licenses/booster-k1/12a97516f57469078707afb587a5f84c1cb110d1/upstream/robots/K1/K1_22dof.urdf

<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="K1">

  <!-- <mujoco>
    <compiler meshdir="meshes/" balanceinertia="true" discardvisual="false"/>
  </mujoco> -->
  <!-- for convert to mujoco -->
  <!-- <link name="world"/>
  <joint name="world_joint" type="floating">
    <origin xyz="0 0 0"/>
    <parent link="world"/>
    <child link="trunk"/>
  </joint> -->

  <link
    name="trunk">
    <inertial>
      <origin
        xyz="-0.0043392 -0.00065534 0.065686"
        rpy="0 0 0" />
      <mass
        value="6.50" />
      <inertia
        ixx="0.096159"
        ixy="-0.000039"
        ixz="-0.002091"
        iyy="0.089512"
        iyz="-0.000567"
        izz="0.020187" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Trunk.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/K1logo.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>      
    <collision>
      <origin
        xyz="0 0 0.1"
        rpy="0 0 0" />
      <geometry>
        <box size="0.12 0.18 0.2" />
      </geometry>
    </collision>
    <collision>
      <origin
        xyz="0 0 -0.06"
        rpy="1.5708 0 0" />
      <geometry>
        <cylinder radius="0.05" length="0.1" />
      </geometry>
    </collision>
  </link>
  <link
    name="aahead_yaw_link">
    <inertial>
      <origin
        xyz="-0.00069503 -0.00038527 0.031688"
        rpy="0 0 0" />
      <mass
        value="0.30" />
      <inertia
        ixx="0.000429"
        ixy="-0.000002"
        ixz="-0.000006"
        iyy="0.000421"
        iyz="-0.000005"
        izz="0.000126" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Head_1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Head_1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="aahead_yaw_joint"
    type="revolute">
    <origin
      xyz="0.0056 0 0.2149"
      rpy="0 0 0" />
    <parent
      link="trunk" />
    <child
      link="aahead_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.012"
      upper="1.012"
      effort="6.0"
      velocity="7.85"
    />
  </joint>
  <link
    name="aahead_pitch_link">
    <inertial>
      <origin
        xyz="0.011042 -0.00092871 0.080698"
        rpy="0 0 0" />
      <mass
        value="0.70" />
      <inertia
        ixx="0.005927"
        ixy="-0.000012"
        ixz="0.000664"
        iyy="0.005776"
        iyz="-0.000033"
        izz="0.001807" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Head_2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Head_2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="aahead_pitch_joint"
    type="revolute">
    <origin
      xyz="0 0 0.033"
      rpy="0 0 0" />
    <parent
      link="aahead_yaw_link" />
    <child
      link="aahead_pitch_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-0.314"
      upper="0.794"
      effort="6.0"
      velocity="7.85"
    />
  </joint>
  <link
    name="aaleft_shoulder_pitch_link">
    <inertial>
      <origin
        xyz="-0.002701 0.062383 -0.011965"
        rpy="0 0 0" />
      <mass
        value="0.50" />
      <inertia
        ixx="0.002194"
        ixy="-0.000084"
        ixz="0.000017"
        iyy="0.000331"
        iyz="-0.000372"
        izz="0.002139" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Left_Arm_1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
  </link>
  <joint
    name="aaleft_shoulder_pitch_joint"
    type="revolute">
    <origin
      xyz="0 0.077 0.1845"
      rpy="0 0 0" />
    <parent
      link="trunk" />
    <child
      link="aaleft_shoulder_pitch_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.932"
      upper="1.196"
      effort="14.0"
      velocity="33.51"
    />
  </joint>
  <link
    name="left_shoulder_roll_link">
    <inertial>
      <origin
        xyz="0.01729 0.018221 -4.329E-05"
        rpy="0 0 0" />
      <mass
        value="0.09" />
      <inertia
        ixx="0.000092"
        ixy="0.000009"
        ixz="0.000000"
        iyy="0.000068"
        iyz="0.000000"
        izz="0.000113" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Left_Arm_2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="-0.007 0 0"
        rpy="0 1.5708 0" />
      <geometry>
        <cylinder radius="0.035" length="0.068" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_shoulder_roll_joint"
    type="revolute">
    <origin
      xyz="0.0025 0.068 -0.0135"
      rpy="0 0 0" />
    <parent
      link="aaleft_shoulder_pitch_link" />
    <child
      link="left_shoulder_roll_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-1.642"
      upper="1.629"
      effort="14.0"
      velocity="33.51"
    />
  </joint>
  <link
    name="left_elbow_pitch_link">
    <inertial>
      <origin
        xyz="-0.0003979 0.072617 -0.00066218"
        rpy="0 0 0" />
      <mass
        value="0.80" />
      <inertia
        ixx="0.006069"
        ixy="-0.000017"
        ixz="-0.000001"
        iyy="0.000387"
        iyz="-0.000079"
        izz="0.006067" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Left_Arm_3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Left_Arm_3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_elbow_pitch_joint"
    type="revolute">
    <origin
      xyz="0 0.044428 0"
      rpy="0 0 0" />
    <parent
      link="left_shoulder_roll_link" />
    <child
      link="left_elbow_pitch_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-1.885"
      upper="1.885"
      effort="14.0"
      velocity="33.51"
    />
  </joint>
  <link
    name="left_elbow_yaw_link">
    <inertial>
      <origin
        xyz="-0.0015751 0.084637 0.0087033"
        rpy="0 0 0" />
      <mass
        value="0.19" />
      <inertia
        ixx="0.002056"
        ixy="-0.000007"
        ixz="-0.000002"
        iyy="0.000082"
        iyz="0.000031"
        izz="0.002029" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Left_Arm_4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Left_Arm_4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_elbow_yaw_joint"
    type="revolute">
    <origin
      xyz="0 0.1215 0"
      rpy="0 0 0" />
    <parent
      link="left_elbow_pitch_link" />
    <child
      link="left_elbow_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.242"
      upper="0.816"
      effort="14.0"
      velocity="33.51"
    />
  </joint>

  <link
    name="aaright_shoulder_pitch_link">
    <inertial>
      <origin
        xyz="-0.0026302 -0.06251 -0.01199"
        rpy="0 0 0" />
      <mass
        value="0.50" />
      <inertia
        ixx="0.002200"
        ixy="0.000082"
        ixz="0.000017"
        iyy="0.000332"
        iyz="0.000373"
        izz="0.002145" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Right_Arm_1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
  </link>
  <joint
    name="aaright_shoulder_pitch_joint"
    type="revolute">
    <origin
      xyz="0 -0.077 0.1845"
      rpy="0 0 0" />
    <parent
      link="trunk" />
    <child
      link="aaright_shoulder_pitch_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.932"
      upper="1.196"
      effort="14.0"
      velocity="33.51"
    />
  </joint>
  <link
    name="right_shoulder_roll_link">
    <inertial>
      <origin
        xyz="0.017229 -0.018428 4.3784E-05"
        rpy="0 0 0" />
      <mass
        value="0.09" />
      <inertia
        ixx="0.000092"
        ixy="-0.000009"
        ixz="0.000000"
        iyy="0.000068"
        iyz="0.000000"
        izz="0.000113" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Right_Arm_2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="-0.007 0 0"
        rpy="0 1.5708 0" />
      <geometry>
        <cylinder radius="0.035" length="0.068" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_shoulder_roll_joint"
    type="revolute">
    <origin
      xyz="0.0025 -0.068 -0.0135"
      rpy="0 0 0" />
    <parent
      link="aaright_shoulder_pitch_link" />
    <child
      link="right_shoulder_roll_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-1.642"
      upper="1.629"
      effort="14.0"
      velocity="33.51"
    />
  </joint>
  <link
    name="right_elbow_pitch_link">
    <inertial>
      <origin
        xyz="-0.00039919 -0.072601 -0.00065629"
        rpy="0 0 0" />
      <mass
        value="0.80" />
      <inertia
        ixx="0.006070"
        ixy="0.000017"
        ixz="-0.000001"
        iyy="0.000388"
        iyz="0.000079"
        izz="0.006068" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Right_Arm_3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Right_Arm_3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_elbow_pitch_joint"
    type="revolute">
    <origin
      xyz="0 -0.044428 0"
      rpy="0 0 0" />
    <parent
      link="right_shoulder_roll_link" />
    <child
      link="right_elbow_pitch_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-1.885"
      upper="1.885"
      effort="14.0"
      velocity="33.51"
    />
  </joint>
  <link
    name="right_elbow_yaw_link">
    <inertial>
      <origin
        xyz="-0.0015177 -0.084536 0.0086733"
        rpy="0 0 0" />
      <mass
        value="0.19" />
      <inertia
        ixx="0.002056"
        ixy="0.000005"
        ixz="-0.000002"
        iyy="0.000082"
        iyz="-0.000031"
        izz="0.002030" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Right_Arm_4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Right_Arm_4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_elbow_yaw_joint"
    type="revolute">
    <origin
      xyz="0 -0.1215 0"
      rpy="0 0 0" />
    <parent
      link="right_elbow_pitch_link" />
    <child
      link="right_elbow_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.816"
      upper="2.242"
      effort="14.0"
      velocity="33.51"
    />
  </joint>

  <link
    name="left_hip_pitch_link">
    <inertial>
      <origin
        xyz="-0.010093 -0.0019934 -0.024713"
        rpy="0 0 0" />
      <mass
        value="0.69" />
      <inertia
        ixx="0.000781"
        ixy="0.000004"
        ixz="0.000167"
        iyy="0.000987"
        iyz="0.000008"
        izz="0.000604" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Left_Hip_Pitch.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
  </link>
  <joint
    name="left_hip_pitch_joint"
    type="revolute">
    <origin
      xyz="0 0.096 -0.077"
      rpy="0 0 0" />
    <parent
      link="trunk" />
    <child
      link="left_hip_pitch_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.958"
      upper="2.226"
      effort="68.0"
      velocity="14.66"
    />
  </joint>
  <link
    name="left_hip_roll_link">
    <inertial>
      <origin
        xyz="0.023585 0.000049 -0.024996"
        rpy="0 0 0" />
      <mass
        value="0.13" />
      <inertia
        ixx="0.000191"
        ixy="0.000000"
        ixz="-0.000048"
        iyy="0.000262"
        iyz="0.000000"
        izz="0.000150" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Left_Hip_Roll.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 1.5708 0" />
      <geometry>
        <cylinder radius="0.036" length="0.094" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hip_roll_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.026"
      rpy="0 0 0" />
    <parent
      link="left_hip_pitch_link" />
    <child
      link="left_hip_roll_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-0.375"
      upper="1.536"
      effort="43.0"
      velocity="12.57"
    />
  </joint>
  <link
    name="left_hip_yaw_link">
    <inertial>
      <origin
        xyz="-0.0084744 -0.0040494 -0.087906"
        rpy="0 0 0" />
      <mass
        value="1.65" />
      <inertia
        ixx="0.015786"
        ixy="0.000096"
        ixz="0.001546"
        iyy="0.016140"
        iyz="0.000745"
        izz="0.001551" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Left_Hip_Yaw.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 -0.03"
        rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.04" length="0.066" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hip_yaw_joint"
    type="revolute">
    <origin
      xyz="0.012 0 -0.0485"
      rpy="0 0 0" />
    <parent
      link="left_hip_roll_link" />
    <child
      link="left_hip_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.012"
      upper="1.012"
      effort="38.3"
      velocity="17.59"
    />
  </joint>
  <link
    name="left_knee_pitch_link">
    <inertial>
      <origin
        xyz="-0.00081083 0.0031459 -0.10922"
        rpy="0 0 0" />
      <mass
        value="1.50" />
      <inertia
        ixx="0.023681"
        ixy="0.000035"
        ixz="0.000222"
        iyy="0.023670"
        iyz="-0.000105"
        izz="0.001240" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Left_Shank.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="1.5708 0 0" />
      <geometry>
        <cylinder radius="0.045" length="0.07" />
      </geometry>
    </collision>
    <collision>
      <origin
        xyz="0 0 -0.13"
        rpy="0 0 0" />
      <geometry>
        <box size="0.06 0.06 0.10" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_knee_pitch_joint"
    type="revolute">
    <origin
      xyz="-0.014 0 -0.117"
      rpy="0 0 0" />
    <parent
      link="left_hip_yaw_link" />
    <child
      link="left_knee_pitch_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="0."
      upper="2.321"
      effort="112.0"
      velocity="12.57"
    />
  </joint>
  <link
    name="left_ankle_pitch_link">
    <inertial>
      <origin
        xyz="0.000000 0.000000 0.000000"
        rpy="0 0 0" />
      <mass
        value="0.039" />
      <inertia
        ixx="0.000002"
        ixy="0.000000"
        ixz="0.000000"
        iyy="0.000004"
        iyz="0.000000"
        izz="0.000004" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Left_Ankle_Cross.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
  </link>
  <joint
    name="left_ankle_pitch_joint"
    type="revolute">
    <origin
      xyz="0.00019706 0.0002 -0.24519"
      rpy="0 0 0" />
    <parent
      link="left_knee_pitch_link" />
    <child
      link="left_ankle_pitch_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-0.87"
      upper="0.345"
      effort="38.3"
      velocity="17.59"
    />
  </joint>
  <link
    name="left_ankle_roll_link">
    <inertial>
      <origin
        xyz="0.011662 0.000244 -0.014364"
        rpy="0 0 0" />
      <mass
        value="0.494" />
      <inertia
        ixx="0.000261"
        ixy="0.0000003"
        ixz="-0.000115"
        iyy="0.001170"
        iyz="-0.0000002"
        izz="0.001213" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Left_Foot.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Left_Foot.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_ankle_roll_joint"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="left_ankle_pitch_link" />
    <child
      link="left_ankle_roll_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-0.345"
      upper="0.345"
      effort="38.3"
      velocity="17.59"
    />
  </joint>

  <link
    name="right_hip_pitch_link">
    <inertial>
      <origin
        xyz="-0.010065 0.0020086 -0.024739"
        rpy="0 0 0" />
      <mass
        value="0.69" />
      <inertia
        ixx="0.000782"
        ixy="-0.000004"
        ixz="0.000166"
        iyy="0.000988"
        iyz="-0.000009"
        izz="0.000604" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Right_Hip_Pitch.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
  </link>
  <joint
    name="right_hip_pitch_joint"
    type="revolute">
    <origin
      xyz="0 -0.096 -0.077"
      rpy="0 0 0" />
    <parent
      link="trunk" />
    <child
      link="right_hip_pitch_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.958"
      upper="2.226"
      effort="68.0"
      velocity="14.66"
    />
  </joint>
  <link
    name="right_hip_roll_link">
    <inertial>
      <origin
        xyz="0.023585 0.000049 -0.024996"
        rpy="0 0 0" />
      <mass
        value="0.13" />
      <inertia
        ixx="0.000191"
        ixy="0.000000"
        ixz="-0.000048"
        iyy="0.000262"
        iyz="0.000000"
        izz="0.000150" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Right_Hip_Roll.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 1.5708 0" />
      <geometry>
        <cylinder radius="0.036" length="0.094" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hip_roll_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.026"
      rpy="0 0 0" />
    <parent
      link="right_hip_pitch_link" />
    <child
      link="right_hip_roll_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-1.536"
      upper="0.375"
      effort="43.0"
      velocity="12.57"
  />
  </joint>
  <link
    name="right_hip_yaw_link">
    <inertial>
      <origin
        xyz="-0.008475 0.0040392 -0.087906"
        rpy="0 0 0" />
      <mass
        value="1.65" />
      <inertia
        ixx="0.015786"
        ixy="-0.000096"
        ixz="0.001546"
        iyy="0.016140"
        iyz="-0.000745"
        izz="0.001551" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Right_Hip_Yaw.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 -0.03"
        rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.04" length="0.066" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hip_yaw_joint"
    type="revolute">
    <origin
      xyz="0.012 0 -0.0485"
      rpy="0 0 0" />
    <parent
      link="right_hip_roll_link" />
    <child
      link="right_hip_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.012"
      upper="1.012"
      effort="38.3"
      velocity="17.59"
    />
  </joint>
  <link
    name="right_knee_pitch_link">
    <inertial>
      <origin
        xyz="-0.000805 -0.003146 -0.109215"
        rpy="0 0 0" />
      <mass
        value="1.50" />
      <inertia
        ixx="0.023681"
        ixy="-0.000035"
        ixz="0.000221"
        iyy="0.023670"
        iyz="0.000105"
        izz="0.001240" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Right_Shank.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="1.5708 0 0" />
      <geometry>
        <cylinder radius="0.045" length="0.07" />
      </geometry>
    </collision>
    <collision>
      <origin
        xyz="0 0 -0.13"
        rpy="0 0 0" />
      <geometry>
        <box size="0.06 0.06 0.1" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_knee_pitch_joint"
    type="revolute">
    <origin
      xyz="-0.014 0 -0.117"
      rpy="0 0 0" />
    <parent
      link="right_hip_yaw_link" />
    <child
      link="right_knee_pitch_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="0."
      upper="2.321"
      effort="112.0"
      velocity="12.57"
    />
  </joint>
  <link
    name="right_ankle_pitch_link">
    <inertial>
      <origin
        xyz="0.000000 0.000000 0.000000"
        rpy="0 0 0" />
      <mass
        value="0.039" />
      <inertia
        ixx="0.000002"
        ixy="0.000000"
        ixz="0.000000"
        iyy="0.000004"
        iyz="0.000000"
        izz="0.000004" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Right_Ankle_Cross.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
  </link>
  <joint
    name="right_ankle_pitch_joint"
    type="revolute">
    <origin
      xyz="0.00019706 -0.0002 -0.24519"
      rpy="0 0 0" />
    <parent
      link="right_knee_pitch_link" />
    <child
      link="right_ankle_pitch_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-0.87"
      upper="0.345"
      effort="38.3"
      velocity="17.59"
    />
  </joint>
  <link
    name="right_ankle_roll_link">
    <inertial>
      <origin
        xyz="0.011662 -0.000244 -0.014364"
        rpy="0 0 0" />
      <mass
        value="0.494" />
      <inertia
        ixx="0.000261"
        ixy="-0.0000003"
        ixz="-0.000115"
        iyy="0.001170"
        iyz="0.0000002"
        izz="0.001213" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Right_Foot.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Right_Foot.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_ankle_roll_joint"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="right_ankle_pitch_link" />
    <child
      link="right_ankle_roll_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-0.345"
      upper="0.345"
      effort="38.3"
      velocity="17.59"
    />
  </joint>
 
  <link name="head_realsense_rgb_link" />
  <joint name="head_realsense_rgb_joint" type="fixed">
    <origin xyz="0.053617 -0.0115 0.10231" rpy="-1.835388 0 -1.570796" />
    <parent link="aahead_pitch_link" />
    <child link="head_realsense_rgb_link" />
  </joint>

  <link name="head_booster_stereo_rgb_link" />
  <joint name="head_booster_stereo_rgb_joint" type="fixed">
    <origin xyz="0.060138 0.0351 0.092774" rpy="-1.570796 0 -1.570796" />
    <parent link="aahead_pitch_link" />
    <child link="head_booster_stereo_rgb_link" />
  </joint>
</robot>


----------------

licenses/booster-k1/12a97516f57469078707afb587a5f84c1cb110d1/upstream/LICENSE

BSD 3-Clause License

Copyright (c) 2025, BoosterRobotics

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this
   list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice,
   this list of conditions and the following disclaimer in the documentation
   and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its
   contributors may be used to endorse or promote products derived from
   this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.


----------------

licenses/booster-k1/12a97516f57469078707afb587a5f84c1cb110d1/upstream/README.md

# Booster Assets

This repository contains Booster robot models, motion data, and a simple helper package `booster_assets` for local development and tooling.

Robot Configurations
--------------------

### K1 Robot Models

| Configuration                 | Description                                         | Available Formats    |
|------------------------------|-----------------------------------------------------|----------------------|
| K1 (22 DoF)                  | 22-DoF layout: head 2 joints, arms 4 joints ×2, legs 6 joints ×2 | URDF (`robots/K1/K1_22dof.urdf`), XML (`robots/K1/K1_22dof.xml`) |
| K1 Locomotion                | Locomotion variant (fixed heads and arms)          | URDF (`robots/K1/K1_locomotion.urdf`) |

### T1 Robot Models

| Configuration                 | Description                                         | Available Formats    |
|------------------------------|-----------------------------------------------------|----------------------|
| T1 (23 DoF)           | 23-DoF layout: head 2 joints, arms 4 joints ×2, waist 1 joint, legs 6 joints ×2 | URDF (`robots/T1/T1_23dof.urdf`), XML (`robots/T1/T1_23dof.xml`) |
| T1 Locomotion (23 DoF)       | 23-DoF locomotion variant (fixed head, arms, waist where applicable)    | URDF (`robots/T1/T1_locomotion.urdf`), XML (`robots/T1/T1_locomotion.xml`) |
| T1 with 7-DoF Arms (29 DoF)       | 29-DoF layout: arm joints become 7 per arm (head 2, arms 7×2, waist 1, legs 6×2) | URDF (`robots/T1/T1_29dof.urdf`) |

### T2 Robot Models

| Configuration                 | Description                                         | Available Formats    |
|------------------------------|-----------------------------------------------------|----------------------|
| T2 (31 DoF)                  | 31-DoF layout: head 2 joints, arms 7 joints ×2, waist 3 joints, legs 6 joints ×2 | URDF (`robots/T2/T2_31dof/T2_31dof.urdf`), XML (`robots/T2/T2_31dof/T2_31dof.xml`) |

Motion and Data Files
---------------------

- `motions/` contains retargeted motion data for Booster robots. The currently provided motion CSV files are sampled at 50 Hz.

### Motion CSV Format

- Each row represents one frame of a trajectory.
- The first 7 columns are the generalized root pose: root position `x, y, z` and root orientation quaternion `x, y, z, w`.
- The remaining columns are joint positions (radians).
- The joint orders for K1, T1, and T2 are defined in `src/booster_assets/motions.py` (`K1_JOINT_NAMES`, `T1_JOINT_NAMES`, `T2_JOINT_NAMES`).

### Motion List

| File Name                  | Fps | Description                                        |
|----------------------------|-----|----------------------------------------------------|
| k1_fight_001.csv           | 50  | Fighting motion sequence                           |
| k1_mj2_seg1.csv            | 50  | MJ dance segment                                   |


Python installation
-----------------------------

Install the package in editable (development) mode:

```bash
python3 -m pip install -e .
```


----------------

licenses/booster-k1/12a97516f57469078707afb587a5f84c1cb110d1/provenance.json

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  "id": "booster-k1",
  "model": "Booster K1",
  "repository": "BoosterRobotics/booster_assets",
  "revision": "12a97516f57469078707afb587a5f84c1cb110d1",
  "entry": "robots/K1/K1_22dof.urdf",
  "format": "urdf",
  "humanoid": true,
  "jointCount": 22,
  "toolFrame": null,
  "license": "BSD-3-Clause",
  "licenses": [
    "LICENSE"
  ],
  "notices": [
    "README.md"
  ],
  "description": "22-joint humanoid from Booster Robotics' official model. Source colors, normals, inertias and joint limits. Grounded kinematic RobotController for posing; no walking or balance controller. BSD-3-Clause.",
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    {
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      "name": "left_hip_roll_joint",
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      "name": "left_hip_yaw_joint",
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    {
      "name": "left_knee_pitch_joint",
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    {
      "name": "left_ankle_pitch_joint",
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    {
      "name": "left_ankle_roll_joint",
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      "velocity": 17.59
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    {
      "name": "right_hip_pitch_joint",
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    {
      "name": "right_hip_roll_joint",
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    {
      "name": "right_knee_pitch_joint",
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      "velocity": 12.57
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    {
      "name": "right_ankle_pitch_joint",
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      "velocity": 17.59
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    {
      "name": "right_ankle_roll_joint",
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      "upper": 0.345,
      "effort": 38.3,
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  ],
  "rootLink": "trunk",
  "links": [
    "trunk",
    "aahead_yaw_link",
    "aahead_pitch_link",
    "aaleft_shoulder_pitch_link",
    "left_shoulder_roll_link",
    "left_elbow_pitch_link",
    "left_elbow_yaw_link",
    "aaright_shoulder_pitch_link",
    "right_shoulder_roll_link",
    "right_elbow_pitch_link",
    "right_elbow_yaw_link",
    "left_hip_pitch_link",
    "left_hip_roll_link",
    "left_hip_yaw_link",
    "left_knee_pitch_link",
    "left_ankle_pitch_link",
    "left_ankle_roll_link",
    "right_hip_pitch_link",
    "right_hip_roll_link",
    "right_hip_yaw_link",
    "right_knee_pitch_link",
    "right_ankle_pitch_link",
    "right_ankle_roll_link",
    "head_realsense_rgb_link",
    "head_booster_stereo_rgb_link"
  ],
  "controller": "RobotControllerComponent",
  "kinematic": true,
  "acceleration": {
    "value": 1,
    "units": "rad/s^2",
    "basis": "Simtekton commissioning default"
  },
  "changes": [
    "Relative mesh references resolved from source directory; original URDF retained.",
    "Converted meshes and configured Simtekton kinematic controller; acceleration/deceleration 1 rad/s^2 are commissioning defaults."
  ],
  "limitations": [
    "Grounded kinematic posing only; no walking or balance controller.",
    "Robot-internal contacts are disabled; environment contacts remain enabled."
  ]
}


----------------

licenses/booster-k1/12a97516f57469078707afb587a5f84c1cb110d1/NOTICE.txt

Booster K1. Source: https://github.com/BoosterRobotics/booster_assets, 12a97516f57469078707afb587a5f84c1cb110d1.
BSD-3-Clause. Original licenses, package metadata and source copyright notices are included under upstream/.
Simtekton changes: Relative mesh references resolved from source directory; original URDF retained. Converted meshes and configured Simtekton kinematic controller; acceleration/deceleration 1 rad/s^2 are commissioning defaults.
No manufacturer endorsement or calibration is claimed.