licenses/unitree-g1-23dof/15ebe53f4cd77e7d745ae83b9d7ff90e685e8998/upstream/robots/g1_description/g1_23dof.urdf

<robot name="g1_23dof">
  <material name="dark">
    <color rgba="0.2 0.2 0.2 1"/>
  </material>
  <material name="white">
    <color rgba="0.7 0.7 0.7 1"/>
  </material>

  <mujoco>
    <compiler meshdir="meshes" discardvisual="false"/>
  </mujoco>

  <!-- [CAUTION] uncomment when convert to mujoco -->
  <!-- <link name="world"></link>
  <joint name="floating_base_joint" type="floating">
    <parent link="world"/>
    <child link="pelvis"/>
  </joint> -->

  <link name="pelvis">
    <inertial>
      <origin xyz="0 0 -0.07605" rpy="0 0 0"/>
      <mass value="3.813"/>
      <inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/pelvis.STL"/>
      </geometry>
      <material name="dark"/>
    </visual>
  </link>
  <link name="pelvis_contour_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/pelvis_contour_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/pelvis_contour_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="pelvis_contour_joint" type="fixed">
    <parent link="pelvis"/>
    <child link="pelvis_contour_link"/>
  </joint>

  <!-- Legs -->
  <link name="left_hip_pitch_link">
    <inertial>
      <origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0"/>
      <mass value="1.35"/>
      <inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_pitch_link.STL"/>
      </geometry>
      <material name="dark"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_pitch_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_hip_pitch_joint" type="revolute">
    <origin xyz="0 0.064452 -0.1027" rpy="0 0 0"/>
    <parent link="pelvis"/>
    <child link="left_hip_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
  </joint>
  <link name="left_hip_roll_link">
    <inertial>
      <origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0"/>
      <mass value="1.52"/>
      <inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_roll_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_roll_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_hip_roll_joint" type="revolute">
    <origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0"/>
    <parent link="left_hip_pitch_link"/>
    <child link="left_hip_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.5236" upper="2.9671" effort="88" velocity="32"/>
  </joint>
  <link name="left_hip_yaw_link">
    <inertial>
      <origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0"/>
      <mass value="1.702"/>
      <inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_yaw_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_yaw_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_hip_yaw_joint" type="revolute">
    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
    <parent link="left_hip_roll_link"/>
    <child link="left_hip_yaw_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
  </joint>
  <link name="left_knee_link">
    <inertial>
      <origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0"/>
      <mass value="1.932"/>
      <inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_knee_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_knee_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_knee_joint" type="revolute">
    <origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0"/>
    <parent link="left_hip_yaw_link"/>
    <child link="left_knee_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
  </joint>
  <link name="left_ankle_pitch_link">
    <inertial>
      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
      <mass value="0.074"/>
      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ankle_pitch_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ankle_pitch_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_ankle_pitch_joint" type="revolute">
    <origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0"/>
    <parent link="left_knee_link"/>
    <child link="left_ankle_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
  </joint>
  <link name="left_ankle_roll_link">
    <inertial>
      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
      <mass value="0.608"/>
      <inertia ixx="0.0002231" ixy="2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="-1E-07" izz="0.0016667"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ankle_roll_link.STL"/>
      </geometry>
      <material name="dark"/>
    </visual>
    <collision>
      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_ankle_roll_joint" type="revolute">
    <origin xyz="0 0 -0.017558" rpy="0 0 0"/>
    <parent link="left_ankle_pitch_link"/>
    <child link="left_ankle_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
  </joint>
  <link name="right_hip_pitch_link">
    <inertial>
      <origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0"/>
      <mass value="1.35"/>
      <inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_pitch_link.STL"/>
      </geometry>
      <material name="dark"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_pitch_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_hip_pitch_joint" type="revolute">
    <origin xyz="0 -0.064452 -0.1027" rpy="0 0 0"/>
    <parent link="pelvis"/>
    <child link="right_hip_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
  </joint>
  <link name="right_hip_roll_link">
    <inertial>
      <origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0"/>
      <mass value="1.52"/>
      <inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_roll_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_roll_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_hip_roll_joint" type="revolute">
    <origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0"/>
    <parent link="right_hip_pitch_link"/>
    <child link="right_hip_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-2.9671" upper="0.5236" effort="88" velocity="32"/>
  </joint>
  <link name="right_hip_yaw_link">
    <inertial>
      <origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0"/>
      <mass value="1.702"/>
      <inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_yaw_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_yaw_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_hip_yaw_joint" type="revolute">
    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
    <parent link="right_hip_roll_link"/>
    <child link="right_hip_yaw_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
  </joint>
  <link name="right_knee_link">
    <inertial>
      <origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0"/>
      <mass value="1.932"/>
      <inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_knee_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_knee_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_knee_joint" type="revolute">
    <origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0"/>
    <parent link="right_hip_yaw_link"/>
    <child link="right_knee_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
  </joint>
  <link name="right_ankle_pitch_link">
    <inertial>
      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
      <mass value="0.074"/>
      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ankle_pitch_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ankle_pitch_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_ankle_pitch_joint" type="revolute">
    <origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0"/>
    <parent link="right_knee_link"/>
    <child link="right_ankle_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
  </joint>
  <link name="right_ankle_roll_link">
    <inertial>
      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
      <mass value="0.608"/>
      <inertia ixx="0.0002231" ixy="-2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="1E-07" izz="0.0016667"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ankle_roll_link.STL"/>
      </geometry>
      <material name="dark"/>
    </visual>
    <collision>
      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_ankle_roll_joint" type="revolute">
    <origin xyz="0 0 -0.017558" rpy="0 0 0"/>
    <parent link="right_ankle_pitch_link"/>
    <child link="right_ankle_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
  </joint>

  <!-- Torso -->
  <link name="waist_yaw_fixed_link">
    <inertial>
      <origin xyz="0.003964 0 0.018769" rpy="0 0 0"/>
      <mass value="0.244"/>
      <inertia ixx="9.9587E-05" ixy="-1.833E-06" ixz="-1.2617E-05" iyy="0.00012411" iyz="-1.18E-07" izz="0.00015586"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/waist_yaw_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
  </link>
  <joint name="waist_yaw_fixed_joint" type="fixed">
    <origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
    <parent link="torso_link"/>
    <child link="waist_yaw_fixed_link"/>
  </joint>
  <joint name="waist_yaw_joint" type="revolute">
    <origin xyz="-0.0039635 0 0.054" rpy="0 0 0"/>
    <parent link="pelvis"/>
    <child link="torso_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.618" upper="2.618" effort="88" velocity="32"/>
  </joint>
  <link name="torso_link">
    <inertial>
      <origin xyz="0.002601 0.000257 0.153719" rpy="0 0 0"/>
      <mass value="8.562"/>
      <inertia ixx="0.065674966" ixy="-8.597E-05" ixz="-0.001737252" iyy="0.053535188" iyz="8.6899E-05" izz="0.030808125"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/torso_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/torso_link.STL"/>
      </geometry>
    </collision>
  </link>

  <!-- LOGO -->
  <joint name="logo_joint" type="fixed">
    <origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
    <parent link="torso_link"/>
    <child link="logo_link"/>
  </joint>
  <link name="logo_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/logo_link.STL"/>
      </geometry>
      <material name="dark"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/logo_link.STL"/>
      </geometry>
    </collision>
  </link>

  <!-- Head -->
  <link name="head_link">
    <inertial>
      <origin xyz="0.005267 0.000299 0.449869" rpy="0 0 0"/>
      <mass value="1.036"/>
      <inertia ixx="0.004085051" ixy="-2.543E-06" ixz="-6.9455E-05" iyy="0.004185212" iyz="-3.726E-06" izz="0.001807911"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/head_link.STL"/>
      </geometry>
      <material name="dark"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/head_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="head_joint" type="fixed">
    <origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
    <parent link="torso_link"/>
    <child link="head_link"/>
  </joint>

  <!-- Waist Support -->
  <link name="waist_support_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/waist_support_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/waist_support_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="waist_support_joint" type="fixed">
    <origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
    <parent link="torso_link"/>
    <child link="waist_support_link"/>
  </joint>

  <!-- IMU -->
  <link name="imu_in_torso"></link>
  <joint name="imu_in_torso_joint" type="fixed">
    <origin xyz="-0.03959 -0.00224 0.13792" rpy="0 0 0"/>
    <parent link="torso_link"/>
    <child link="imu_in_torso"/>
  </joint>

  <link name="imu_in_pelvis"></link>
  <joint name="imu_in_pelvis_joint" type="fixed">
    <origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
    <parent link="pelvis"/>
    <child link="imu_in_pelvis"/>
  </joint>

  <!-- d435 -->
  <link name="d435_link"></link>
  <joint name="d435_joint" type="fixed">
    <origin xyz="0.0576235 0.01753 0.41987" rpy="0 0.8307767239493009 0"/>
    <parent link="torso_link"/>
    <child link="d435_link"/>
  </joint>

  <!-- mid360 -->
  <link name="mid360_link"></link>
  <joint name="mid360_joint" type="fixed">
    <origin xyz="0.0002835 0.00003 0.40618" rpy="0 0.04014257279586953 0"/>
    <parent link="torso_link"/>
    <child link="mid360_link"/>
  </joint>

  <!-- Arm -->
  <link name="left_shoulder_pitch_link">
    <inertial>
      <origin xyz="0 0.035892 -0.011628" rpy="0 0 0"/>
      <mass value="0.718"/>
      <inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_shoulder_pitch_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0"/>
      <geometry>
        <cylinder radius="0.03" length="0.05"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_shoulder_pitch_joint" type="revolute">
    <origin xyz="0.0039563 0.10022 0.23778" rpy="0.27931 5.4949E-05 -0.00019159"/>
    <parent link="torso_link"/>
    <child link="left_shoulder_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
  </joint>
  <link name="left_shoulder_roll_link">
    <inertial>
      <origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0"/>
      <mass value="0.643"/>
      <inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_shoulder_roll_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="-0.004 0.006 -0.053" rpy="0 0 0"/>
      <geometry>
        <cylinder radius="0.03" length="0.03"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_shoulder_roll_joint" type="revolute">
    <origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0"/>
    <parent link="left_shoulder_pitch_link"/>
    <child link="left_shoulder_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-1.5882" upper="2.2515" effort="25" velocity="37"/>
  </joint>
  <link name="left_shoulder_yaw_link">
    <inertial>
      <origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0"/>
      <mass value="0.734"/>
      <inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_shoulder_yaw_joint" type="revolute">
    <origin xyz="0 0.00624 -0.1032" rpy="0 0 0"/>
    <parent link="left_shoulder_roll_link"/>
    <child link="left_shoulder_yaw_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
  </joint>
  <link name="left_elbow_link">
    <inertial>
      <origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0"/>
      <mass value="0.6"/>
      <inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_elbow_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_elbow_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_elbow_joint" type="revolute">
    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
    <parent link="left_shoulder_yaw_link"/>
    <child link="left_elbow_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
  </joint>
  <joint name="left_wrist_roll_joint" type="revolute">
    <origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0"/>
    <axis xyz="1 0 0"/>
    <parent link="left_elbow_link"/>
    <child link="left_wrist_roll_rubber_hand"/>
    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
  </joint>
  <link name="left_wrist_roll_rubber_hand">
    <inertial>
      <origin xyz="0.10794656650 0.00163511945 0.00202244863" rpy="0 0 0"/>
      <mass value="0.35692864"/>
      <inertia ixx="0.00019613494735" ixy="-0.00000419816908" ixz="-0.00003950860580" iyy="0.00200280358206" iyz="0.00000249774203" izz="0.00194181412808"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_wrist_roll_rubber_hand.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_wrist_roll_rubber_hand.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="right_shoulder_pitch_link">
    <inertial>
      <origin xyz="0 -0.035892 -0.011628" rpy="0 0 0"/>
      <mass value="0.718"/>
      <inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_shoulder_pitch_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0"/>
      <geometry>
        <cylinder radius="0.03" length="0.05"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_shoulder_pitch_joint" type="revolute">
    <origin xyz="0.0039563 -0.10021 0.23778" rpy="-0.27931 5.4949E-05 0.00019159"/>
    <parent link="torso_link"/>
    <child link="right_shoulder_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
  </joint>
  <link name="right_shoulder_roll_link">
    <inertial>
      <origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0"/>
      <mass value="0.643"/>
      <inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_shoulder_roll_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0"/>
      <geometry>
        <cylinder radius="0.03" length="0.03"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_shoulder_roll_joint" type="revolute">
    <origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0"/>
    <parent link="right_shoulder_pitch_link"/>
    <child link="right_shoulder_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-2.2515" upper="1.5882" effort="25" velocity="37"/>
  </joint>
  <link name="right_shoulder_yaw_link">
    <inertial>
      <origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0"/>
      <mass value="0.734"/>
      <inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_shoulder_yaw_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_shoulder_yaw_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_shoulder_yaw_joint" type="revolute">
    <origin xyz="0 -0.00624 -0.1032" rpy="0 0 0"/>
    <parent link="right_shoulder_roll_link"/>
    <child link="right_shoulder_yaw_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
  </joint>
  <link name="right_elbow_link">
    <inertial>
      <origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0"/>
      <mass value="0.6"/>
      <inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_elbow_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_elbow_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_elbow_joint" type="revolute">
    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
    <parent link="right_shoulder_yaw_link"/>
    <child link="right_elbow_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
  </joint>
  <joint name="right_wrist_roll_joint" type="revolute">
    <origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0"/>
    <axis xyz="1 0 0"/>
    <parent link="right_elbow_link"/>
    <child link="right_wrist_roll_rubber_hand"/>
    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
  </joint>
  <link name="right_wrist_roll_rubber_hand">
    <inertial>
      <origin xyz="0.10794656650 -0.00163511945 0.00202244863" rpy="0 0 0"/>
      <mass value="0.35692864"/>
      <inertia ixx="0.00019613494735" ixy="0.00000419816908" ixz="-0.00003950860580" iyy="0.00200280358206" iyz="-0.00000249774203" izz="0.00194181412808"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_wrist_roll_rubber_hand.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_wrist_roll_rubber_hand.STL"/>
      </geometry>
    </collision>
  </link>
</robot>

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

licenses/unitree-g1-23dof/15ebe53f4cd77e7d745ae83b9d7ff90e685e8998/upstream/LICENSE

BSD 3-Clause License

Copyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
All rights reserved.

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

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

* 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.

* 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/unitree-g1-23dof/15ebe53f4cd77e7d745ae83b9d7ff90e685e8998/upstream/README.md

# Introduction
Here are the ROS simulation packages for Unitree robots, You can load robots and joint controllers in Gazebo, so you can perform low-level control (control the torque, position and angular velocity) of the robot joints. Please be aware that the Gazebo simulation cannot do high-level control, namely walking. Aside from these simulation functions, you can also control your real robots in ROS with the [unitree_ros_to_real](https://github.com/unitreerobotics/unitree_ros_to_real) packages. For real robots, you can do high-level and low-level control using our ROS packages.

## Packages

### Robot descriptions

Every robot model lives under [`robots/`](robots). See [`robots/README.md`](robots/README.md) for the model files, variants and launch files of each package.

| Robot | Type | Package / model | DOF |
| :--- | :--- | :--- | ---: |
| A1 | Quadruped | [`a1_description`](robots/a1_description) | 12 |
| A2 | Quadruped | [`a2_description`](robots/a2_description) | 12 |
| AlienGo | Quadruped | [`aliengo_description`](robots/aliengo_description) | 12 |
| As2 | Quadruped | [`as2_description`](robots/as2_description) | 12 |
| B1 | Quadruped | [`b1_description`](robots/b1_description) | 12 |
| B2 | Quadruped | [`b2_description`](robots/b2_description) | 12 |
| Go1 | Quadruped | [`go1_description`](robots/go1_description) | 12 |
| Go2 | Quadruped | [`go2_description`](robots/go2_description) | 12 |
| Laikago | Quadruped | [`laikago_description`](robots/laikago_description) | 12 |
| As2-W | Wheeled quadruped | [`as2w_description`](robots/as2w_description) | 12 + 4 |
| B2-W | Wheeled quadruped | [`b2w_description`](robots/b2w_description) | 12 + 4 |
| Go2-W | Wheeled quadruped | [`go2w_description`](robots/go2w_description) | 12 + 4 |
| G1 | Humanoid | [`g1_description`](robots/g1_description) | 23 / 29 |
| G1+ | Humanoid | [`g1_pl.urdf`](robots/g1_description/g1_pl.urdf) | 31 |
| G1 with BrainCo Hand | Humanoid | [`g1_with_brainco_hand`](robots/g1_with_brainco_hand) | 61 |
| H1 | Humanoid | [`h1_description`](robots/h1_description) | 19 (45) |
| H1-2 | Humanoid | [`h1_2_description`](robots/h1_2_description) | 27 (51) |
| H2 | Humanoid | [`h2_description`](robots/h2_description) | 31 |
| H2 Plus | Humanoid | [`h2_plus`](robots/h2_plus) | 31 (75) |
| H2-X | Humanoid | [`h2x_description`](robots/h2x_description) | 31 (37) |
| R1 | Humanoid | [`r1_description`](robots/r1_description) | 26 |
| R1 Air | Humanoid | [`r1_air_description`](robots/r1_air_description) | 20 |
| G1-D | Wheeled humanoid | [`g1_d_description`](robots/g1_d_description) | 17 / 19 |
| H2-D | Wheeled humanoid | [`h2d_description`](robots/h2d_description) | 19 |
| R1-A7-D | Wheeled mobile manipulator | [`r1d_description`](robots/r1d_description) | 21 |
| AlienGo with Z1 | Mobile manipulator | [`aliengoZ1_description`](robots/aliengoZ1_description) | 12 + 6 |
| R1-7a | Robotic arm | [`r1_7a_description`](robots/r1_7a_description) | 7 |
| R1-A5 | Dual-arm upper body | [`r1_a5_description`](robots/r1_a5_description) | 13 |
| R1-A7 | Dual-arm upper body | [`r1_a7_description`](robots/r1_a7_description) | 17 |
| Z1 | Robotic arm | [`z1_description`](robots/z1_description) | 6 |
| Dex1-1 / Dex2/5 / Dex3-1 / Dex5-1 | Dexterous hands | [`dexterous_hand_description`](robots/dexterous_hand_description) | 2 / 10 / 7 / 20 |
| B2 (MuJoCo) | Quadruped | [`b2_description_mujoco`](robots/b2_description_mujoco) | 12 |

`DOF` counts the actuated joints in the model files: `23 / 29` denotes model variants, `19 (45)` is the body DOF with dexterous hands, `31 (37)` adds transmission joints, `12 + 4` adds the wheel joints, and the hand figures are actuated joints per hand. `G1+` is a URDF variant (`g1_pl.urdf`) inside `g1_description` rather than a separate package.

### Controllers, simulation and messages

| Package | Description |
| :--- | :--- |
| [`unitree_controller`](unitree_controller) | Stand/servo nodes and disturbance or pose publishers: `unitree_servo`, `unitree_external_force`, `unitree_move_kinetic` |
| [`unitree_gazebo`](unitree_gazebo) | Gazebo launch files, worlds and plugins (foot contact force, force drawing) |
| [`unitree_legged_control`](unitree_legged_control) | `controller_manager` plugin `UnitreeJointController` for position, velocity and torque control |
| [`unitree_ros_to_real`](unitree_ros_to_real) | Submodule with `unitree_legged_msgs` and the real-robot ROS packages |

# Dependencies
* [ROS](https://www.ros.org/) Melodic or ROS Kinetic (has not been tested)
* [Gazebo8](http://gazebosim.org/)
* [unitree_legged_msgs](https://github.com/unitreerobotics/unitree_ros_to_real): `unitree_legged_msgs` is a package under [unitree_ros_to_real](https://github.com/unitreerobotics/unitree_ros_to_real).
# Build
<!-- If you would like to fully compile the `unitree_ros`, please run the following command to install relative packages. -->

For ROS Melodic:
```
sudo apt-get install ros-melodic-controller-interface  ros-melodic-gazebo-ros-control ros-melodic-joint-state-controller ros-melodic-effort-controllers ros-melodic-joint-trajectory-controller
```
For ROS Kinetic:
```
sudo apt-get install ros-kinetic-controller-manager ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-joint-state-controller ros-kinetic-effort-controllers ros-kinetic-velocity-controllers ros-kinetic-position-controllers ros-kinetic-robot-controllers ros-kinetic-robot-state-publisher ros-kinetic-gazebo8-ros ros-kinetic-gazebo8-ros-control ros-kinetic-gazebo8-ros-pkgs ros-kinetic-gazebo8-ros-dev
```

And open the file `unitree_gazebo/worlds/stairs.world`. At the end of the file:
```
<include>
    <uri>model:///home/unitree/catkin_ws/src/unitree_ros/unitree_gazebo/worlds/building_editor_models/stairs</uri>
</include>
```
Please change the path of `building_editor_models/stairs` to the real path on your PC.

Then you can use catkin_make to build:
```
cd ~/catkin_ws
catkin_make
```

If you face a dependency problem, you can just run `catkin_make` again.

# Detail of Packages
## unitree_legged_control:
It contains the joints controllers for Gazebo simulation, which allows users to control joints with position, velocity and torque. Refer to "[unitree_ros/unitree_controller/src/servo.cpp](https://github.com/unitreerobotics/unitree_ros/blob/master/unitree_controller/src/servo.cpp)" for joint control examples in different modes.

## The description of robots:
Each robot has a description package under `robots/`, containing meshes plus URDF and Xacro files (and MJCF where available). The [robot table](#robot-descriptions) lists every model with its DOF; see [`robots/README.md`](robots/README.md) for variants and launch files. Take Laikago for example, you can check the model in Rviz by:
```
roslaunch laikago_description laikago_rviz.launch
```

## unitree_gazebo & unitree_controller:
You can launch the Gazebo simulation with the following command:
```
roslaunch unitree_gazebo normal.launch rname:=a1 wname:=stairs
```
Where the `rname` means robot name. Robots with a complete Gazebo controller setup (`xacro/robot.xacro` and `config/robot_control.yaml`) are `laikago`, `aliengo`, `a1`, `b1`, `b2`, `go1` and `go2`; the remaining descriptions ship RViz or display launch files only. The `wname` means world name, which can be `earth`, `space` or `stairs`. And the default value of `rname` is `laikago`, while the default value of `wname` is `earth`. In Gazebo, the robot should be lying on the ground with joints not activated.

### 1. Stand controller
After launching the gazebo simulation, you can start to control the robot:
```
rosrun unitree_controller unitree_servo
```

And you can add external disturbances, like a push or a kick:
```
rosrun unitree_controller unitree_external_force
```
### 2. Position and pose publisher
Here we demonstrated how to control the position and pose of robot without a controller, which should be useful in SLAM or visual development.

Then run the position and pose publisher in another terminal:
```
rosrun unitree_controller unitree_move_kinetic
```
The robot will turn around the origin, which is the movement under the world coordinate frame. And inside of the source file [move_publisher.cpp](https://github.com/unitreerobotics/unitree_ros/blob/master/unitree_controller/src/move_publisher.cpp), we also provide the method to move using the robot coordinate frame. You can change the value of `def_frame` to `coord::ROBOT` and run the catkin_make again, then the `unitree_move_publisher` will move robot under its own coordinate frame.

## Z1

You can launch the z1 Gazebo simulation with the following command:

```
roslaunch unitree_gazebo z1.launch
```

After launching the gazebo simulation, you can start to control the z1 robot by z1_sdk.  
see [z1_documentation](https://dev-z1.unitree.com)

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

licenses/unitree-g1-23dof/15ebe53f4cd77e7d745ae83b9d7ff90e685e8998/provenance.json

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  "id": "unitree-g1-23dof",
  "model": "Unitree G1 (23 DOF)",
  "repository": "unitreerobotics/unitree_ros",
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  "entry": "robots/g1_description/g1_23dof.urdf",
  "format": "urdf",
  "humanoid": true,
  "jointCount": 23,
  "toolFrame": null,
  "license": "BSD-3-Clause",
  "licenses": [
    "LICENSE"
  ],
  "notices": [
    "README.md"
  ],
  "description": "23-joint humanoid with original contrasting dark and light source materials, normals and joint limits. Grounded kinematic RobotController for posing; no walking or balance controller. BSD-3-Clause.",
  "sources": {
    "LICENSE": {
      "url": "https://raw.githubusercontent.com/unitreerobotics/unitree_ros/15ebe53f4cd77e7d745ae83b9d7ff90e685e8998/LICENSE",
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    "right_hip_roll_link",
    "right_hip_yaw_link",
    "right_knee_link",
    "right_ankle_pitch_link",
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    "waist_yaw_fixed_link",
    "torso_link",
    "logo_link",
    "head_link",
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    "imu_in_torso",
    "imu_in_pelvis",
    "d435_link",
    "mid360_link",
    "left_shoulder_pitch_link",
    "left_shoulder_roll_link",
    "left_shoulder_yaw_link",
    "left_elbow_link",
    "left_wrist_roll_rubber_hand",
    "right_shoulder_pitch_link",
    "right_shoulder_roll_link",
    "right_shoulder_yaw_link",
    "right_elbow_link",
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  "controller": "RobotControllerComponent",
  "kinematic": true,
  "acceleration": {
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    "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/unitree-g1-23dof/15ebe53f4cd77e7d745ae83b9d7ff90e685e8998/NOTICE.txt

Unitree G1 (23 DOF). Source: https://github.com/unitreerobotics/unitree_ros, 15ebe53f4cd77e7d745ae83b9d7ff90e685e8998.
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.