BamBot

Tim Qian · licence Apache-2.0 · source: github.com/timqian/bambot @ 04d902653

What you are looking at is RobotDescription.from_urdf(original).to_urdf_string(): the reference implementation's re-serialisation of the original file, not the original file itself.

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robot.urdf

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content bb202f15dd9421df -->
<robot name="bambot">
  <material name="green">
    <color rgba="0.06 0.4 0.1 1.0" />
  </material>
  <material name="black">
    <color rgba="0.06 0.1 0.1 1.0" />
  </material>
  <link name="base_link">
    <visual>
      <origin xyz="-0.5 0.0 0.4" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Bambot_Body.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="green" />
    </visual>
  </link>
  <link name="R_Base">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Base.stl" />
      </geometry>
      <material name="green" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Base_Motor.stl" />
      </geometry>
      <material name="black" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Base.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="1.0" />
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
    </inertial>
  </link>
  <link name="R_Rotation_Pitch">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Rotation_Pitch.stl" />
      </geometry>
      <material name="green" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Rotation_Pitch_Motor.stl" />
      </geometry>
      <material name="black" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Rotation_Pitch.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-9.07886e-05 0.0590972 0.031089" rpy="0.0 0.0 0.0" />
      <mass value="0.119226" />
      <inertia ixx="5.94278e-05" ixy="0.0" ixz="0.0" iyy="5.89975e-05" iyz="0.0" izz="3.13712e-05" />
    </inertial>
  </link>
  <link name="R_Upper_Arm">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Upper_Arm.stl" />
      </geometry>
      <material name="green" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Upper_Arm_Motor.stl" />
      </geometry>
      <material name="black" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Upper_Arm.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-1.72052e-05 0.0701802 0.00310545" rpy="0.0 0.0 0.0" />
      <mass value="0.162409" />
      <inertia ixx="0.000213312" ixy="0.0" ixz="0.0" iyy="0.000167164" iyz="0.0" izz="7.01522e-05" />
    </inertial>
  </link>
  <link name="R_Lower_Arm">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Lower_Arm.stl" />
      </geometry>
      <material name="green" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Lower_Arm_Motor.stl" />
      </geometry>
      <material name="black" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Lower_Arm.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00339604 0.00137796 0.0768007" rpy="0.0 0.0 0.0" />
      <mass value="0.147968" />
      <inertia ixx="0.000138803" ixy="0.0" ixz="0.0" iyy="0.000107748" iyz="0.0" izz="4.84242e-05" />
    </inertial>
  </link>
  <link name="R_Wrist_Pitch_Roll">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Wrist_Pitch_Roll.stl" />
      </geometry>
      <material name="green" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Wrist_Pitch_Roll_Motor.stl" />
      </geometry>
      <material name="black" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Wrist_Pitch_Roll.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00852653 -0.0352279 -2.34622e-05" rpy="0.0 0.0 0.0" />
      <mass value="0.0661321" />
      <inertia ixx="3.45403e-05" ixy="0.0" ixz="0.0" iyy="2.39041e-05" iyz="0.0" izz="1.94704e-05" />
    </inertial>
  </link>
  <link name="R_Fixed_Jaw">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Fixed_Jaw.stl" />
      </geometry>
      <material name="green" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Fixed_Jaw_Motor.stl" />
      </geometry>
      <material name="black" />
    </visual>
    <inertial>
      <origin xyz="0.00552377 -0.0280167 0.000483583" rpy="0.0 0.0 0.0" />
      <mass value="0.0929859" />
      <inertia ixx="5.03136e-05" ixy="0.0" ixz="0.0" iyy="4.64098e-05" iyz="0.0" izz="2.72961e-05" />
    </inertial>
  </link>
  <link name="R_Moving_Jaw">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Moving_Jaw.stl" />
      </geometry>
      <material name="green" />
    </visual>
    <inertial>
      <origin xyz="-0.00161745 -0.0303473 0.000449646" rpy="0.0 0.0 0.0" />
      <mass value="0.0202444" />
      <inertia ixx="1.11265e-05" ixy="0.0" ixz="0.0" iyy="8.99651e-06" iyz="0.0" izz="2.99548e-06" />
    </inertial>
  </link>
  <joint name="R_to_base" type="fixed">
    <origin xyz="-0.17 -0.42 0.64" rpy="0.0 3.14158 1.5708" />
    <parent link="base_link" />
    <child link="R_Base" />
  </joint>
  <joint name="R_Rotation" type="revolute">
    <origin xyz="0.0 -0.0452 0.0165" rpy="1.57079 0.0 0.0" />
    <parent link="R_Base" />
    <child link="R_Rotation_Pitch" />
    <axis xyz="0.0 -1.0 0.0" />
    <limit effort="35.0" velocity="1.0" lower="-2.0" upper="2.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="R_Pitch" type="revolute">
    <origin xyz="0.0 0.1025 0.0306" rpy="-0.1 0.0 0.0" />
    <parent link="R_Rotation_Pitch" />
    <child link="R_Upper_Arm" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="35.0" velocity="1.0" lower="-1.4" upper="1.7139" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="R_Elbow" type="revolute">
    <origin xyz="0.0 0.11257 0.028" rpy="-1.57079 0.0 0.0" />
    <parent link="R_Upper_Arm" />
    <child link="R_Lower_Arm" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="35.0" velocity="1.0" lower="0.0" upper="3.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="R_Wrist_Pitch" type="revolute">
    <origin xyz="0.0 0.0052 0.1349" rpy="-1.57079 0.0 0.0" />
    <parent link="R_Lower_Arm" />
    <child link="R_Wrist_Pitch_Roll" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="35.0" velocity="1.0" lower="-1.8" upper="1.8" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="R_Wrist_Roll" type="revolute">
    <origin xyz="0.0 -0.0601 0.0" rpy="0.0 0.0 0.0" />
    <parent link="R_Wrist_Pitch_Roll" />
    <child link="R_Fixed_Jaw" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="35.0" velocity="1.0" lower="-1.57079" upper="1.57079" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="R_Jaw" type="revolute">
    <origin xyz="-0.0202 -0.0244 0.0" rpy="0.0 3.14158 0.0" />
    <parent link="R_Fixed_Jaw" />
    <child link="R_Moving_Jaw" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="35.0" velocity="1.0" lower="-0.2" upper="1.7" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="L_Base">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Base.stl" />
      </geometry>
      <material name="green" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Base_Motor.stl" />
      </geometry>
      <material name="black" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Base.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="1.0" />
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
    </inertial>
  </link>
  <link name="L_Rotation_Pitch">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Rotation_Pitch.stl" />
      </geometry>
      <material name="green" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Rotation_Pitch_Motor.stl" />
      </geometry>
      <material name="black" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Rotation_Pitch.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-9.07886e-05 0.0590972 0.031089" rpy="0.0 0.0 0.0" />
      <mass value="0.119226" />
      <inertia ixx="5.94278e-05" ixy="0.0" ixz="0.0" iyy="5.89975e-05" iyz="0.0" izz="3.13712e-05" />
    </inertial>
  </link>
  <link name="L_Upper_Arm">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Upper_Arm.stl" />
      </geometry>
      <material name="green" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Upper_Arm_Motor.stl" />
      </geometry>
      <material name="black" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Upper_Arm.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-1.72052e-05 0.0701802 0.00310545" rpy="0.0 0.0 0.0" />
      <mass value="0.162409" />
      <inertia ixx="0.000213312" ixy="0.0" ixz="0.0" iyy="0.000167164" iyz="0.0" izz="7.01522e-05" />
    </inertial>
  </link>
  <link name="L_Lower_Arm">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Lower_Arm.stl" />
      </geometry>
      <material name="green" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Lower_Arm_Motor.stl" />
      </geometry>
      <material name="black" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Lower_Arm.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00339604 0.00137796 0.0768007" rpy="0.0 0.0 0.0" />
      <mass value="0.147968" />
      <inertia ixx="0.000138803" ixy="0.0" ixz="0.0" iyy="0.000107748" iyz="0.0" izz="4.84242e-05" />
    </inertial>
  </link>
  <link name="L_Wrist_Pitch_Roll">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Wrist_Pitch_Roll.stl" />
      </geometry>
      <material name="green" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Wrist_Pitch_Roll_Motor.stl" />
      </geometry>
      <material name="black" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Wrist_Pitch_Roll.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00852653 -0.0352279 -2.34622e-05" rpy="0.0 0.0 0.0" />
      <mass value="0.0661321" />
      <inertia ixx="3.45403e-05" ixy="0.0" ixz="0.0" iyy="2.39041e-05" iyz="0.0" izz="1.94704e-05" />
    </inertial>
  </link>
  <link name="L_Fixed_Jaw">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Fixed_Jaw.stl" />
      </geometry>
      <material name="green" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Fixed_Jaw_Motor.stl" />
      </geometry>
      <material name="black" />
    </visual>
    <inertial>
      <origin xyz="0.00552377 -0.0280167 0.000483583" rpy="0.0 0.0 0.0" />
      <mass value="0.0929859" />
      <inertia ixx="5.03136e-05" ixy="0.0" ixz="0.0" iyy="4.64098e-05" iyz="0.0" izz="2.72961e-05" />
    </inertial>
  </link>
  <link name="L_Moving_Jaw">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Moving_Jaw.stl" />
      </geometry>
      <material name="green" />
    </visual>
    <inertial>
      <origin xyz="-0.00161745 -0.0303473 0.000449646" rpy="0.0 0.0 0.0" />
      <mass value="0.0202444" />
      <inertia ixx="1.11265e-05" ixy="0.0" ixz="0.0" iyy="8.99651e-06" iyz="0.0" izz="2.99548e-06" />
    </inertial>
  </link>
  <joint name="L_to_base" type="fixed">
    <origin xyz="-0.18 -0.07 0.64" rpy="0.0 3.14158 1.5708" />
    <parent link="base_link" />
    <child link="L_Base" />
  </joint>
  <joint name="L_Rotation" type="revolute">
    <origin xyz="0.0 -0.0452 0.0165" rpy="1.57079 0.0 0.0" />
    <parent link="L_Base" />
    <child link="L_Rotation_Pitch" />
    <axis xyz="0.0 -1.0 0.0" />
    <limit effort="35.0" velocity="1.0" lower="-2.0" upper="2.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="L_Pitch" type="revolute">
    <origin xyz="0.0 0.1025 0.0306" rpy="-0.1 0.0 0.0" />
    <parent link="L_Rotation_Pitch" />
    <child link="L_Upper_Arm" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="35.0" velocity="1.0" lower="-1.4" upper="1.7139" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="L_Elbow" type="revolute">
    <origin xyz="0.0 0.11257 0.028" rpy="-1.57079 0.0 0.0" />
    <parent link="L_Upper_Arm" />
    <child link="L_Lower_Arm" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="35.0" velocity="1.0" lower="0.0" upper="3.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="L_Wrist_Pitch" type="revolute">
    <origin xyz="0.0 0.0052 0.1349" rpy="-1.57079 0.0 0.0" />
    <parent link="L_Lower_Arm" />
    <child link="L_Wrist_Pitch_Roll" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="35.0" velocity="1.0" lower="-1.8" upper="1.8" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="L_Wrist_Roll" type="revolute">
    <origin xyz="0.0 -0.0601 0.0" rpy="0.0 0.0 0.0" />
    <parent link="L_Wrist_Pitch_Roll" />
    <child link="L_Fixed_Jaw" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="35.0" velocity="1.0" lower="-1.57079" upper="1.57079" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="L_Jaw" type="revolute">
    <origin xyz="-0.0202 -0.0244 0.0" rpy="0.0 3.14158 0.0" />
    <parent link="L_Fixed_Jaw" />
    <child link="L_Moving_Jaw" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="35.0" velocity="1.0" lower="-0.2" upper="1.7" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="left_motor">
    <visual>
      <origin xyz="0.0 -0.04 0.1" rpy="3.14159 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Base_Motor.stl" />
      </geometry>
      <material name="black" />
    </visual>
  </link>
  <joint name="left_motor" type="fixed">
    <origin xyz="-0.1 0.0 -0.03" rpy="0.0 1.5708 -2.0944" />
    <parent link="base_link" />
    <child link="left_motor" />
  </joint>
  <link name="right_motor">
    <visual>
      <origin xyz="0.0 -0.04 0.1" rpy="3.14159 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Base_Motor.stl" />
      </geometry>
      <material name="black" />
    </visual>
  </link>
  <joint name="right_motor" type="fixed">
    <origin xyz="-0.1 -0.48 -0.03" rpy="0.0 1.5708 2.0944" />
    <parent link="base_link" />
    <child link="right_motor" />
  </joint>
  <link name="back_motor">
    <visual>
      <origin xyz="0.0 -0.04 0.1" rpy="3.14159 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/Base_Motor.stl" />
      </geometry>
      <material name="black" />
    </visual>
  </link>
  <joint name="back_motor" type="fixed">
    <origin xyz="-0.52 -0.25 -0.03" rpy="0.0 1.5708 0.0" />
    <parent link="base_link" />
    <child link="back_motor" />
  </joint>
  <link name="left_wheel">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/BambotWheel.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="black" />
    </visual>
  </link>
  <link name="right_wheel">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/BambotWheel.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="black" />
    </visual>
  </link>
  <link name="back_wheel">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/BambotWheel.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="black" />
    </visual>
  </link>
  <joint name="left_wheel" type="continuous">
    <origin xyz="-0.1 0.0 -0.03" rpy="0.0 1.5708 -2.0944" />
    <parent link="base_link" />
    <child link="left_wheel" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="back_wheel" type="continuous">
    <origin xyz="-0.52 -0.25 -0.03" rpy="0.0 1.5708 0.0" />
    <parent link="base_link" />
    <child link="back_wheel" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="right_wheel" type="continuous">
    <origin xyz="-0.1 -0.48 -0.03" rpy="0.0 1.5708 2.0944" />
    <parent link="base_link" />
    <child link="right_wheel" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
</robot>

robot.xml

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content bb202f15dd9421df -->
<mujoco model="bambot">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="green" rgba="0.06 0.4 0.1 1.0" />
    <material name="black" rgba="0.06 0.1 0.1 1.0" />
    <mesh name="Bambot_Body_0p001_0p001_0p001" file="meshes/Bambot_Body.stl" scale="0.001 0.001 0.001" />
    <mesh name="Base" file="meshes/Base.stl" />
    <mesh name="Base_Motor" file="meshes/Base_Motor.stl" />
    <mesh name="Rotation_Pitch" file="meshes/Rotation_Pitch.stl" />
    <mesh name="Rotation_Pitch_Motor" file="meshes/Rotation_Pitch_Motor.stl" />
    <mesh name="Upper_Arm" file="meshes/Upper_Arm.stl" />
    <mesh name="Upper_Arm_Motor" file="meshes/Upper_Arm_Motor.stl" />
    <mesh name="Lower_Arm" file="meshes/Lower_Arm.stl" />
    <mesh name="Lower_Arm_Motor" file="meshes/Lower_Arm_Motor.stl" />
    <mesh name="Wrist_Pitch_Roll" file="meshes/Wrist_Pitch_Roll.stl" />
    <mesh name="Wrist_Pitch_Roll_Motor" file="meshes/Wrist_Pitch_Roll_Motor.stl" />
    <mesh name="Fixed_Jaw" file="meshes/Fixed_Jaw.stl" />
    <mesh name="Fixed_Jaw_Motor" file="meshes/Fixed_Jaw_Motor.stl" />
    <mesh name="Moving_Jaw" file="meshes/Moving_Jaw.stl" />
    <mesh name="BambotWheel_0p001_0p001_0p001" file="meshes/BambotWheel.stl" scale="0.001 0.001 0.001" />
  </asset>
  <worldbody>
    <body name="base_link">
      <geom name="base_link_vis_0" type="mesh" mesh="Bambot_Body_0p001_0p001_0p001" pos="-0.5 0.0 0.4" contype="0" conaffinity="0" group="2" material="green" />
      <body name="R_Base" pos="-0.17 -0.42 0.64" quat="4.473711358158385e-06 -0.7071080798453213 0.7071054824970842 4.473727791047958e-06">
        <inertial pos="0.0 0.0 0.0" mass="1.0" fullinertia="0.01 0.01 0.01 0.0 0.0 0.0" />
        <geom name="R_Base_vis_0" type="mesh" mesh="Base" contype="0" conaffinity="0" group="2" material="green" />
        <geom name="R_Base_vis_1" type="mesh" mesh="Base_Motor" contype="0" conaffinity="0" group="2" material="black" />
        <geom name="R_Base_col_0" type="mesh" mesh="Base" group="3" />
        <body name="R_Rotation_Pitch" pos="0.0 -0.0452 0.0165" quat="0.7071090180427968 0.7071045443232221 0.0 0.0">
          <joint name="R_Rotation" type="hinge" axis="0.0 -1.0 0.0" range="-2.0 2.0" />
          <inertial pos="-9.07886e-05 0.0590972 0.031089" mass="0.119226" fullinertia="5.94278e-05 5.89975e-05 3.13712e-05 0.0 0.0 0.0" />
          <geom name="R_Rotation_Pitch_vis_0" type="mesh" mesh="Rotation_Pitch" contype="0" conaffinity="0" group="2" material="green" />
          <geom name="R_Rotation_Pitch_vis_1" type="mesh" mesh="Rotation_Pitch_Motor" contype="0" conaffinity="0" group="2" material="black" />
          <geom name="R_Rotation_Pitch_col_0" type="mesh" mesh="Rotation_Pitch" group="3" />
          <body name="R_Upper_Arm" pos="0.0 0.1025 0.0306" quat="0.9987502603949663 -0.04997916927067833 0.0 0.0">
            <joint name="R_Pitch" type="hinge" axis="1.0 0.0 0.0" range="-1.4 1.7139" />
            <inertial pos="-1.72052e-05 0.0701802 0.00310545" mass="0.162409" fullinertia="0.000213312 0.000167164 7.01522e-05 0.0 0.0 0.0" />
            <geom name="R_Upper_Arm_vis_0" type="mesh" mesh="Upper_Arm" contype="0" conaffinity="0" group="2" material="green" />
            <geom name="R_Upper_Arm_vis_1" type="mesh" mesh="Upper_Arm_Motor" contype="0" conaffinity="0" group="2" material="black" />
            <geom name="R_Upper_Arm_col_0" type="mesh" mesh="Upper_Arm" group="3" />
            <body name="R_Lower_Arm" pos="0.0 0.11257 0.028" quat="0.7071090180427968 -0.7071045443232221 0.0 0.0">
              <joint name="R_Elbow" type="hinge" axis="1.0 0.0 0.0" range="0.0 3.0" />
              <inertial pos="-0.00339604 0.00137796 0.0768007" mass="0.147968" fullinertia="0.000138803 0.000107748 4.84242e-05 0.0 0.0 0.0" />
              <geom name="R_Lower_Arm_vis_0" type="mesh" mesh="Lower_Arm" contype="0" conaffinity="0" group="2" material="green" />
              <geom name="R_Lower_Arm_vis_1" type="mesh" mesh="Lower_Arm_Motor" contype="0" conaffinity="0" group="2" material="black" />
              <geom name="R_Lower_Arm_col_0" type="mesh" mesh="Lower_Arm" group="3" />
              <body name="R_Wrist_Pitch_Roll" pos="0.0 0.0052 0.1349" quat="0.7071090180427968 -0.7071045443232221 0.0 0.0">
                <joint name="R_Wrist_Pitch" type="hinge" axis="1.0 0.0 0.0" range="-1.8 1.8" />
                <inertial pos="-0.00852653 -0.0352279 -2.34622e-05" mass="0.0661321" fullinertia="3.45403e-05 2.39041e-05 1.94704e-05 0.0 0.0 0.0" />
                <geom name="R_Wrist_Pitch_Roll_vis_0" type="mesh" mesh="Wrist_Pitch_Roll" contype="0" conaffinity="0" group="2" material="green" />
                <geom name="R_Wrist_Pitch_Roll_vis_1" type="mesh" mesh="Wrist_Pitch_Roll_Motor" contype="0" conaffinity="0" group="2" material="black" />
                <geom name="R_Wrist_Pitch_Roll_col_0" type="mesh" mesh="Wrist_Pitch_Roll" group="3" />
                <body name="R_Fixed_Jaw" pos="0.0 -0.0601 0.0">
                  <joint name="R_Wrist_Roll" type="hinge" axis="0.0 1.0 0.0" range="-1.57079 1.57079" />
                  <inertial pos="0.00552377 -0.0280167 0.000483583" mass="0.0929859" fullinertia="5.03136e-05 4.64098e-05 2.72961e-05 0.0 0.0 0.0" />
                  <geom name="R_Fixed_Jaw_vis_0" type="mesh" mesh="Fixed_Jaw" contype="0" conaffinity="0" group="2" material="green" />
                  <geom name="R_Fixed_Jaw_vis_1" type="mesh" mesh="Fixed_Jaw_Motor" contype="0" conaffinity="0" group="2" material="black" />
                  <body name="R_Moving_Jaw" pos="-0.0202 -0.0244 0.0" quat="6.326794896668469e-06 0.0 0.9999999999799858 0.0">
                    <joint name="R_Jaw" type="hinge" axis="0.0 0.0 1.0" range="-0.2 1.7" />
                    <inertial pos="-0.00161745 -0.0303473 0.000449646" mass="0.0202444" fullinertia="1.11265e-05 8.99651e-06 2.99548e-06 0.0 0.0 0.0" />
                    <geom name="R_Moving_Jaw_vis_0" type="mesh" mesh="Moving_Jaw" contype="0" conaffinity="0" group="2" material="green" />
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="L_Base" pos="-0.18 -0.07 0.64" quat="4.473711358158385e-06 -0.7071080798453213 0.7071054824970842 4.473727791047958e-06">
        <inertial pos="0.0 0.0 0.0" mass="1.0" fullinertia="0.01 0.01 0.01 0.0 0.0 0.0" />
        <geom name="L_Base_vis_0" type="mesh" mesh="Base" contype="0" conaffinity="0" group="2" material="green" />
        <geom name="L_Base_vis_1" type="mesh" mesh="Base_Motor" contype="0" conaffinity="0" group="2" material="black" />
        <geom name="L_Base_col_0" type="mesh" mesh="Base" group="3" />
        <body name="L_Rotation_Pitch" pos="0.0 -0.0452 0.0165" quat="0.7071090180427968 0.7071045443232221 0.0 0.0">
          <joint name="L_Rotation" type="hinge" axis="0.0 -1.0 0.0" range="-2.0 2.0" />
          <inertial pos="-9.07886e-05 0.0590972 0.031089" mass="0.119226" fullinertia="5.94278e-05 5.89975e-05 3.13712e-05 0.0 0.0 0.0" />
          <geom name="L_Rotation_Pitch_vis_0" type="mesh" mesh="Rotation_Pitch" contype="0" conaffinity="0" group="2" material="green" />
          <geom name="L_Rotation_Pitch_vis_1" type="mesh" mesh="Rotation_Pitch_Motor" contype="0" conaffinity="0" group="2" material="black" />
          <geom name="L_Rotation_Pitch_col_0" type="mesh" mesh="Rotation_Pitch" group="3" />
          <body name="L_Upper_Arm" pos="0.0 0.1025 0.0306" quat="0.9987502603949663 -0.04997916927067833 0.0 0.0">
            <joint name="L_Pitch" type="hinge" axis="1.0 0.0 0.0" range="-1.4 1.7139" />
            <inertial pos="-1.72052e-05 0.0701802 0.00310545" mass="0.162409" fullinertia="0.000213312 0.000167164 7.01522e-05 0.0 0.0 0.0" />
            <geom name="L_Upper_Arm_vis_0" type="mesh" mesh="Upper_Arm" contype="0" conaffinity="0" group="2" material="green" />
            <geom name="L_Upper_Arm_vis_1" type="mesh" mesh="Upper_Arm_Motor" contype="0" conaffinity="0" group="2" material="black" />
            <geom name="L_Upper_Arm_col_0" type="mesh" mesh="Upper_Arm" group="3" />
            <body name="L_Lower_Arm" pos="0.0 0.11257 0.028" quat="0.7071090180427968 -0.7071045443232221 0.0 0.0">
              <joint name="L_Elbow" type="hinge" axis="1.0 0.0 0.0" range="0.0 3.0" />
              <inertial pos="-0.00339604 0.00137796 0.0768007" mass="0.147968" fullinertia="0.000138803 0.000107748 4.84242e-05 0.0 0.0 0.0" />
              <geom name="L_Lower_Arm_vis_0" type="mesh" mesh="Lower_Arm" contype="0" conaffinity="0" group="2" material="green" />
              <geom name="L_Lower_Arm_vis_1" type="mesh" mesh="Lower_Arm_Motor" contype="0" conaffinity="0" group="2" material="black" />
              <geom name="L_Lower_Arm_col_0" type="mesh" mesh="Lower_Arm" group="3" />
              <body name="L_Wrist_Pitch_Roll" pos="0.0 0.0052 0.1349" quat="0.7071090180427968 -0.7071045443232221 0.0 0.0">
                <joint name="L_Wrist_Pitch" type="hinge" axis="1.0 0.0 0.0" range="-1.8 1.8" />
                <inertial pos="-0.00852653 -0.0352279 -2.34622e-05" mass="0.0661321" fullinertia="3.45403e-05 2.39041e-05 1.94704e-05 0.0 0.0 0.0" />
                <geom name="L_Wrist_Pitch_Roll_vis_0" type="mesh" mesh="Wrist_Pitch_Roll" contype="0" conaffinity="0" group="2" material="green" />
                <geom name="L_Wrist_Pitch_Roll_vis_1" type="mesh" mesh="Wrist_Pitch_Roll_Motor" contype="0" conaffinity="0" group="2" material="black" />
                <geom name="L_Wrist_Pitch_Roll_col_0" type="mesh" mesh="Wrist_Pitch_Roll" group="3" />
                <body name="L_Fixed_Jaw" pos="0.0 -0.0601 0.0">
                  <joint name="L_Wrist_Roll" type="hinge" axis="0.0 1.0 0.0" range="-1.57079 1.57079" />
                  <inertial pos="0.00552377 -0.0280167 0.000483583" mass="0.0929859" fullinertia="5.03136e-05 4.64098e-05 2.72961e-05 0.0 0.0 0.0" />
                  <geom name="L_Fixed_Jaw_vis_0" type="mesh" mesh="Fixed_Jaw" contype="0" conaffinity="0" group="2" material="green" />
                  <geom name="L_Fixed_Jaw_vis_1" type="mesh" mesh="Fixed_Jaw_Motor" contype="0" conaffinity="0" group="2" material="black" />
                  <body name="L_Moving_Jaw" pos="-0.0202 -0.0244 0.0" quat="6.326794896668469e-06 0.0 0.9999999999799858 0.0">
                    <joint name="L_Jaw" type="hinge" axis="0.0 0.0 1.0" range="-0.2 1.7" />
                    <inertial pos="-0.00161745 -0.0303473 0.000449646" mass="0.0202444" fullinertia="1.11265e-05 8.99651e-06 2.99548e-06 0.0 0.0 0.0" />
                    <geom name="L_Moving_Jaw_vis_0" type="mesh" mesh="Moving_Jaw" contype="0" conaffinity="0" group="2" material="green" />
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="left_motor" pos="-0.1 0.0 -0.03" quat="0.35355124167760826 0.6123744261620394 0.35355254034621864 -0.6123721767893033">
        <geom name="left_motor_vis_0" type="mesh" mesh="Base_Motor" pos="0.0 -0.04 0.1" quat="1.3267948966775328e-06 0.9999999999991198 0.0 0.0" contype="0" conaffinity="0" group="2" material="black" />
      </body>
      <body name="right_motor" pos="-0.1 -0.48 -0.03" quat="0.35355124167760826 -0.6123744261620394 0.35355254034621864 0.6123721767893033">
        <geom name="right_motor_vis_0" type="mesh" mesh="Base_Motor" pos="0.0 -0.04 0.1" quat="1.3267948966775328e-06 0.9999999999991198 0.0 0.0" contype="0" conaffinity="0" group="2" material="black" />
      </body>
      <body name="back_motor" pos="-0.52 -0.25 -0.03" quat="0.7071054825112363 0.0 0.7071080798594735 0.0">
        <geom name="back_motor_vis_0" type="mesh" mesh="Base_Motor" pos="0.0 -0.04 0.1" quat="1.3267948966775328e-06 0.9999999999991198 0.0 0.0" contype="0" conaffinity="0" group="2" material="black" />
      </body>
      <body name="left_wheel" pos="-0.1 0.0 -0.03" quat="0.35355124167760826 0.6123744261620394 0.35355254034621864 -0.6123721767893033">
        <joint name="left_wheel" type="hinge" axis="0.0 0.0 1.0" limited="false" />
        <geom name="left_wheel_vis_0" type="mesh" mesh="BambotWheel_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="black" />
      </body>
      <body name="back_wheel" pos="-0.52 -0.25 -0.03" quat="0.7071054825112363 0.0 0.7071080798594735 0.0">
        <joint name="back_wheel" type="hinge" axis="0.0 0.0 1.0" limited="false" />
        <geom name="back_wheel_vis_0" type="mesh" mesh="BambotWheel_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="black" />
      </body>
      <body name="right_wheel" pos="-0.1 -0.48 -0.03" quat="0.35355124167760826 -0.6123744261620394 0.35355254034621864 0.6123721767893033">
        <joint name="right_wheel" type="hinge" axis="0.0 0.0 1.0" limited="false" />
        <geom name="right_wheel_vis_0" type="mesh" mesh="BambotWheel_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="black" />
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="R_Base" />
    <exclude body1="R_Base" body2="R_Rotation_Pitch" />
    <exclude body1="R_Rotation_Pitch" body2="R_Upper_Arm" />
    <exclude body1="R_Upper_Arm" body2="R_Lower_Arm" />
    <exclude body1="R_Lower_Arm" body2="R_Wrist_Pitch_Roll" />
    <exclude body1="R_Wrist_Pitch_Roll" body2="R_Fixed_Jaw" />
    <exclude body1="R_Fixed_Jaw" body2="R_Moving_Jaw" />
    <exclude body1="base_link" body2="L_Base" />
    <exclude body1="L_Base" body2="L_Rotation_Pitch" />
    <exclude body1="L_Rotation_Pitch" body2="L_Upper_Arm" />
    <exclude body1="L_Upper_Arm" body2="L_Lower_Arm" />
    <exclude body1="L_Lower_Arm" body2="L_Wrist_Pitch_Roll" />
    <exclude body1="L_Wrist_Pitch_Roll" body2="L_Fixed_Jaw" />
    <exclude body1="L_Fixed_Jaw" body2="L_Moving_Jaw" />
    <exclude body1="base_link" body2="left_motor" />
    <exclude body1="base_link" body2="right_motor" />
    <exclude body1="base_link" body2="back_motor" />
    <exclude body1="base_link" body2="left_wheel" />
    <exclude body1="base_link" body2="back_wheel" />
    <exclude body1="base_link" body2="right_wheel" />
  </contact>
</mujoco>

Import report

Counts

Links	21
Joints	20
Moving joints	15
Visuals	33
Collisions	10
Materials	2

Meshes

Formats: stl.
Asset size: 32.5 MB.

Dropped on import

Tag	Count	Why
`axis`	3	fixed joints carry no <axis>; URDF ignores it too
`limit`	3	no <limit>; RobotDescription always writes one, so effort = velocity = 0

Forward-kinematics check

Forward kinematics of 21 link frames at 20 random joint positions within limits, original URDF against robot.urdf, computed by pinocchio 3.8.0. Worst difference: 0.0e+00 m · 1.2e-15 rad.

MuJoCo

robot.xml did not compile in MuJoCo: Error: decoder failed for mesh file 'assets/meshes/Bambot_Body.stl'

Source & licence

Repository	https://github.com/timqian/bambot
Commit	`04d902653794f9f72eeabb09ec90a9af8e397c5b`
Original file	`website/public/URDF/bambot_v0.urdf`
Licence	Apache-2.0 · the upstream LICENSE file
Files	robot.urdf · robot.xml

Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.