| 616 |
+
</inertial>
|
| 617 |
+
</link>
|
| 618 |
+
<joint name="head_pitch_joint" type="revolute">
|
| 619 |
+
<origin xyz="0.075 0 0" rpy="0 0 0"/>
|
| 620 |
+
<parent link="head_roll_link"/>
|
| 621 |
+
<child link="head_pitch_link"/>
|
| 622 |
+
<axis xyz="0 1 0"/>
|
| 623 |
+
<limit lower="-0.5" upper="1.05" effort="25" velocity="37"/>
|
| 624 |
+
</joint>
|
| 625 |
+
<link name="camera_head_keypoint">
|
| 626 |
+
<inertial>
|
| 627 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 628 |
+
<mass value="0.001" />
|
| 629 |
+
<inertia ixx="1e-07" ixy="0" ixz="0" iyy="1e-07" iyz="0" izz="1e-07" />
|
| 630 |
+
</inertial>
|
| 631 |
+
<visual>
|
| 632 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 633 |
+
<geometry>
|
| 634 |
+
<box size="0.01 0.13 0.02"/>
|
| 635 |
+
</geometry>
|
| 636 |
+
<material name="dark">
|
| 637 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 638 |
+
</material>
|
| 639 |
+
</visual>
|
| 640 |
+
</link>
|
| 641 |
+
<joint name="camera_head_keypoint_joint" type="fixed">
|
| 642 |
+
<origin xyz="0.025 0.032 -0.003" rpy="0 0 0"/>
|
| 643 |
+
<parent link="head_pitch_link"/>
|
| 644 |
+
<child link="camera_head_keypoint"/>
|
| 645 |
+
</joint>
|
| 646 |
+
<link name="camera_optical_frame"></link>
|
| 647 |
+
<joint name="camera_optical_joint" type="fixed">
|
| 648 |
+
<origin xyz="0 0 0" rpy="-1.57079632679 0 -1.57079632679"/>
|
| 649 |
+
<parent link="camera_head_keypoint"/>
|
| 650 |
+
<child link="camera_optical_frame"/>
|
| 651 |
+
</joint>
|
| 652 |
+
|
| 653 |
+
<!-- Waist Support -->
|
| 654 |
+
<link name="waist_support_link">
|
| 655 |
+
<inertial>
|
| 656 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 657 |
+
<mass value="0.001"/>
|
| 658 |
+
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
| 659 |
+
</inertial>
|
| 660 |
+
<visual>
|
| 661 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 662 |
+
<geometry>
|
| 663 |
+
<mesh filename="../meshes/waist_support_link.STL"/>
|
| 664 |
+
</geometry>
|
| 665 |
+
<material name="white">
|
| 666 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 667 |
+
</material>
|
| 668 |
+
</visual>
|
| 669 |
+
<collision>
|
| 670 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 671 |
+
<geometry>
|
| 672 |
+
<mesh filename="../meshes/waist_support_link.STL"/>
|
| 673 |
+
</geometry>
|
| 674 |
+
</collision>
|
| 675 |
+
</link>
|
| 676 |
+
<joint name="waist_support_joint" type="fixed">
|
| 677 |
+
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
|
| 678 |
+
<parent link="torso_link"/>
|
| 679 |
+
<child link="waist_support_link"/>
|
| 680 |
+
</joint>
|
| 681 |
+
|
| 682 |
+
<!-- IMU -->
|
| 683 |
+
<link name="imu_in_torso"></link>
|
| 684 |
+
<joint name="imu_in_torso_joint" type="fixed">
|
| 685 |
+
<origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0" />
|
| 686 |
+
<parent link="torso_link"/>
|
| 687 |
+
<child link="imu_in_torso"/>
|
| 688 |
+
</joint>
|
| 689 |
+
|
| 690 |
+
<link name="imu_in_pelvis"></link>
|
| 691 |
+
<joint name="imu_in_pelvis_joint" type="fixed">
|
| 692 |
+
<origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
|
| 693 |
+
<parent link="pelvis"/>
|
| 694 |
+
<child link="imu_in_pelvis"/>
|
| 695 |
+
</joint>
|
| 696 |
+
|
| 697 |
+
<!-- d435 -->
|
| 698 |
+
<link name="d435_link"></link>
|
| 699 |
+
<joint name="d435_joint" type="fixed">
|
| 700 |
+
<origin xyz="0.0576235 0.01753 0.42987" rpy="0 0.8307767239493009 0" />
|
| 701 |
+
<parent link="torso_link"/>
|
| 702 |
+
<child link="d435_link"/>
|
| 703 |
+
</joint>
|
| 704 |
+
|
| 705 |
+
<!-- mid360 -->
|
| 706 |
+
<link name="mid360_link"></link>
|
| 707 |
+
<joint name="mid360_joint" type="fixed">
|
| 708 |
+
<origin xyz="0.0002835 0.00003 0.428434" rpy="3.141592653589793 0.05112069379091391 0" />
|
| 709 |
+
<parent link="torso_link"/>
|
| 710 |
+
<child link="mid360_link"/>
|
| 711 |
+
</joint>
|
| 712 |
+
|
| 713 |
+
<!-- Arm -->
|
| 714 |
+
<link name="left_shoulder_pitch_link">
|
| 715 |
+
<inertial>
|
| 716 |
+
<origin xyz="0 0.035892 -0.011628" rpy="0 0 0"/>
|
| 717 |
+
<mass value="0.718"/>
|
| 718 |
+
<inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423"/>
|
| 719 |
+
</inertial>
|
| 720 |
+
<visual>
|
| 721 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 722 |
+
<geometry>
|
| 723 |
+
<mesh filename="../meshes/left_shoulder_pitch_link.STL"/>
|
| 724 |
+
</geometry>
|
| 725 |
+
<material name="white">
|
| 726 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 727 |
+
</material>
|
| 728 |
+
</visual>
|
| 729 |
+
<collision>
|
| 730 |
+
<origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0"/>
|
| 731 |
+
<geometry>
|
| 732 |
+
<cylinder radius="0.03" length="0.05"/>
|
| 733 |
+
</geometry>
|
| 734 |
+
</collision>
|
| 735 |
+
</link>
|
| 736 |
+
<joint name="left_shoulder_pitch_joint" type="revolute">
|
| 737 |
+
<origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159" />
|
| 738 |
+
<parent link="torso_link"/>
|
| 739 |
+
<child link="left_shoulder_pitch_link"/>
|
| 740 |
+
<axis xyz="0 1 0"/>
|
| 741 |
+
<limit lower="-1.8" upper="1.8" effort="25" velocity="37"/>
|
| 742 |
+
</joint>
|
| 743 |
+
<link name="left_shoulder_roll_link">
|
| 744 |
+
<inertial>
|
| 745 |
+
<origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0"/>
|
| 746 |
+
<mass value="0.643"/>
|
| 747 |
+
<inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894"/>
|
| 748 |
+
</inertial>
|
| 749 |
+
<visual>
|
| 750 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 751 |
+
<geometry>
|
| 752 |
+
<mesh filename="../meshes/left_shoulder_roll_link.STL"/>
|
| 753 |
+
</geometry>
|
| 754 |
+
<material name="white">
|
| 755 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 756 |
+
</material>
|
| 757 |
+
</visual>
|
| 758 |
+
<collision>
|
| 759 |
+
<origin xyz="-0.004 0.006 -0.053" rpy="0 0 0"/>
|
| 760 |
+
<geometry>
|
| 761 |
+
<cylinder radius="0.03" length="0.03"/>
|
| 762 |
+
</geometry>
|
| 763 |
+
</collision>
|
| 764 |
+
</link>
|
| 765 |
+
<joint name="left_shoulder_roll_joint" type="revolute">
|
| 766 |
+
<origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0"/>
|
| 767 |
+
<parent link="left_shoulder_pitch_link"/>
|
| 768 |
+
<child link="left_shoulder_roll_link"/>
|
| 769 |
+
<axis xyz="1 0 0"/>
|
| 770 |
+
<limit lower="0" upper="2.2515" effort="25" velocity="37"/>
|
| 771 |
+
</joint>
|
| 772 |
+
<link name="left_shoulder_yaw_link">
|
| 773 |
+
<inertial>
|
| 774 |
+
<origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0"/>
|
| 775 |
+
<mass value="0.734"/>
|
| 776 |
+
<inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354"/>
|
| 777 |
+
</inertial>
|
| 778 |
+
<visual>
|
| 779 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 780 |
+
<geometry>
|
| 781 |
+
<mesh filename="../meshes/left_shoulder_yaw_link.STL"/>
|
| 782 |
+
</geometry>
|
| 783 |
+
<material name="white">
|
| 784 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 785 |
+
</material>
|
| 786 |
+
</visual>
|
| 787 |
+
<collision>
|
| 788 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 789 |
+
<geometry>
|
| 790 |
+
<mesh filename="../meshes/left_shoulder_yaw_link.STL"/>
|
| 791 |
+
</geometry>
|
| 792 |
+
</collision>
|
| 793 |
+
</link>
|
| 794 |
+
<joint name="left_shoulder_yaw_joint" type="revolute">
|
| 795 |
+
<origin xyz="0 0.00624 -0.1032" rpy="0 0 0"/>
|
| 796 |
+
<parent link="left_shoulder_roll_link"/>
|
| 797 |
+
<child link="left_shoulder_yaw_link"/>
|
| 798 |
+
<axis xyz="0 0 1"/>
|
| 799 |
+
<limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
|
| 800 |
+
</joint>
|
| 801 |
+
<link name="left_elbow_link">
|
| 802 |
+
<inertial>
|
| 803 |
+
<origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0"/>
|
| 804 |
+
<mass value="0.6"/>
|
| 805 |
+
<inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197"/>
|
| 806 |
+
</inertial>
|
| 807 |
+
<visual>
|
| 808 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 809 |
+
<geometry>
|
| 810 |
+
<mesh filename="../meshes/left_elbow_link.STL"/>
|
| 811 |
+
</geometry>
|
| 812 |
+
<material name="white">
|
| 813 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 814 |
+
</material>
|
| 815 |
+
</visual>
|
| 816 |
+
<collision>
|
| 817 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 818 |
+
<geometry>
|
| 819 |
+
<mesh filename="../meshes/left_elbow_link.STL"/>
|
| 820 |
+
</geometry>
|
| 821 |
+
</collision>
|
| 822 |
+
</link>
|
| 823 |
+
<joint name="left_elbow_joint" type="revolute">
|
| 824 |
+
<origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
|
| 825 |
+
<parent link="left_shoulder_yaw_link"/>
|
| 826 |
+
<child link="left_elbow_link"/>
|
| 827 |
+
<axis xyz="0 1 0"/>
|
| 828 |
+
<limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
|
| 829 |
+
</joint>
|
| 830 |
+
<joint name="left_wrist_roll_joint" type="revolute">
|
| 831 |
+
<origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0"/>
|
| 832 |
+
<axis xyz="1 0 0"/>
|
| 833 |
+
<parent link="left_elbow_link"/>
|
| 834 |
+
<child link="left_wrist_roll_link"/>
|
| 835 |
+
<limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
|
| 836 |
+
</joint>
|
| 837 |
+
<link name="left_wrist_roll_link">
|
| 838 |
+
<inertial>
|
| 839 |
+
<origin xyz="0.01713944778 0.00053759094 0.00000048864" rpy="0 0 0"/>
|
| 840 |
+
<mass value="0.08544498"/>
|
| 841 |
+
<inertia ixx="0.00004821544023" ixy="-0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="-0.00000000123525" izz="0.00005482106541"/>
|
| 842 |
+
</inertial>
|
| 843 |
+
<visual>
|
| 844 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 845 |
+
<geometry>
|
| 846 |
+
<mesh filename="../meshes/left_wrist_roll_link.STL"/>
|
| 847 |
+
</geometry>
|
| 848 |
+
<material name="white">
|
| 849 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 850 |
+
</material>
|
| 851 |
+
</visual>
|
| 852 |
+
<collision>
|
| 853 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 854 |
+
<geometry>
|
| 855 |
+
<mesh filename="../meshes/left_wrist_roll_link.STL"/>
|
| 856 |
+
</geometry>
|
| 857 |
+
</collision>
|
| 858 |
+
</link>
|
| 859 |
+
<joint name="left_wrist_pitch_joint" type="revolute">
|
| 860 |
+
<origin xyz="0.038 0 0" rpy="0 0 0"/>
|
| 861 |
+
<axis xyz="0 1 0"/>
|
| 862 |
+
<parent link="left_wrist_roll_link"/>
|
| 863 |
+
<child link="left_wrist_pitch_link"/>
|
| 864 |
+
<limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
|
| 865 |
+
</joint>
|
| 866 |
+
<link name="left_wrist_pitch_link">
|
| 867 |
+
<inertial>
|
| 868 |
+
<origin xyz="0.02299989837 -0.00111685314 -0.00111658096" rpy="0 0 0"/>
|
| 869 |
+
<mass value="0.48404956"/>
|
| 870 |
+
<inertia ixx="0.00016579646273" ixy="-0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="0.00000081417712" izz="0.00042953697654"/>
|
| 871 |
+
</inertial>
|
| 872 |
+
<visual>
|
| 873 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 874 |
+
<geometry>
|
| 875 |
+
<mesh filename="../meshes/left_wrist_pitch_link.STL"/>
|
| 876 |
+
</geometry>
|
| 877 |
+
<material name="white">
|
| 878 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 879 |
+
</material>
|
| 880 |
+
</visual>
|
| 881 |
+
<collision>
|
| 882 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 883 |
+
<geometry>
|
| 884 |
+
<mesh filename="../meshes/left_wrist_pitch_link.STL"/>
|
| 885 |
+
</geometry>
|
| 886 |
+
</collision>
|
| 887 |
+
</link>
|
| 888 |
+
<joint name="left_wrist_yaw_joint" type="revolute">
|
| 889 |
+
<origin xyz="0.046 0 0" rpy="0 0 0"/>
|
| 890 |
+
<axis xyz="0 0 1"/>
|
| 891 |
+
<parent link="left_wrist_pitch_link"/>
|
| 892 |
+
<child link="left_wrist_yaw_link"/>
|
| 893 |
+
<limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
|
| 894 |
+
</joint>
|
| 895 |
+
<link name="left_wrist_yaw_link">
|
| 896 |
+
<inertial>
|
| 897 |
+
<origin xyz="0.02200381568 0.00049485096 0.00053861123" rpy="0 0 0"/>
|
| 898 |
+
<mass value="0.58457647"/>
|
| 899 |
+
<inertia ixx="0.00004929128828" ixy="-0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="0.00000043217198" izz="0.00003928083826"/>
|
| 900 |
+
</inertial>
|
| 901 |
+
<visual>
|
| 902 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 903 |
+
<geometry>
|
| 904 |
+
<mesh filename="../meshes/left_wrist_yaw_link.STL"/>
|
| 905 |
+
</geometry>
|
| 906 |
+
<material name="white">
|
| 907 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 908 |
+
</material>
|
| 909 |
+
</visual>
|
| 910 |
+
<collision>
|
| 911 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 912 |
+
<geometry>
|
| 913 |
+
<mesh filename="../meshes/left_wrist_yaw_link.STL"/>
|
| 914 |
+
</geometry>
|
| 915 |
+
</collision>
|
| 916 |
+
</link>
|
| 917 |
+
<joint name="left_hand_palm_joint" type="fixed">
|
| 918 |
+
<origin xyz="0.0415 0.003 0" rpy="0 0 0"/>
|
| 919 |
+
<parent link="left_wrist_yaw_link"/>
|
| 920 |
+
<child link="left_rubber_hand"/>
|
| 921 |
+
</joint>
|
| 922 |
+
<link name="left_rubber_hand">
|
| 923 |
+
<inertial>
|
| 924 |
+
<origin xyz="0.05361310808 -0.00295905240 0.00215413091" rpy="0 0 0"/>
|
| 925 |
+
<mass value="0.170"/>
|
| 926 |
+
<inertia ixx="0.00010099485234748" ixy="0.00003618590790516" ixz="-0.00000074301518642" iyy="0.00028135871571621" iyz="0.00000330189743286" izz="0.00021894770413514"/>
|
| 927 |
+
</inertial>
|
| 928 |
+
<visual>
|
| 929 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 930 |
+
<geometry>
|
| 931 |
+
<mesh filename="../meshes/left_rubber_hand.STL"/>
|
| 932 |
+
</geometry>
|
| 933 |
+
<material name="white">
|
| 934 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 935 |
+
</material>
|
| 936 |
+
</visual>
|
| 937 |
+
</link>
|
| 938 |
+
<link name="right_shoulder_pitch_link">
|
| 939 |
+
<inertial>
|
| 940 |
+
<origin xyz="0 -0.035892 -0.011628" rpy="0 0 0"/>
|
| 941 |
+
<mass value="0.718"/>
|
| 942 |
+
<inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423"/>
|
| 943 |
+
</inertial>
|
| 944 |
+
<visual>
|
| 945 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 946 |
+
<geometry>
|
| 947 |
+
<mesh filename="../meshes/right_shoulder_pitch_link.STL"/>
|
| 948 |
+
</geometry>
|
| 949 |
+
<material name="white">
|
| 950 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 951 |
+
</material>
|
| 952 |
+
</visual>
|
| 953 |
+
<collision>
|
| 954 |
+
<origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0"/>
|
| 955 |
+
<geometry>
|
| 956 |
+
<cylinder radius="0.03" length="0.05"/>
|
| 957 |
+
</geometry>
|
| 958 |
+
</collision>
|
| 959 |
+
</link>
|
| 960 |
+
<joint name="right_shoulder_pitch_joint" type="revolute">
|
| 961 |
+
<origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159" />
|
| 962 |
+
<parent link="torso_link"/>
|
| 963 |
+
<child link="right_shoulder_pitch_link"/>
|
| 964 |
+
<axis xyz="0 1 0"/>
|
| 965 |
+
<limit lower="-1.8" upper="1.8" effort="25" velocity="37"/>
|
| 966 |
+
</joint>
|
| 967 |
+
<link name="right_shoulder_roll_link">
|
| 968 |
+
<inertial>
|
| 969 |
+
<origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0"/>
|
| 970 |
+
<mass value="0.643"/>
|
| 971 |
+
<inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894"/>
|
| 972 |
+
</inertial>
|
| 973 |
+
<visual>
|
| 974 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 975 |
+
<geometry>
|
| 976 |
+
<mesh filename="../meshes/right_shoulder_roll_link.STL"/>
|
| 977 |
+
</geometry>
|
| 978 |
+
<material name="white">
|
| 979 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 980 |
+
</material>
|
| 981 |
+
</visual>
|
| 982 |
+
<collision>
|
| 983 |
+
<origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0"/>
|
| 984 |
+
<geometry>
|
| 985 |
+
<cylinder radius="0.03" length="0.03"/>
|
| 986 |
+
</geometry>
|
| 987 |
+
</collision>
|
| 988 |
+
</link>
|
| 989 |
+
<joint name="right_shoulder_roll_joint" type="revolute">
|
| 990 |
+
<origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0"/>
|
| 991 |
+
<parent link="right_shoulder_pitch_link"/>
|
| 992 |
+
<child link="right_shoulder_roll_link"/>
|
| 993 |
+
<axis xyz="1 0 0"/>
|
| 994 |
+
<limit lower="-2.2515" upper="0.01" effort="25" velocity="37"/>
|
| 995 |
+
</joint>
|
| 996 |
+
<link name="right_shoulder_yaw_link">
|
| 997 |
+
<inertial>
|
| 998 |
+
<origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0"/>
|
| 999 |
+
<mass value="0.734"/>
|
| 1000 |
+
<inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354"/>
|
| 1001 |
+
</inertial>
|
| 1002 |
+
<visual>
|
| 1003 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 1004 |
+
<geometry>
|
| 1005 |
+
<mesh filename="../meshes/right_shoulder_yaw_link.STL"/>
|
| 1006 |
+
</geometry>
|
| 1007 |
+
<material name="white">
|
| 1008 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 1009 |
+
</material>
|
| 1010 |
+
</visual>
|
| 1011 |
+
<collision>
|
| 1012 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 1013 |
+
<geometry>
|
| 1014 |
+
<mesh filename="../meshes/right_shoulder_yaw_link.STL"/>
|
| 1015 |
+
</geometry>
|
| 1016 |
+
</collision>
|
| 1017 |
+
</link>
|
| 1018 |
+
<joint name="right_shoulder_yaw_joint" type="revolute">
|
| 1019 |
+
<origin xyz="0 -0.00624 -0.1032" rpy="0 0 0"/>
|
| 1020 |
+
<parent link="right_shoulder_roll_link"/>
|
| 1021 |
+
<child link="right_shoulder_yaw_link"/>
|
| 1022 |
+
<axis xyz="0 0 1"/>
|
| 1023 |
+
<limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
|
| 1024 |
+
</joint>
|
| 1025 |
+
<link name="right_elbow_link">
|
| 1026 |
+
<inertial>
|
| 1027 |
+
<origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0"/>
|
| 1028 |
+
<mass value="0.6"/>
|
| 1029 |
+
<inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197"/>
|
| 1030 |
+
</inertial>
|
| 1031 |
+
<visual>
|
| 1032 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 1033 |
+
<geometry>
|
| 1034 |
+
<mesh filename="../meshes/right_elbow_link.STL"/>
|
| 1035 |
+
</geometry>
|
| 1036 |
+
<material name="white">
|
| 1037 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 1038 |
+
</material>
|
| 1039 |
+
</visual>
|
| 1040 |
+
<collision>
|
| 1041 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 1042 |
+
<geometry>
|
| 1043 |
+
<mesh filename="../meshes/right_elbow_link.STL"/>
|
| 1044 |
+
</geometry>
|
| 1045 |
+
</collision>
|
| 1046 |
+
</link>
|
| 1047 |
+
<joint name="right_elbow_joint" type="revolute">
|
| 1048 |
+
<origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
|
| 1049 |
+
<parent link="right_shoulder_yaw_link"/>
|
| 1050 |
+
<child link="right_elbow_link"/>
|
| 1051 |
+
<axis xyz="0 1 0"/>
|
| 1052 |
+
<limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
|
| 1053 |
+
</joint>
|
| 1054 |
+
<joint name="right_wrist_roll_joint" type="revolute">
|
| 1055 |
+
<origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0"/>
|
| 1056 |
+
<axis xyz="1 0 0"/>
|
| 1057 |
+
<parent link="right_elbow_link"/>
|
| 1058 |
+
<child link="right_wrist_roll_link"/>
|
| 1059 |
+
<limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
|
| 1060 |
+
</joint>
|
| 1061 |
+
<link name="right_wrist_roll_link">
|
| 1062 |
+
<inertial>
|
| 1063 |
+
<origin xyz="0.01713944778 -0.00053759094 0.00000048864" rpy="0 0 0"/>
|
| 1064 |
+
<mass value="0.08544498"/>
|
| 1065 |
+
<inertia ixx="0.00004821544023" ixy="0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="0.00000000123525" izz="0.00005482106541"/>
|
| 1066 |
+
</inertial>
|
| 1067 |
+
<visual>
|
| 1068 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 1069 |
+
<geometry>
|
| 1070 |
+
<mesh filename="../meshes/right_wrist_roll_link.STL"/>
|
| 1071 |
+
</geometry>
|
| 1072 |
+
<material name="white">
|
| 1073 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 1074 |
+
</material>
|
| 1075 |
+
</visual>
|
| 1076 |
+
<collision>
|
| 1077 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 1078 |
+
<geometry>
|
| 1079 |
+
<mesh filename="../meshes/right_wrist_roll_link.STL"/>
|
| 1080 |
+
</geometry>
|
| 1081 |
+
</collision>
|
| 1082 |
+
</link>
|
| 1083 |
+
<joint name="right_wrist_pitch_joint" type="revolute">
|
| 1084 |
+
<origin xyz="0.038 0 0" rpy="0 0 0"/>
|
| 1085 |
+
<axis xyz="0 1 0"/>
|
| 1086 |
+
<parent link="right_wrist_roll_link"/>
|
| 1087 |
+
<child link="right_wrist_pitch_link"/>
|
| 1088 |
+
<limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
|
| 1089 |
+
</joint>
|
| 1090 |
+
<link name="right_wrist_pitch_link">
|
| 1091 |
+
<inertial>
|
| 1092 |
+
<origin xyz="0.02299989837 0.00111685314 -0.00111658096" rpy="0 0 0"/>
|
| 1093 |
+
<mass value="0.48404956"/>
|
| 1094 |
+
<inertia ixx="0.00016579646273" ixy="0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="-0.00000081417712" izz="0.00042953697654"/>
|
| 1095 |
+
</inertial>
|
| 1096 |
+
<visual>
|
| 1097 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 1098 |
+
<geometry>
|
| 1099 |
+
<mesh filename="../meshes/right_wrist_pitch_link.STL"/>
|
| 1100 |
+
</geometry>
|
| 1101 |
+
<material name="white">
|
| 1102 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 1103 |
+
</material>
|
| 1104 |
+
</visual>
|
| 1105 |
+
<collision>
|
| 1106 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 1107 |
+
<geometry>
|
| 1108 |
+
<mesh filename="../meshes/right_wrist_pitch_link.STL"/>
|
| 1109 |
+
</geometry>
|
| 1110 |
+
</collision>
|
| 1111 |
+
</link>
|
| 1112 |
+
<joint name="right_wrist_yaw_joint" type="revolute">
|
| 1113 |
+
<origin xyz="0.046 0 0" rpy="0 0 0"/>
|
| 1114 |
+
<axis xyz="0 0 1"/>
|
| 1115 |
+
<parent link="right_wrist_pitch_link"/>
|
| 1116 |
+
<child link="right_wrist_yaw_link"/>
|
| 1117 |
+
<limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
|
| 1118 |
+
</joint>
|
| 1119 |
+
<link name="right_wrist_yaw_link">
|
| 1120 |
+
<inertial>
|
| 1121 |
+
<origin xyz="0.02200381568 -0.00049485096 0.00053861123" rpy="0 0 0"/>
|
| 1122 |
+
<mass value="0.58457647"/>
|
| 1123 |
+
<inertia ixx="0.00004929128828" ixy="0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="-0.00000043217198" izz="0.00003928083826"/>
|
| 1124 |
+
</inertial>
|
| 1125 |
+
<visual>
|
| 1126 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 1127 |
+
<geometry>
|
| 1128 |
+
<mesh filename="../meshes/right_wrist_yaw_link.STL"/>
|
| 1129 |
+
</geometry>
|
| 1130 |
+
<material name="white">
|
| 1131 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 1132 |
+
</material>
|
| 1133 |
+
</visual>
|
| 1134 |
+
<collision>
|
| 1135 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 1136 |
+
<geometry>
|
| 1137 |
+
<mesh filename="../meshes/right_wrist_yaw_link.STL"/>
|
| 1138 |
+
</geometry>
|
| 1139 |
+
</collision>
|
| 1140 |
+
</link>
|
| 1141 |
+
|
| 1142 |
+
|
| 1143 |
+
<joint
|
| 1144 |
+
name="R_base_link_joint"
|
| 1145 |
+
type="fixed">
|
| 1146 |
+
<origin
|
| 1147 |
+
xyz="0.0365 0 0"
|
| 1148 |
+
rpy="3.1415926535897932384626433832795 0 -1.5707963267948966192313216916398" />
|
| 1149 |
+
<parent link="right_wrist_yaw_link"/>
|
| 1150 |
+
<child link="R_hand_base_link"/>
|
| 1151 |
+
</joint>
|
| 1152 |
+
|
| 1153 |
+
<link name="R_hand_base_link">
|
| 1154 |
+
<inertial>
|
| 1155 |
+
<origin
|
| 1156 |
+
xyz="-0.0025264 -0.066047 0.0019598"
|
| 1157 |
+
rpy="0 0 0" />
|
| 1158 |
+
<mass
|
| 1159 |
+
value="0.58" /> <!-- Update mass for compensation in real-->
|
| 1160 |
+
<inertia
|
| 1161 |
+
ixx="0.00012281"
|
| 1162 |
+
ixy="2.1711E-06"
|
| 1163 |
+
ixz="1.7709E-06"
|
| 1164 |
+
iyy="8.3832E-05"
|
| 1165 |
+
iyz="-1.6551E-06"
|
| 1166 |
+
izz="7.6663E-05" />
|
| 1167 |
+
</inertial>
|
| 1168 |
+
<visual>
|
| 1169 |
+
<origin
|
| 1170 |
+
xyz="0 0 0"
|
| 1171 |
+
rpy="0 0 0" />
|
| 1172 |
+
<geometry>
|
| 1173 |
+
<mesh filename="../meshes/right_base_link.glb" />
|
| 1174 |
+
</geometry>
|
| 1175 |
+
<material name="">
|
| 1176 |
+
<color rgba="0.1 0.1 0.1 1" />
|
| 1177 |
+
</material>
|
| 1178 |
+
</visual>
|
| 1179 |
+
<collision>
|
| 1180 |
+
<origin
|
| 1181 |
+
xyz="0 0 0"
|
| 1182 |
+
rpy="0 0 0" />
|
| 1183 |
+
<geometry>
|
| 1184 |
+
<mesh filename="../meshes/right_base_link.glb" />
|
| 1185 |
+
</geometry>
|
| 1186 |
+
</collision>
|
| 1187 |
+
</link>
|
| 1188 |
+
|
| 1189 |
+
<joint name="right_hand_palm_joint" type="fixed">
|
| 1190 |
+
<origin xyz="0.0415 -0.003 0" rpy="0 0 0"/>
|
| 1191 |
+
<parent link="right_wrist_yaw_link"/>
|
| 1192 |
+
<child link="right_rubber_hand"/>
|
| 1193 |
+
</joint>
|
| 1194 |
+
<link name="right_rubber_hand">
|
| 1195 |
+
<inertial>
|
| 1196 |
+
<origin xyz="0.05361310808 0.00295905240 0.00215413091" rpy="0 0 0"/>
|
| 1197 |
+
<mass value="0.170"/>
|
| 1198 |
+
<inertia ixx="0.00010099485234748" ixy="-0.00003618590790516" ixz="-0.00000074301518642" iyy="0.00028135871571621" iyz="-0.00000330189743286" izz="0.00021894770413514"/>
|
| 1199 |
+
</inertial>
|
| 1200 |
+
<visual>
|
| 1201 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 1202 |
+
<geometry>
|
| 1203 |
+
<mesh filename="../meshes/right_rubber_hand.STL"/>
|
| 1204 |
+
</geometry>
|
| 1205 |
+
<material name="white">
|
| 1206 |
+
<color rgba="0.7 0.7 0.7 1"/>
|
| 1207 |
+
</material>
|
| 1208 |
+
</visual>
|
| 1209 |
+
</link>
|
| 1210 |
</robot>
|
robots/robot_description/humanoids/g1_inspire/urdf/g1_inspire_head.urdf
CHANGED
|
@@ -1,3 +1,4 @@
|
|
|
|
|
| 1 |
<!-- Update on 2025-10-15 by Lai Wei
|
| 2 |
The joint limits are updated to be larger than the old (jialong's) limits. -->
|
| 3 |
|
|
@@ -494,7 +495,7 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 494 |
</visual>
|
| 495 |
</link>
|
| 496 |
<joint name="waist_roll_joint" type="revolute">
|
| 497 |
-
<origin xyz="-0.0039635 0 0.
|
| 498 |
<parent link="waist_yaw_link" />
|
| 499 |
<child link="waist_roll_link" />
|
| 500 |
<axis xyz="1 0 0" />
|
|
@@ -524,7 +525,7 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 524 |
</collision>
|
| 525 |
</link>
|
| 526 |
<joint name="waist_pitch_joint" type="revolute">
|
| 527 |
-
<origin xyz="0 0 0
|
| 528 |
<parent link="waist_roll_link" />
|
| 529 |
<child link="torso_link" />
|
| 530 |
<axis xyz="0 1 0" />
|
|
@@ -533,7 +534,7 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 533 |
|
| 534 |
<!-- LOGO -->
|
| 535 |
<joint name="logo_joint" type="fixed">
|
| 536 |
-
<origin xyz="0.0039635 0 -0.
|
| 537 |
<parent link="torso_link" />
|
| 538 |
<child link="logo_link" />
|
| 539 |
</joint>
|
|
@@ -601,10 +602,10 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 601 |
-->
|
| 602 |
<link name="head_base_link">
|
| 603 |
<inertial>
|
| 604 |
-
|
| 605 |
-
|
| 606 |
-
|
| 607 |
-
|
| 608 |
<visual>
|
| 609 |
<origin xyz="0.054 0.0175 0.05" rpy="1.5707963268 0 -1.5707963268" />
|
| 610 |
<geometry>
|
|
@@ -623,10 +624,10 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 623 |
|
| 624 |
<link name="head_yaw_link">
|
| 625 |
<inertial>
|
| 626 |
-
|
| 627 |
-
|
| 628 |
-
|
| 629 |
-
|
| 630 |
<visual>
|
| 631 |
<origin xyz="0.034 0.0175 0" rpy="1.5707963268 0 -1.5707963268" />
|
| 632 |
<geometry>
|
|
@@ -647,10 +648,10 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 647 |
|
| 648 |
<link name="head_roll_link">
|
| 649 |
<inertial>
|
| 650 |
-
|
| 651 |
-
|
| 652 |
-
|
| 653 |
-
|
| 654 |
<visual>
|
| 655 |
<origin xyz="0.109 0.0175 -0.0675" rpy="1.5707963268 0 -1.5707963268" />
|
| 656 |
<geometry>
|
|
@@ -671,10 +672,10 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 671 |
|
| 672 |
<link name="head_pitch_link">
|
| 673 |
<inertial>
|
| 674 |
-
|
| 675 |
-
|
| 676 |
-
|
| 677 |
-
|
| 678 |
<visual>
|
| 679 |
<origin xyz="0.034 0.0175 -0.07" rpy="1.5707963268 0 -1.5707963268" />
|
| 680 |
<geometry>
|
|
@@ -698,10 +699,10 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 698 |
it does. SAPIEN drops massless links, so both carry a token inertial. -->
|
| 699 |
<link name="camera_head_keypoint">
|
| 700 |
<inertial>
|
| 701 |
-
|
| 702 |
-
|
| 703 |
-
|
| 704 |
-
|
| 705 |
</link>
|
| 706 |
<joint name="camera_head_keypoint_joint" type="fixed">
|
| 707 |
<origin xyz="0.025 0.032 -0.003" rpy="0 0 0" />
|
|
@@ -711,10 +712,10 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 711 |
|
| 712 |
<link name="camera_optical_frame">
|
| 713 |
<inertial>
|
| 714 |
-
|
| 715 |
-
|
| 716 |
-
|
| 717 |
-
|
| 718 |
</link>
|
| 719 |
<joint name="camera_optical_joint" type="fixed">
|
| 720 |
<origin xyz="0 0 0" rpy="-1.57079632679 0 -1.57079632679" />
|
|
@@ -746,7 +747,7 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 746 |
</collision>
|
| 747 |
</link>
|
| 748 |
<joint name="waist_support_joint" type="fixed">
|
| 749 |
-
<origin xyz="0.0039635 0 -0.
|
| 750 |
<parent link="torso_link" />
|
| 751 |
<child link="waist_support_link" />
|
| 752 |
</joint>
|
|
@@ -754,7 +755,7 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 754 |
<!-- IMU -->
|
| 755 |
<link name="imu_link"></link>
|
| 756 |
<joint name="imu_joint" type="fixed">
|
| 757 |
-
<origin xyz="-0.03959 -0.00224 0.
|
| 758 |
<parent link="torso_link" />
|
| 759 |
<child link="imu_link" />
|
| 760 |
</joint>
|
|
@@ -762,7 +763,7 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 762 |
<!-- d435 -->
|
| 763 |
<link name="d435_link"></link>
|
| 764 |
<joint name="d435_joint" type="fixed">
|
| 765 |
-
<origin xyz="0.0576235 0.
|
| 766 |
<parent link="torso_link" />
|
| 767 |
<child link="d435_link" />
|
| 768 |
</joint>
|
|
@@ -770,7 +771,7 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 770 |
<!-- mid360 -->
|
| 771 |
<link name="mid360_link"></link>
|
| 772 |
<joint name="mid360_joint" type="fixed">
|
| 773 |
-
<origin xyz="0.0002835 0.00003 0.
|
| 774 |
<parent link="torso_link" />
|
| 775 |
<child link="mid360_link" />
|
| 776 |
</joint>
|
|
@@ -800,7 +801,7 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 800 |
</collision>
|
| 801 |
</link>
|
| 802 |
<joint name="left_shoulder_pitch_joint" type="revolute">
|
| 803 |
-
<origin xyz="0.0039563 0.10022 0.
|
| 804 |
<parent link="torso_link" />
|
| 805 |
<child link="left_shoulder_pitch_link" />
|
| 806 |
<axis xyz="0 1 0" />
|
|
@@ -1004,7 +1005,7 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 1004 |
xyz="-0.002551 -0.066047 -0.0019357"
|
| 1005 |
rpy="0 0 0" />
|
| 1006 |
<mass
|
| 1007 |
-
value="0.
|
| 1008 |
<inertia
|
| 1009 |
ixx="0.0001234"
|
| 1010 |
ixy="2.1995E-06"
|
|
@@ -1834,7 +1835,7 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 1834 |
</collision>
|
| 1835 |
</link>
|
| 1836 |
<joint name="right_shoulder_pitch_joint" type="revolute">
|
| 1837 |
-
<origin xyz="0.0039563 -0.10021 0.
|
| 1838 |
<parent link="torso_link" />
|
| 1839 |
<child link="right_shoulder_pitch_link" />
|
| 1840 |
<axis xyz="0 1 0" />
|
|
@@ -2039,7 +2040,7 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 2039 |
xyz="-0.0025264 -0.066047 0.0019598"
|
| 2040 |
rpy="0 0 0" />
|
| 2041 |
<mass
|
| 2042 |
-
value="0.
|
| 2043 |
<inertia
|
| 2044 |
ixx="0.00012281"
|
| 2045 |
ixy="2.1711E-06"
|
|
|
|
| 1 |
+
<!-- 2026-10-26: joint origins and link inertials unified with humanoid-locomanip bimanual/stable g1_29dof_rev_1_0_inspire.urdf (Unitree rev_1_0 kinematics, field-verified inertials); the 3-DoF head is g1_inspire_head.urdf's kinematics at ~zero mass. All four HuG G1 URDFs agree on every shared joint and link. -->
|
| 2 |
<!-- Update on 2025-10-15 by Lai Wei
|
| 3 |
The joint limits are updated to be larger than the old (jialong's) limits. -->
|
| 4 |
|
|
|
|
| 495 |
</visual>
|
| 496 |
</link>
|
| 497 |
<joint name="waist_roll_joint" type="revolute">
|
| 498 |
+
<origin xyz="-0.0039635 0 0.044" rpy="0 0 0" />
|
| 499 |
<parent link="waist_yaw_link" />
|
| 500 |
<child link="waist_roll_link" />
|
| 501 |
<axis xyz="1 0 0" />
|
|
|
|
| 525 |
</collision>
|
| 526 |
</link>
|
| 527 |
<joint name="waist_pitch_joint" type="revolute">
|
| 528 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 529 |
<parent link="waist_roll_link" />
|
| 530 |
<child link="torso_link" />
|
| 531 |
<axis xyz="0 1 0" />
|
|
|
|
| 534 |
|
| 535 |
<!-- LOGO -->
|
| 536 |
<joint name="logo_joint" type="fixed">
|
| 537 |
+
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0" />
|
| 538 |
<parent link="torso_link" />
|
| 539 |
<child link="logo_link" />
|
| 540 |
</joint>
|
|
|
|
| 602 |
-->
|
| 603 |
<link name="head_base_link">
|
| 604 |
<inertial>
|
| 605 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 606 |
+
<mass value="0.001" />
|
| 607 |
+
<inertia ixx="1e-07" ixy="0" ixz="0" iyy="1e-07" iyz="0" izz="1e-07" />
|
| 608 |
+
</inertial>
|
| 609 |
<visual>
|
| 610 |
<origin xyz="0.054 0.0175 0.05" rpy="1.5707963268 0 -1.5707963268" />
|
| 611 |
<geometry>
|
|
|
|
| 624 |
|
| 625 |
<link name="head_yaw_link">
|
| 626 |
<inertial>
|
| 627 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 628 |
+
<mass value="0.001" />
|
| 629 |
+
<inertia ixx="1e-07" ixy="0" ixz="0" iyy="1e-07" iyz="0" izz="1e-07" />
|
| 630 |
+
</inertial>
|
| 631 |
<visual>
|
| 632 |
<origin xyz="0.034 0.0175 0" rpy="1.5707963268 0 -1.5707963268" />
|
| 633 |
<geometry>
|
|
|
|
| 648 |
|
| 649 |
<link name="head_roll_link">
|
| 650 |
<inertial>
|
| 651 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 652 |
+
<mass value="0.001" />
|
| 653 |
+
<inertia ixx="1e-07" ixy="0" ixz="0" iyy="1e-07" iyz="0" izz="1e-07" />
|
| 654 |
+
</inertial>
|
| 655 |
<visual>
|
| 656 |
<origin xyz="0.109 0.0175 -0.0675" rpy="1.5707963268 0 -1.5707963268" />
|
| 657 |
<geometry>
|
|
|
|
| 672 |
|
| 673 |
<link name="head_pitch_link">
|
| 674 |
<inertial>
|
| 675 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 676 |
+
<mass value="0.001" />
|
| 677 |
+
<inertia ixx="1e-07" ixy="0" ixz="0" iyy="1e-07" iyz="0" izz="1e-07" />
|
| 678 |
+
</inertial>
|
| 679 |
<visual>
|
| 680 |
<origin xyz="0.034 0.0175 -0.07" rpy="1.5707963268 0 -1.5707963268" />
|
| 681 |
<geometry>
|
|
|
|
| 699 |
it does. SAPIEN drops massless links, so both carry a token inertial. -->
|
| 700 |
<link name="camera_head_keypoint">
|
| 701 |
<inertial>
|
| 702 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 703 |
+
<mass value="0.001" />
|
| 704 |
+
<inertia ixx="1e-07" ixy="0" ixz="0" iyy="1e-07" iyz="0" izz="1e-07" />
|
| 705 |
+
</inertial>
|
| 706 |
</link>
|
| 707 |
<joint name="camera_head_keypoint_joint" type="fixed">
|
| 708 |
<origin xyz="0.025 0.032 -0.003" rpy="0 0 0" />
|
|
|
|
| 712 |
|
| 713 |
<link name="camera_optical_frame">
|
| 714 |
<inertial>
|
| 715 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 716 |
+
<mass value="0.001" />
|
| 717 |
+
<inertia ixx="1e-07" ixy="0" ixz="0" iyy="1e-07" iyz="0" izz="1e-07" />
|
| 718 |
+
</inertial>
|
| 719 |
</link>
|
| 720 |
<joint name="camera_optical_joint" type="fixed">
|
| 721 |
<origin xyz="0 0 0" rpy="-1.57079632679 0 -1.57079632679" />
|
|
|
|
| 747 |
</collision>
|
| 748 |
</link>
|
| 749 |
<joint name="waist_support_joint" type="fixed">
|
| 750 |
+
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0" />
|
| 751 |
<parent link="torso_link" />
|
| 752 |
<child link="waist_support_link" />
|
| 753 |
</joint>
|
|
|
|
| 755 |
<!-- IMU -->
|
| 756 |
<link name="imu_link"></link>
|
| 757 |
<joint name="imu_joint" type="fixed">
|
| 758 |
+
<origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0" />
|
| 759 |
<parent link="torso_link" />
|
| 760 |
<child link="imu_link" />
|
| 761 |
</joint>
|
|
|
|
| 763 |
<!-- d435 -->
|
| 764 |
<link name="d435_link"></link>
|
| 765 |
<joint name="d435_joint" type="fixed">
|
| 766 |
+
<origin xyz="0.0576235 0.01753 0.42987" rpy="0 0.8307767239493009 0" />
|
| 767 |
<parent link="torso_link" />
|
| 768 |
<child link="d435_link" />
|
| 769 |
</joint>
|
|
|
|
| 771 |
<!-- mid360 -->
|
| 772 |
<link name="mid360_link"></link>
|
| 773 |
<joint name="mid360_joint" type="fixed">
|
| 774 |
+
<origin xyz="0.0002835 0.00003 0.428434" rpy="3.141592653589793 0.05112069379091391 0" />
|
| 775 |
<parent link="torso_link" />
|
| 776 |
<child link="mid360_link" />
|
| 777 |
</joint>
|
|
|
|
| 801 |
</collision>
|
| 802 |
</link>
|
| 803 |
<joint name="left_shoulder_pitch_joint" type="revolute">
|
| 804 |
+
<origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159" />
|
| 805 |
<parent link="torso_link" />
|
| 806 |
<child link="left_shoulder_pitch_link" />
|
| 807 |
<axis xyz="0 1 0" />
|
|
|
|
| 1005 |
xyz="-0.002551 -0.066047 -0.0019357"
|
| 1006 |
rpy="0 0 0" />
|
| 1007 |
<mass
|
| 1008 |
+
value="0.58" /> <!-- Update mass for compensation in real-->
|
| 1009 |
<inertia
|
| 1010 |
ixx="0.0001234"
|
| 1011 |
ixy="2.1995E-06"
|
|
|
|
| 1835 |
</collision>
|
| 1836 |
</link>
|
| 1837 |
<joint name="right_shoulder_pitch_joint" type="revolute">
|
| 1838 |
+
<origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159" />
|
| 1839 |
<parent link="torso_link" />
|
| 1840 |
<child link="right_shoulder_pitch_link" />
|
| 1841 |
<axis xyz="0 1 0" />
|
|
|
|
| 2040 |
xyz="-0.0025264 -0.066047 0.0019598"
|
| 2041 |
rpy="0 0 0" />
|
| 2042 |
<mass
|
| 2043 |
+
value="0.58" /> <!-- Update mass for compensation in real-->
|
| 2044 |
<inertia
|
| 2045 |
ixx="0.00012281"
|
| 2046 |
ixy="2.1711E-06"
|
robots/robot_description/humanoids/g1_inspire/urdf/g1_inspire_upper_head.urdf
CHANGED
|
@@ -1,3 +1,4 @@
|
|
|
|
|
| 1 |
<!-- Update on 2025-10-15 by Lai Wei
|
| 2 |
The joint limits are updated to be larger than the old (jialong's) limits. -->
|
| 3 |
|
|
@@ -145,7 +146,7 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 145 |
|
| 146 |
<!-- LOGO -->
|
| 147 |
<joint name="logo_joint" type="fixed">
|
| 148 |
-
<origin xyz="0.0039635 0 -0.
|
| 149 |
<parent link="torso_link" />
|
| 150 |
<child link="logo_link" />
|
| 151 |
</joint>
|
|
@@ -174,10 +175,10 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 174 |
|
| 175 |
<link name="head_base_link">
|
| 176 |
<inertial>
|
| 177 |
-
|
| 178 |
-
|
| 179 |
-
|
| 180 |
-
|
| 181 |
<visual>
|
| 182 |
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 183 |
<geometry>
|
|
@@ -195,19 +196,19 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 195 |
</collision>
|
| 196 |
</link>
|
| 197 |
<joint name="head_base_joint" type="fixed">
|
| 198 |
-
<origin xyz="0 0 0.
|
| 199 |
<parent link="torso_link" />
|
| 200 |
<child link="head_base_link" />
|
| 201 |
</joint>
|
| 202 |
<link name="head_yaw_link">
|
| 203 |
<inertial>
|
| 204 |
-
|
| 205 |
-
|
| 206 |
-
|
| 207 |
-
|
| 208 |
</link>
|
| 209 |
<joint name="head_yaw_joint" type="revolute">
|
| 210 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 211 |
<parent link="head_base_link" />
|
| 212 |
<child link="head_yaw_link" />
|
| 213 |
<axis xyz="0 0 1" />
|
|
@@ -215,13 +216,13 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 215 |
</joint>
|
| 216 |
<link name="head_roll_link">
|
| 217 |
<inertial>
|
| 218 |
-
|
| 219 |
-
|
| 220 |
-
|
| 221 |
-
|
| 222 |
</link>
|
| 223 |
<joint name="head_roll_joint" type="revolute">
|
| 224 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 225 |
<parent link="head_yaw_link" />
|
| 226 |
<child link="head_roll_link" />
|
| 227 |
<axis xyz="1 0 0" />
|
|
@@ -229,13 +230,13 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 229 |
</joint>
|
| 230 |
<link name="head_pitch_link">
|
| 231 |
<inertial>
|
| 232 |
-
|
| 233 |
-
|
| 234 |
-
|
| 235 |
-
|
| 236 |
</link>
|
| 237 |
<joint name="head_pitch_joint" type="revolute">
|
| 238 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 239 |
<parent link="head_roll_link" />
|
| 240 |
<child link="head_pitch_link" />
|
| 241 |
<axis xyz="0 1 0" />
|
|
@@ -243,10 +244,10 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 243 |
</joint>
|
| 244 |
<link name="camera_head_keypoint">
|
| 245 |
<inertial>
|
| 246 |
-
|
| 247 |
-
|
| 248 |
-
|
| 249 |
-
|
| 250 |
<visual>
|
| 251 |
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 252 |
<geometry>
|
|
@@ -258,7 +259,7 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 258 |
</visual>
|
| 259 |
</link>
|
| 260 |
<joint name="camera_head_keypoint_joint" type="fixed">
|
| 261 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 262 |
<parent link="head_pitch_link" />
|
| 263 |
<child link="camera_head_keypoint" />
|
| 264 |
</joint>
|
|
@@ -293,7 +294,7 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 293 |
</collision>
|
| 294 |
</link>
|
| 295 |
<joint name="waist_support_joint" type="fixed">
|
| 296 |
-
<origin xyz="0.0039635 0 -0.
|
| 297 |
<parent link="torso_link" />
|
| 298 |
<child link="waist_support_link" />
|
| 299 |
</joint>
|
|
@@ -301,7 +302,7 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 301 |
<!-- IMU -->
|
| 302 |
<link name="imu_link"></link>
|
| 303 |
<joint name="imu_joint" type="fixed">
|
| 304 |
-
<origin xyz="-0.03959 -0.00224 0.
|
| 305 |
<parent link="torso_link" />
|
| 306 |
<child link="imu_link" />
|
| 307 |
</joint>
|
|
@@ -309,7 +310,7 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 309 |
<!-- d435 -->
|
| 310 |
<link name="d435_link"></link>
|
| 311 |
<joint name="d435_joint" type="fixed">
|
| 312 |
-
<origin xyz="0.0576235 0.
|
| 313 |
<parent link="torso_link" />
|
| 314 |
<child link="d435_link" />
|
| 315 |
</joint>
|
|
@@ -317,7 +318,7 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 317 |
<!-- mid360 -->
|
| 318 |
<link name="mid360_link"></link>
|
| 319 |
<joint name="mid360_joint" type="fixed">
|
| 320 |
-
<origin xyz="0.0002835 0.00003 0.
|
| 321 |
<parent link="torso_link" />
|
| 322 |
<child link="mid360_link" />
|
| 323 |
</joint>
|
|
@@ -347,7 +348,7 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 347 |
</collision>
|
| 348 |
</link>
|
| 349 |
<joint name="left_shoulder_pitch_joint" type="revolute">
|
| 350 |
-
<origin xyz="0.0039563 0.10022 0.
|
| 351 |
<parent link="torso_link" />
|
| 352 |
<child link="left_shoulder_pitch_link" />
|
| 353 |
<axis xyz="0 1 0" />
|
|
@@ -512,11 +513,10 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 512 |
</joint>
|
| 513 |
<link name="left_wrist_yaw_link">
|
| 514 |
<inertial>
|
| 515 |
-
|
| 516 |
-
|
| 517 |
-
|
| 518 |
-
|
| 519 |
-
</inertial>
|
| 520 |
<visual>
|
| 521 |
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 522 |
<geometry>
|
|
@@ -554,10 +554,18 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 554 |
keeps solve_gravity_compensation consistent with physics AND keeps
|
| 555 |
the heavier hand inertia, which the wrist PD gains were tuned for. -->
|
| 556 |
<inertial>
|
| 557 |
-
<origin
|
| 558 |
-
|
| 559 |
-
|
| 560 |
-
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 561 |
</inertial>
|
| 562 |
<visual>
|
| 563 |
<origin
|
|
@@ -1380,7 +1388,7 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 1380 |
</collision>
|
| 1381 |
</link>
|
| 1382 |
<joint name="right_shoulder_pitch_joint" type="revolute">
|
| 1383 |
-
<origin xyz="0.0039563 -0.10021 0.
|
| 1384 |
<parent link="torso_link" />
|
| 1385 |
<child link="right_shoulder_pitch_link" />
|
| 1386 |
<axis xyz="0 1 0" />
|
|
@@ -1545,11 +1553,10 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 1545 |
</joint>
|
| 1546 |
<link name="right_wrist_yaw_link">
|
| 1547 |
<inertial>
|
| 1548 |
-
|
| 1549 |
-
|
| 1550 |
-
|
| 1551 |
-
|
| 1552 |
-
</inertial>
|
| 1553 |
<visual>
|
| 1554 |
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1555 |
<geometry>
|
|
@@ -1582,10 +1589,18 @@ The joint limits are updated to be larger than the old (jialong's) limits. -->
|
|
| 1582 |
<link name="R_hand_base_link">
|
| 1583 |
<!-- See L_hand_base_link comment above. Right side mirror. -->
|
| 1584 |
<inertial>
|
| 1585 |
-
<origin
|
| 1586 |
-
|
| 1587 |
-
|
| 1588 |
-
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1589 |
</inertial>
|
| 1590 |
<visual>
|
| 1591 |
<origin
|
|
|
|
| 1 |
+
<!-- 2026-10-26: joint origins and link inertials unified with humanoid-locomanip bimanual/stable g1_29dof_rev_1_0_inspire.urdf (Unitree rev_1_0 kinematics, field-verified inertials); the 3-DoF head is g1_inspire_head.urdf's kinematics at ~zero mass. All four HuG G1 URDFs agree on every shared joint and link. -->
|
| 2 |
<!-- Update on 2025-10-15 by Lai Wei
|
| 3 |
The joint limits are updated to be larger than the old (jialong's) limits. -->
|
| 4 |
|
|
|
|
| 146 |
|
| 147 |
<!-- LOGO -->
|
| 148 |
<joint name="logo_joint" type="fixed">
|
| 149 |
+
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0" />
|
| 150 |
<parent link="torso_link" />
|
| 151 |
<child link="logo_link" />
|
| 152 |
</joint>
|
|
|
|
| 175 |
|
| 176 |
<link name="head_base_link">
|
| 177 |
<inertial>
|
| 178 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 179 |
+
<mass value="0.001" />
|
| 180 |
+
<inertia ixx="1e-07" ixy="0" ixz="0" iyy="1e-07" iyz="0" izz="1e-07" />
|
| 181 |
+
</inertial>
|
| 182 |
<visual>
|
| 183 |
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 184 |
<geometry>
|
|
|
|
| 196 |
</collision>
|
| 197 |
</link>
|
| 198 |
<joint name="head_base_joint" type="fixed">
|
| 199 |
+
<origin xyz="0 0 0.296" rpy="0 0 0" />
|
| 200 |
<parent link="torso_link" />
|
| 201 |
<child link="head_base_link" />
|
| 202 |
</joint>
|
| 203 |
<link name="head_yaw_link">
|
| 204 |
<inertial>
|
| 205 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 206 |
+
<mass value="0.001" />
|
| 207 |
+
<inertia ixx="1e-07" ixy="0" ixz="0" iyy="1e-07" iyz="0" izz="1e-07" />
|
| 208 |
+
</inertial>
|
| 209 |
</link>
|
| 210 |
<joint name="head_yaw_joint" type="revolute">
|
| 211 |
+
<origin xyz="0.02 0 0.05" rpy="0 0 0" />
|
| 212 |
<parent link="head_base_link" />
|
| 213 |
<child link="head_yaw_link" />
|
| 214 |
<axis xyz="0 0 1" />
|
|
|
|
| 216 |
</joint>
|
| 217 |
<link name="head_roll_link">
|
| 218 |
<inertial>
|
| 219 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 220 |
+
<mass value="0.001" />
|
| 221 |
+
<inertia ixx="1e-07" ixy="0" ixz="0" iyy="1e-07" iyz="0" izz="1e-07" />
|
| 222 |
+
</inertial>
|
| 223 |
</link>
|
| 224 |
<joint name="head_roll_joint" type="revolute">
|
| 225 |
+
<origin xyz="-0.075 0 0.0675" rpy="0 0 0" />
|
| 226 |
<parent link="head_yaw_link" />
|
| 227 |
<child link="head_roll_link" />
|
| 228 |
<axis xyz="1 0 0" />
|
|
|
|
| 230 |
</joint>
|
| 231 |
<link name="head_pitch_link">
|
| 232 |
<inertial>
|
| 233 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 234 |
+
<mass value="0.001" />
|
| 235 |
+
<inertia ixx="1e-07" ixy="0" ixz="0" iyy="1e-07" iyz="0" izz="1e-07" />
|
| 236 |
+
</inertial>
|
| 237 |
</link>
|
| 238 |
<joint name="head_pitch_joint" type="revolute">
|
| 239 |
+
<origin xyz="0.075 0 0" rpy="0 0 0" />
|
| 240 |
<parent link="head_roll_link" />
|
| 241 |
<child link="head_pitch_link" />
|
| 242 |
<axis xyz="0 1 0" />
|
|
|
|
| 244 |
</joint>
|
| 245 |
<link name="camera_head_keypoint">
|
| 246 |
<inertial>
|
| 247 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 248 |
+
<mass value="0.001" />
|
| 249 |
+
<inertia ixx="1e-07" ixy="0" ixz="0" iyy="1e-07" iyz="0" izz="1e-07" />
|
| 250 |
+
</inertial>
|
| 251 |
<visual>
|
| 252 |
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 253 |
<geometry>
|
|
|
|
| 259 |
</visual>
|
| 260 |
</link>
|
| 261 |
<joint name="camera_head_keypoint_joint" type="fixed">
|
| 262 |
+
<origin xyz="0.025 0.032 -0.003" rpy="0 0 0" />
|
| 263 |
<parent link="head_pitch_link" />
|
| 264 |
<child link="camera_head_keypoint" />
|
| 265 |
</joint>
|
|
|
|
| 294 |
</collision>
|
| 295 |
</link>
|
| 296 |
<joint name="waist_support_joint" type="fixed">
|
| 297 |
+
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0" />
|
| 298 |
<parent link="torso_link" />
|
| 299 |
<child link="waist_support_link" />
|
| 300 |
</joint>
|
|
|
|
| 302 |
<!-- IMU -->
|
| 303 |
<link name="imu_link"></link>
|
| 304 |
<joint name="imu_joint" type="fixed">
|
| 305 |
+
<origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0" />
|
| 306 |
<parent link="torso_link" />
|
| 307 |
<child link="imu_link" />
|
| 308 |
</joint>
|
|
|
|
| 310 |
<!-- d435 -->
|
| 311 |
<link name="d435_link"></link>
|
| 312 |
<joint name="d435_joint" type="fixed">
|
| 313 |
+
<origin xyz="0.0576235 0.01753 0.42987" rpy="0 0.8307767239493009 0" />
|
| 314 |
<parent link="torso_link" />
|
| 315 |
<child link="d435_link" />
|
| 316 |
</joint>
|
|
|
|
| 318 |
<!-- mid360 -->
|
| 319 |
<link name="mid360_link"></link>
|
| 320 |
<joint name="mid360_joint" type="fixed">
|
| 321 |
+
<origin xyz="0.0002835 0.00003 0.428434" rpy="3.141592653589793 0.05112069379091391 0" />
|
| 322 |
<parent link="torso_link" />
|
| 323 |
<child link="mid360_link" />
|
| 324 |
</joint>
|
|
|
|
| 348 |
</collision>
|
| 349 |
</link>
|
| 350 |
<joint name="left_shoulder_pitch_joint" type="revolute">
|
| 351 |
+
<origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159" />
|
| 352 |
<parent link="torso_link" />
|
| 353 |
<child link="left_shoulder_pitch_link" />
|
| 354 |
<axis xyz="0 1 0" />
|
|
|
|
| 513 |
</joint>
|
| 514 |
<link name="left_wrist_yaw_link">
|
| 515 |
<inertial>
|
| 516 |
+
<origin xyz="0.02200381568 0.00049485096 0.00053861123" rpy="0 0 0"/>
|
| 517 |
+
<mass value="0.58457647"/>
|
| 518 |
+
<inertia ixx="0.00004929128828" ixy="-0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="0.00000043217198" izz="0.00003928083826"/>
|
| 519 |
+
</inertial>
|
|
|
|
| 520 |
<visual>
|
| 521 |
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 522 |
<geometry>
|
|
|
|
| 554 |
keeps solve_gravity_compensation consistent with physics AND keeps
|
| 555 |
the heavier hand inertia, which the wrist PD gains were tuned for. -->
|
| 556 |
<inertial>
|
| 557 |
+
<origin
|
| 558 |
+
xyz="-0.002551 -0.066047 -0.0019357"
|
| 559 |
+
rpy="0 0 0" />
|
| 560 |
+
<mass
|
| 561 |
+
value="0.58" /> <!-- Update mass for compensation in real-->
|
| 562 |
+
<inertia
|
| 563 |
+
ixx="0.0001234"
|
| 564 |
+
ixy="2.1995E-06"
|
| 565 |
+
ixz="-1.7694E-06"
|
| 566 |
+
iyy="8.3835E-05"
|
| 567 |
+
iyz="1.5968E-06"
|
| 568 |
+
izz="7.7231E-05" />
|
| 569 |
</inertial>
|
| 570 |
<visual>
|
| 571 |
<origin
|
|
|
|
| 1388 |
</collision>
|
| 1389 |
</link>
|
| 1390 |
<joint name="right_shoulder_pitch_joint" type="revolute">
|
| 1391 |
+
<origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159" />
|
| 1392 |
<parent link="torso_link" />
|
| 1393 |
<child link="right_shoulder_pitch_link" />
|
| 1394 |
<axis xyz="0 1 0" />
|
|
|
|
| 1553 |
</joint>
|
| 1554 |
<link name="right_wrist_yaw_link">
|
| 1555 |
<inertial>
|
| 1556 |
+
<origin xyz="0.02200381568 -0.00049485096 0.00053861123" rpy="0 0 0"/>
|
| 1557 |
+
<mass value="0.58457647"/>
|
| 1558 |
+
<inertia ixx="0.00004929128828" ixy="0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="-0.00000043217198" izz="0.00003928083826"/>
|
| 1559 |
+
</inertial>
|
|
|
|
| 1560 |
<visual>
|
| 1561 |
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1562 |
<geometry>
|
|
|
|
| 1589 |
<link name="R_hand_base_link">
|
| 1590 |
<!-- See L_hand_base_link comment above. Right side mirror. -->
|
| 1591 |
<inertial>
|
| 1592 |
+
<origin
|
| 1593 |
+
xyz="-0.0025264 -0.066047 0.0019598"
|
| 1594 |
+
rpy="0 0 0" />
|
| 1595 |
+
<mass
|
| 1596 |
+
value="0.58" /> <!-- Update mass for compensation in real-->
|
| 1597 |
+
<inertia
|
| 1598 |
+
ixx="0.00012281"
|
| 1599 |
+
ixy="2.1711E-06"
|
| 1600 |
+
ixz="1.7709E-06"
|
| 1601 |
+
iyy="8.3832E-05"
|
| 1602 |
+
iyz="-1.6551E-06"
|
| 1603 |
+
izz="7.6663E-05" />
|
| 1604 |
</inertial>
|
| 1605 |
<visual>
|
| 1606 |
<origin
|
robots/robot_description/humanoids/g1_inspire/urdf/r_hand_inspire.urdf
CHANGED
|
@@ -1,10 +1,20 @@
|
|
| 1 |
<?xml version='1.0' encoding='utf-8'?>
|
|
|
|
| 2 |
<robot name="r_hand_inspire">
|
| 3 |
<link name="R_hand_base_link">
|
| 4 |
<inertial>
|
| 5 |
-
<origin
|
| 6 |
-
|
| 7 |
-
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 8 |
</inertial>
|
| 9 |
<visual>
|
| 10 |
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
|
|
| 1 |
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<!-- 2026-10-26: joint origins and link inertials unified with humanoid-locomanip bimanual/stable g1_29dof_rev_1_0_inspire.urdf (Unitree rev_1_0 kinematics, field-verified inertials); the 3-DoF head is g1_inspire_head.urdf's kinematics at ~zero mass. All four HuG G1 URDFs agree on every shared joint and link. -->
|
| 3 |
<robot name="r_hand_inspire">
|
| 4 |
<link name="R_hand_base_link">
|
| 5 |
<inertial>
|
| 6 |
+
<origin
|
| 7 |
+
xyz="-0.0025264 -0.066047 0.0019598"
|
| 8 |
+
rpy="0 0 0" />
|
| 9 |
+
<mass
|
| 10 |
+
value="0.58" /> <!-- Update mass for compensation in real-->
|
| 11 |
+
<inertia
|
| 12 |
+
ixx="0.00012281"
|
| 13 |
+
ixy="2.1711E-06"
|
| 14 |
+
ixz="1.7709E-06"
|
| 15 |
+
iyy="8.3832E-05"
|
| 16 |
+
iyz="-1.6551E-06"
|
| 17 |
+
izz="7.6663E-05" />
|
| 18 |
</inertial>
|
| 19 |
<visual>
|
| 20 |
<origin xyz="0 0 0" rpy="0 0 0" />
|