Baxter
Rethink Robotics · licence BSD-3-Clause · source: github.com/RethinkRobotics/baxter_common @ 6c4b0f375
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 ef0344655ad2c395 -->
<robot name="baxter">
<link name="base" />
<link name="torso">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://baxter_description/meshes/torso/base_link.DAE" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://baxter_description/meshes/torso/base_link_collision.DAE" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="35.336455" />
<inertia ixx="1.849155" ixy="-0.000354" ixz="-0.154188" iyy="1.662671" iyz="0.003292" izz="0.802239" />
</inertial>
</link>
<link name="left_torso_itb">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="right_torso_itb">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<material name="darkgray">
<color rgba="0.2 0.2 0.2 1.0" />
</material>
<link name="pedestal">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://baxter_description/meshes/base/PEDESTAL.DAE" />
</geometry>
<material name="darkgray" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://baxter_description/meshes/base/pedestal_link_collision.DAE" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="60.86397744" />
<inertia ixx="5.0635929" ixy="0.00103417" ixz="0.80199628" iyy="6.08689388" iyz="0.00105311" izz="4.96191932" />
</inertial>
</link>
<link name="head">
<visual>
<origin xyz="0.0 0.0 0.00953" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://baxter_description/meshes/head/H0.DAE" />
</geometry>
<material name="darkgray" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.547767" />
<inertia ixx="0.004641" ixy="0.000159" ixz="0.000242" iyy="0.003295" iyz="-0.001324" izz="0.003415" />
</inertial>
</link>
<link name="sonar_ring">
<visual>
<origin xyz="-0.0347 0.0 0.00953" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.01" radius="0.085" />
</geometry>
<material name="darkgray" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<material name="darkred">
<color rgba="0.5 0.1 0.1 1.0" />
</material>
<link name="screen">
<visual>
<origin xyz="0.0 -0.00953 -0.0347" rpy="0.0 -1.57079632679 0.0" />
<geometry>
<mesh filename="package://baxter_description/meshes/head/H1.DAE" />
</geometry>
<material name="darkred" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.440171" />
<inertia ixx="0.004006" ixy="0.00023" ixz="2e-06" iyy="0.0028" iyz="2.9e-05" izz="0.001509" />
</inertial>
</link>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
<link name="display">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.2617993877991494 0.0 0.0" />
<geometry>
<box size="0.218 0.16 0.001" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="head_camera">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="dummyhead1">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<material name="red">
<color rgba="0.8 0.3 0.3 0.3" />
</material>
<link name="collision_head_link_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.001" />
</geometry>
<material name="red" />
</visual>
<collision>
<origin xyz="-0.07 -0.04 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.22" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="collision_head_link_2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.001" />
</geometry>
<material name="red" />
</visual>
<collision>
<origin xyz="-0.07 0.04 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.22" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="collision_head_1" type="fixed">
<origin xyz="0.11 0.0 0.75" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="collision_head_link_1" />
</joint>
<joint name="collision_head_2" type="fixed">
<origin xyz="0.11 0.0 0.75" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="collision_head_link_2" />
</joint>
<joint name="dummy" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="head" />
<child link="dummyhead1" />
</joint>
<joint name="torso_t0" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="torso" />
</joint>
<joint name="left_torso_itb_fixed" type="fixed">
<origin xyz="-0.08897 0.15593 0.389125" rpy="-1.57079632679 3.1415 0.0" />
<parent link="torso" />
<child link="left_torso_itb" />
</joint>
<joint name="right_torso_itb_fixed" type="fixed">
<origin xyz="-0.08897 -0.15593 0.389125" rpy="1.57079632679 0.0 0.0" />
<parent link="torso" />
<child link="right_torso_itb" />
</joint>
<joint name="pedestal_fixed" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="torso" />
<child link="pedestal" />
</joint>
<joint name="head_pan" type="revolute">
<origin xyz="0.06 0.0 0.686" rpy="0.0 0.0 0.0" />
<parent link="torso" />
<child link="head" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="50000.0" velocity="10000.0" lower="-1.57079632679" upper="1.57079632679" />
<dynamics damping="0.7" friction="0.0" />
</joint>
<joint name="head_nod" type="fixed">
<origin xyz="0.1227 0.0 0.0" rpy="1.75057 0.0 1.57079632679" />
<parent link="head" />
<child link="screen" />
</joint>
<joint name="head_camera" type="fixed">
<origin xyz="0.12839 0.0 0.06368" rpy="1.75057 0.0 1.57079632679" />
<parent link="head" />
<child link="head_camera" />
</joint>
<joint name="display_joint" type="fixed">
<origin xyz="0.0 -0.016 0.0" rpy="0.0 0.0 0.0" />
<parent link="screen" />
<child link="display" />
</joint>
<joint name="sonar_s0" type="fixed">
<origin xyz="0.0947 0.0 0.817" rpy="0.0 0.0 0.0" />
<parent link="torso" />
<child link="sonar_ring" />
</joint>
<link name="right_arm_mount">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="right_upper_shoulder">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://baxter_description/meshes/upper_shoulder/S0.DAE" />
</geometry>
<material name="darkred" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.1361" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.2722" radius="0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="0.01783 0.00086 0.19127" rpy="0.0 0.0 0.0" />
<mass value="5.70044" />
<inertia ixx="0.04709102262" ixy="0.00012787556" ixz="0.00614870039" iyy="0.03766976455" iyz="0.00078086899" izz="0.03595988478" />
</inertial>
</link>
<link name="right_lower_shoulder">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://baxter_description/meshes/lower_shoulder/S1.DAE" />
</geometry>
<material name="darkred" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.12" radius="0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="0.06845 0.00269 -0.00529" rpy="0.0 0.0 0.0" />
<mass value="3.22698" />
<inertia ixx="0.01175209419" ixy="-0.00030096398" ixz="0.00207675762" iyy="0.0278859752" iyz="-0.00018821993" izz="0.02078749298" />
</inertial>
</link>
<link name="right_upper_elbow">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://baxter_description/meshes/upper_elbow/E0.DAE" />
</geometry>
<material name="darkred" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.0535" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.107" radius="0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00276 0.00132 0.18086" rpy="0.0 0.0 0.0" />
<mass value="4.31272" />
<inertia ixx="0.02661733557" ixy="0.00029270634" ixz="0.00392189887" iyy="0.02844355207" iyz="0.0010838933" izz="0.01248008322" />
</inertial>
</link>
<link name="right_upper_elbow_visual">
<collision>
<origin xyz="0.0 0.0 0.1365" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.273" radius="0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="right_lower_elbow">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://baxter_description/meshes/lower_elbow/E1.DAE" />
</geometry>
<material name="darkred" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.1" radius="0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="0.02611 0.00159 -0.01117" rpy="0.0 0.0 0.0" />
<mass value="2.07206" />
<inertia ixx="0.00711582686" ixy="0.00036036173" ixz="0.0007459496" iyy="0.01318227876" iyz="-0.00019663418" izz="0.00926852064" />
</inertial>
</link>
<link name="right_upper_forearm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://baxter_description/meshes/upper_forearm/W0.DAE" />
</geometry>
<material name="darkred" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.044" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.088" radius="0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00168 0.0046 0.13952" rpy="0.0 0.0 0.0" />
<mass value="2.24665" />
<inertia ixx="0.01667742825" ixy="0.00018403705" ixz="0.00018657629" iyy="0.01675457264" iyz="-0.00064732352" izz="0.0037463115" />
</inertial>
</link>
<link name="right_upper_forearm_visual">
<collision>
<origin xyz="0.0 0.0 0.136" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.272" radius="0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="right_arm_itb">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="right_lower_forearm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://baxter_description/meshes/lower_forearm/W1.DAE" />
</geometry>
<material name="darkred" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.1" radius="0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="0.06041 0.00697 0.006" rpy="0.0 0.0 0.0" />
<mass value="1.60979" />
<inertia ixx="0.00387607152" ixy="-0.00044384784" ixz="-0.00021115038" iyy="0.00700537914" iyz="0.00015348067" izz="0.0055275524" />
</inertial>
</link>
<material name="lightgrey">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<link name="right_wrist">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://baxter_description/meshes/wrist/W2.DAE" />
</geometry>
<material name="lightgrey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.165" radius="0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00198 0.00125 0.01855" rpy="0.0 0.0 0.0" />
<mass value="0.35093" />
<inertia ixx="0.00025289155" ixy="5.75311e-06" ixz="-1.59345e-06" iyy="0.0002688601" iyz="-5.19818e-06" izz="0.0003074118" />
</inertial>
</link>
<link name="right_hand">
<collision>
<origin xyz="0.0 0.0 -0.0232" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.0464" radius="0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.01093 0.00042 -0.01532" rpy="0.0 0.0 0.0" />
<mass value="0.19125" />
<inertia ixx="0.00017588" ixy="1.47073e-06" ixz="2.43633e-05" iyy="0.00021166377" iyz="1.72689e-06" izz="0.00023745397" />
</inertial>
</link>
<material name="blue">
<color rgba="0.0 0.0 1.0 0.8" />
</material>
<link name="right_hand_camera">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.01" radius="0.02" />
</geometry>
<material name="blue" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="right_hand_camera_axis">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="right_hand_range">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.005 0.02 0.005" />
</geometry>
<material name="blue" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="right_hand_accelerometer">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="right_gripper_base">
<visual>
<origin xyz="0.0 0.0 -0.02" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.025 0.075 0.035" />
</geometry>
<material name="darkred" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="right_gripper">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="right_torso_arm_mount" type="fixed">
<origin xyz="0.024645 -0.219645 0.118588" rpy="0.0 0.0 -0.7854" />
<parent link="torso" />
<child link="right_arm_mount" />
</joint>
<joint name="right_s0" type="revolute">
<origin xyz="0.055695 0.0 0.011038" rpy="0.0 0.0 0.0" />
<parent link="right_arm_mount" />
<child link="right_upper_shoulder" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="50.0" velocity="1.5" lower="-1.70167993878" upper="1.70167993878" />
<dynamics damping="0.7" friction="0.0" />
</joint>
<joint name="right_s1" type="revolute">
<origin xyz="0.069 0.0 0.27035" rpy="-1.57079632679 0.0 0.0" />
<parent link="right_upper_shoulder" />
<child link="right_lower_shoulder" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="1.5" lower="-2.147" upper="1.047" />
<dynamics damping="0.7" friction="0.0" />
</joint>
<joint name="right_e0" type="revolute">
<origin xyz="0.102 0.0 0.0" rpy="1.57079632679 0.0 1.57079632679" />
<parent link="right_lower_shoulder" />
<child link="right_upper_elbow" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="50.0" velocity="1.5" lower="-3.05417993878" upper="3.05417993878" />
<dynamics damping="0.7" friction="0.0" />
</joint>
<joint name="right_e0_fixed" type="fixed">
<origin xyz="0.107 0.0 0.0" rpy="1.57079632679 0.0 1.57079632679" />
<parent link="right_lower_shoulder" />
<child link="right_upper_elbow_visual" />
</joint>
<joint name="right_e1" type="revolute">
<origin xyz="0.069 0.0 0.26242" rpy="-1.57079632679 -1.57079632679 0.0" />
<parent link="right_upper_elbow" />
<child link="right_lower_elbow" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="50.0" velocity="1.5" lower="-0.05" upper="2.618" />
<dynamics damping="0.7" friction="0.0" />
</joint>
<joint name="right_w0" type="revolute">
<origin xyz="0.10359 0.0 0.0" rpy="1.57079632679 0.0 1.57079632679" />
<parent link="right_lower_elbow" />
<child link="right_upper_forearm" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="15.0" velocity="4.0" lower="-3.059" upper="3.059" />
<dynamics damping="0.7" friction="0.0" />
</joint>
<joint name="right_w0_fixed" type="fixed">
<origin xyz="0.088 0.0 0.0" rpy="1.57079632679 0.0 1.57079632679" />
<parent link="right_lower_elbow" />
<child link="right_upper_forearm_visual" />
</joint>
<joint name="right_w0_to_itb_fixed" type="fixed">
<origin xyz="-0.0565 0.0 0.12" rpy="-1.57079632679 0.0 1.57079632679" />
<parent link="right_upper_forearm" />
<child link="right_arm_itb" />
</joint>
<joint name="right_w1" type="revolute">
<origin xyz="0.01 0.0 0.2707" rpy="-1.57079632679 -1.57079632679 0.0" />
<parent link="right_upper_forearm" />
<child link="right_lower_forearm" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="15.0" velocity="4.0" lower="-1.57079632679" upper="2.094" />
<dynamics damping="0.7" friction="0.0" />
</joint>
<joint name="right_w2" type="revolute">
<origin xyz="0.115975 0.0 0.0" rpy="1.57079632679 0.0 1.57079632679" />
<parent link="right_lower_forearm" />
<child link="right_wrist" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="15.0" velocity="4.0" lower="-3.059" upper="3.059" />
<dynamics damping="0.7" friction="0.0" />
</joint>
<joint name="right_hand" type="fixed">
<origin xyz="0.0 0.0 0.11355" rpy="0.0 0.0 0.0" />
<parent link="right_wrist" />
<child link="right_hand" />
</joint>
<joint name="right_hand_camera" type="fixed">
<origin xyz="0.03825 0.012 0.015355" rpy="0.0 0.0 -1.57079633" />
<parent link="right_hand" />
<child link="right_hand_camera" />
</joint>
<joint name="right_hand_camera_axis" type="fixed">
<origin xyz="0.03825 0.012 0.015355" rpy="0.0 0.0 0.0" />
<parent link="right_hand" />
<child link="right_hand_camera_axis" />
</joint>
<joint name="right_hand_range" type="fixed">
<origin xyz="0.032 -0.020245 0.0288" rpy="0.0 -1.57079632679 -1.57079632679" />
<parent link="right_hand" />
<child link="right_hand_range" />
</joint>
<joint name="right_hand_accelerometer" type="fixed">
<origin xyz="0.00198 0.000133 -0.0146" rpy="0.0 0.0 0.0" />
<parent link="right_hand" />
<child link="right_hand_accelerometer" />
</joint>
<joint name="right_gripper_base" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_hand" />
<child link="right_gripper_base" />
</joint>
<joint name="right_endpoint" type="fixed">
<origin xyz="0.0 0.0 0.025" rpy="0.0 0.0 0.0" />
<parent link="right_gripper_base" />
<child link="right_gripper" />
</joint>
<link name="left_arm_mount">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="left_upper_shoulder">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://baxter_description/meshes/upper_shoulder/S0.DAE" />
</geometry>
<material name="darkred" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.1361" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.2722" radius="0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="0.01783 0.00086 0.19127" rpy="0.0 0.0 0.0" />
<mass value="5.70044" />
<inertia ixx="0.04709102262" ixy="0.00012787556" ixz="0.00614870039" iyy="0.03766976455" iyz="0.00078086899" izz="0.03595988478" />
</inertial>
</link>
<link name="left_lower_shoulder">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://baxter_description/meshes/lower_shoulder/S1.DAE" />
</geometry>
<material name="darkred" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.12" radius="0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="0.06845 0.00269 -0.00529" rpy="0.0 0.0 0.0" />
<mass value="3.22698" />
<inertia ixx="0.01175209419" ixy="-0.00030096398" ixz="0.00207675762" iyy="0.0278859752" iyz="-0.00018821993" izz="0.02078749298" />
</inertial>
</link>
<link name="left_upper_elbow">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://baxter_description/meshes/upper_elbow/E0.DAE" />
</geometry>
<material name="darkred" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.0535" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.107" radius="0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00276 0.00132 0.18086" rpy="0.0 0.0 0.0" />
<mass value="4.31272" />
<inertia ixx="0.02661733557" ixy="0.00029270634" ixz="0.00392189887" iyy="0.02844355207" iyz="0.0010838933" izz="0.01248008322" />
</inertial>
</link>
<link name="left_upper_elbow_visual">
<collision>
<origin xyz="0.0 0.0 0.1365" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.273" radius="0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="left_lower_elbow">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://baxter_description/meshes/lower_elbow/E1.DAE" />
</geometry>
<material name="darkred" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.1" radius="0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="0.02611 0.00159 -0.01117" rpy="0.0 0.0 0.0" />
<mass value="2.07206" />
<inertia ixx="0.00711582686" ixy="0.00036036173" ixz="0.0007459496" iyy="0.01318227876" iyz="-0.00019663418" izz="0.00926852064" />
</inertial>
</link>
<link name="left_upper_forearm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://baxter_description/meshes/upper_forearm/W0.DAE" />
</geometry>
<material name="darkred" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.044" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.088" radius="0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00168 0.0046 0.13952" rpy="0.0 0.0 0.0" />
<mass value="2.24665" />
<inertia ixx="0.01667742825" ixy="0.00018403705" ixz="0.00018657629" iyy="0.01675457264" iyz="-0.00064732352" izz="0.0037463115" />
</inertial>
</link>
<link name="left_upper_forearm_visual">
<collision>
<origin xyz="0.0 0.0 0.136" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.272" radius="0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="left_arm_itb">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="left_lower_forearm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://baxter_description/meshes/lower_forearm/W1.DAE" />
</geometry>
<material name="darkred" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.1" radius="0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="0.06041 0.00697 0.006" rpy="0.0 0.0 0.0" />
<mass value="1.60979" />
<inertia ixx="0.00387607152" ixy="-0.00044384784" ixz="-0.00021115038" iyy="0.00700537914" iyz="0.00015348067" izz="0.0055275524" />
</inertial>
</link>
<link name="left_wrist">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://baxter_description/meshes/wrist/W2.DAE" />
</geometry>
<material name="lightgrey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.165" radius="0.06" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00198 0.00125 0.01855" rpy="0.0 0.0 0.0" />
<mass value="0.35093" />
<inertia ixx="0.00025289155" ixy="5.75311e-06" ixz="-1.59345e-06" iyy="0.0002688601" iyz="-5.19818e-06" izz="0.0003074118" />
</inertial>
</link>
<link name="left_hand">
<collision>
<origin xyz="0.0 0.0 -0.0232" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.0464" radius="0.04" />
</geometry>
</collision>
<inertial>
<origin xyz="0.01093 0.00042 -0.01532" rpy="0.0 0.0 0.0" />
<mass value="0.19125" />
<inertia ixx="0.00017588" ixy="1.47073e-06" ixz="2.43633e-05" iyy="0.00021166377" iyz="1.72689e-06" izz="0.00023745397" />
</inertial>
</link>
<link name="left_hand_camera">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.01" radius="0.02" />
</geometry>
<material name="blue" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="left_hand_camera_axis">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="left_hand_range">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.005 0.02 0.005" />
</geometry>
<material name="blue" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="left_hand_accelerometer">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="left_gripper_base">
<visual>
<origin xyz="0.0 0.0 -0.02" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.025 0.075 0.035" />
</geometry>
<material name="darkred" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<link name="left_gripper">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
<material name="black" />
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0001" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="left_torso_arm_mount" type="fixed">
<origin xyz="0.024645 0.219645 0.118588" rpy="0.0 0.0 0.7854" />
<parent link="torso" />
<child link="left_arm_mount" />
</joint>
<joint name="left_s0" type="revolute">
<origin xyz="0.055695 0.0 0.011038" rpy="0.0 0.0 0.0" />
<parent link="left_arm_mount" />
<child link="left_upper_shoulder" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="50.0" velocity="1.5" lower="-1.70167993878" upper="1.70167993878" />
<dynamics damping="0.7" friction="0.0" />
</joint>
<joint name="left_s1" type="revolute">
<origin xyz="0.069 0.0 0.27035" rpy="-1.57079632679 0.0 0.0" />
<parent link="left_upper_shoulder" />
<child link="left_lower_shoulder" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="1.5" lower="-2.147" upper="1.047" />
<dynamics damping="0.7" friction="0.0" />
</joint>
<joint name="left_e0" type="revolute">
<origin xyz="0.102 0.0 0.0" rpy="1.57079632679 0.0 1.57079632679" />
<parent link="left_lower_shoulder" />
<child link="left_upper_elbow" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="50.0" velocity="1.5" lower="-3.05417993878" upper="3.05417993878" />
<dynamics damping="0.7" friction="0.0" />
</joint>
<joint name="left_e0_fixed" type="fixed">
<origin xyz="0.107 0.0 0.0" rpy="1.57079632679 0.0 1.57079632679" />
<parent link="left_lower_shoulder" />
<child link="left_upper_elbow_visual" />
</joint>
<joint name="left_e1" type="revolute">
<origin xyz="0.069 0.0 0.26242" rpy="-1.57079632679 -1.57079632679 0.0" />
<parent link="left_upper_elbow" />
<child link="left_lower_elbow" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="50.0" velocity="1.5" lower="-0.05" upper="2.618" />
<dynamics damping="0.7" friction="0.0" />
</joint>
<joint name="left_w0" type="revolute">
<origin xyz="0.10359 0.0 0.0" rpy="1.57079632679 0.0 1.57079632679" />
<parent link="left_lower_elbow" />
<child link="left_upper_forearm" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="15.0" velocity="4.0" lower="-3.059" upper="3.059" />
<dynamics damping="0.7" friction="0.0" />
</joint>
<joint name="left_w0_fixed" type="fixed">
<origin xyz="0.088 0.0 0.0" rpy="1.57079632679 0.0 1.57079632679" />
<parent link="left_lower_elbow" />
<child link="left_upper_forearm_visual" />
</joint>
<joint name="left_w0_to_itb_fixed" type="fixed">
<origin xyz="-0.0565 0.0 0.12" rpy="-1.57079632679 0.0 1.57079632679" />
<parent link="left_upper_forearm" />
<child link="left_arm_itb" />
</joint>
<joint name="left_w1" type="revolute">
<origin xyz="0.01 0.0 0.2707" rpy="-1.57079632679 -1.57079632679 0.0" />
<parent link="left_upper_forearm" />
<child link="left_lower_forearm" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="15.0" velocity="4.0" lower="-1.57079632679" upper="2.094" />
<dynamics damping="0.7" friction="0.0" />
</joint>
<joint name="left_w2" type="revolute">
<origin xyz="0.115975 0.0 0.0" rpy="1.57079632679 0.0 1.57079632679" />
<parent link="left_lower_forearm" />
<child link="left_wrist" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="15.0" velocity="4.0" lower="-3.059" upper="3.059" />
<dynamics damping="0.7" friction="0.0" />
</joint>
<joint name="left_hand" type="fixed">
<origin xyz="0.0 0.0 0.11355" rpy="0.0 0.0 0.0" />
<parent link="left_wrist" />
<child link="left_hand" />
</joint>
<joint name="left_hand_camera" type="fixed">
<origin xyz="0.03825 0.012 0.015355" rpy="0.0 0.0 -1.57079633" />
<parent link="left_hand" />
<child link="left_hand_camera" />
</joint>
<joint name="left_hand_camera_axis" type="fixed">
<origin xyz="0.03825 0.012 0.015355" rpy="0.0 0.0 0.0" />
<parent link="left_hand" />
<child link="left_hand_camera_axis" />
</joint>
<joint name="left_hand_range" type="fixed">
<origin xyz="0.032 -0.020245 0.0288" rpy="0.0 -1.57079632679 -1.57079632679" />
<parent link="left_hand" />
<child link="left_hand_range" />
</joint>
<joint name="left_hand_accelerometer" type="fixed">
<origin xyz="0.00198 0.000133 -0.0146" rpy="0.0 0.0 0.0" />
<parent link="left_hand" />
<child link="left_hand_accelerometer" />
</joint>
<joint name="left_gripper_base" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="left_hand" />
<child link="left_gripper_base" />
</joint>
<joint name="left_endpoint" type="fixed">
<origin xyz="0.0 0.0 0.025" rpy="0.0 0.0 0.0" />
<parent link="left_gripper_base" />
<child link="left_gripper" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content ef0344655ad2c395 -->
<mujoco model="baxter">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="darkgray" rgba="0.2 0.2 0.2 1.0" />
<material name="darkred" rgba="0.5 0.1 0.1 1.0" />
<material name="black" rgba="0.0 0.0 0.0 1.0" />
<material name="red" rgba="0.8 0.3 0.3 0.3" />
<material name="lightgrey" rgba="0.1 0.1 0.1 1.0" />
<material name="blue" rgba="0.0 0.0 1.0 0.8" />
<mesh name="base_link" file="baxter_description/meshes/torso/base_link.DAE" />
<mesh name="base_link_collision" file="baxter_description/meshes/torso/base_link_collision.DAE" />
<mesh name="PEDESTAL" file="baxter_description/meshes/base/PEDESTAL.DAE" />
<mesh name="pedestal_link_collision" file="baxter_description/meshes/base/pedestal_link_collision.DAE" />
<mesh name="H0" file="baxter_description/meshes/head/H0.DAE" />
<mesh name="H1" file="baxter_description/meshes/head/H1.DAE" />
<mesh name="S0" file="baxter_description/meshes/upper_shoulder/S0.DAE" />
<mesh name="S1" file="baxter_description/meshes/lower_shoulder/S1.DAE" />
<mesh name="E0" file="baxter_description/meshes/upper_elbow/E0.DAE" />
<mesh name="E1" file="baxter_description/meshes/lower_elbow/E1.DAE" />
<mesh name="W0" file="baxter_description/meshes/upper_forearm/W0.DAE" />
<mesh name="W1" file="baxter_description/meshes/lower_forearm/W1.DAE" />
<mesh name="W2" file="baxter_description/meshes/wrist/W2.DAE" />
</asset>
<worldbody>
<body name="base">
<body name="collision_head_link_1" pos="0.11 0.0 0.75">
<inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
<geom name="collision_head_link_1_vis_0" type="sphere" size="0.001" contype="0" conaffinity="0" group="2" material="red" />
<geom name="collision_head_link_1_col_0" type="sphere" size="0.22" pos="-0.07 -0.04 0.0" group="3" />
</body>
<body name="collision_head_link_2" pos="0.11 0.0 0.75">
<inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
<geom name="collision_head_link_2_vis_0" type="sphere" size="0.001" contype="0" conaffinity="0" group="2" material="red" />
<geom name="collision_head_link_2_col_0" type="sphere" size="0.22" pos="-0.07 0.04 0.0" group="3" />
</body>
<body name="torso">
<inertial pos="0.0 0.0 0.0" mass="35.336455" fullinertia="1.849155 1.662671 0.802239 -0.000354 -0.154188 0.003292" />
<geom name="torso_vis_0" type="mesh" mesh="base_link" contype="0" conaffinity="0" group="2" />
<geom name="torso_col_0" type="mesh" mesh="base_link_collision" group="3" />
<body name="left_torso_itb" pos="-0.08897 0.15593 0.389125" quat="3.275799081033656e-05 -3.275799081017616e-05 0.7071067804294924 0.7071067804260299">
<inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
</body>
<body name="right_torso_itb" pos="-0.08897 -0.15593 0.389125" quat="0.7071067811882787 0.7071067811848163 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
</body>
<body name="pedestal">
<inertial pos="0.0 0.0 0.0" mass="60.86397744" fullinertia="5.0635929 6.08689388 4.96191932 0.00103417 0.80199628 0.00105311" />
<geom name="pedestal_vis_0" type="mesh" mesh="PEDESTAL" contype="0" conaffinity="0" group="2" material="darkgray" />
<geom name="pedestal_col_0" type="mesh" mesh="pedestal_link_collision" group="3" />
</body>
<body name="head" pos="0.06 0.0 0.686">
<joint name="head_pan" type="hinge" axis="0.0 0.0 1.0" range="-1.57079632679 1.57079632679" damping="0.7" />
<inertial pos="0.0 0.0 0.0" mass="0.547767" fullinertia="0.004641 0.003295 0.003415 0.000159 0.000242 -0.001324" />
<geom name="head_vis_0" type="mesh" mesh="H0" pos="0.0 0.0 0.00953" contype="0" conaffinity="0" group="2" material="darkgray" />
<geom name="head_col_0" type="sphere" size="0.001" group="3" />
<body name="dummyhead1">
<inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
</body>
<body name="screen" pos="0.1227 0.0 0.0" quat="0.45309852718565885 0.5428643704136743 0.5428643704110161 0.4530985271834402">
<inertial pos="0.0 0.0 0.0" mass="0.440171" fullinertia="0.004006 0.0028 0.001509 0.00023 2e-06 2.9e-05" />
<geom name="screen_vis_0" type="mesh" mesh="H1" pos="0.0 -0.00953 -0.0347" quat="0.7071067811882787 0.0 -0.7071067811848163 0.0" contype="0" conaffinity="0" group="2" material="darkred" />
<geom name="screen_col_0" type="sphere" size="0.001" group="3" />
<body name="display" pos="0.0 -0.016 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
<geom name="display_vis_0" type="box" size="0.109 0.08 0.0005" quat="0.9914448613738104 0.13052619222005157 0.0 0.0" contype="0" conaffinity="0" group="2" material="black" />
</body>
</body>
<body name="head_camera" pos="0.12839 0.0 0.06368" quat="0.45309852718565885 0.5428643704136743 0.5428643704110161 0.4530985271834402">
<inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
</body>
</body>
<body name="sonar_ring" pos="0.0947 0.0 0.817">
<inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
<geom name="sonar_ring_vis_0" type="cylinder" size="0.085 0.005" pos="-0.0347 0.0 0.00953" contype="0" conaffinity="0" group="2" material="darkgray" />
<geom name="sonar_ring_col_0" type="sphere" size="0.001" group="3" />
</body>
<body name="right_arm_mount" pos="0.024645 -0.219645 0.118588" quat="0.923879181092213 0.0 0.0 -0.38268428076468186">
<inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
<body name="right_upper_shoulder" pos="0.055695 0.0 0.011038">
<joint name="right_s0" type="hinge" axis="0.0 0.0 1.0" range="-1.70167993878 1.70167993878" damping="0.7" />
<inertial pos="0.01783 0.00086 0.19127" mass="5.70044" fullinertia="0.04709102262 0.03766976455 0.03595988478 0.00012787556 0.00614870039 0.00078086899" />
<geom name="right_upper_shoulder_vis_0" type="mesh" mesh="S0" contype="0" conaffinity="0" group="2" material="darkred" />
<geom name="right_upper_shoulder_col_0" type="cylinder" size="0.06 0.1361" pos="0.0 0.0 0.1361" group="3" />
<body name="right_lower_shoulder" pos="0.069 0.0 0.27035" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
<joint name="right_s1" type="hinge" axis="0.0 0.0 1.0" range="-2.147 1.047" damping="0.7" />
<inertial pos="0.06845 0.00269 -0.00529" mass="3.22698" fullinertia="0.01175209419 0.0278859752 0.02078749298 -0.00030096398 0.00207675762 -0.00018821993" />
<geom name="right_lower_shoulder_vis_0" type="mesh" mesh="S1" contype="0" conaffinity="0" group="2" material="darkred" />
<geom name="right_lower_shoulder_col_0" type="cylinder" size="0.06 0.06" group="3" />
<body name="right_upper_elbow" pos="0.102 0.0 0.0" quat="0.5000000000024483 0.5 0.4999999999975517 0.5">
<joint name="right_e0" type="hinge" axis="0.0 0.0 1.0" range="-3.05417993878 3.05417993878" damping="0.7" />
<inertial pos="-0.00276 0.00132 0.18086" mass="4.31272" fullinertia="0.02661733557 0.02844355207 0.01248008322 0.00029270634 0.00392189887 0.0010838933" />
<geom name="right_upper_elbow_vis_0" type="mesh" mesh="E0" contype="0" conaffinity="0" group="2" material="darkred" />
<geom name="right_upper_elbow_col_0" type="cylinder" size="0.06 0.0535" pos="0.0 0.0 -0.0535" group="3" />
<body name="right_lower_elbow" pos="0.069 0.0 0.26242" quat="0.5000000000024483 -0.5 -0.5 -0.4999999999975517">
<joint name="right_e1" type="hinge" axis="0.0 0.0 1.0" range="-0.05 2.618" damping="0.7" />
<inertial pos="0.02611 0.00159 -0.01117" mass="2.07206" fullinertia="0.00711582686 0.01318227876 0.00926852064 0.00036036173 0.0007459496 -0.00019663418" />
<geom name="right_lower_elbow_vis_0" type="mesh" mesh="E1" contype="0" conaffinity="0" group="2" material="darkred" />
<geom name="right_lower_elbow_col_0" type="cylinder" size="0.06 0.05" group="3" />
<body name="right_upper_forearm" pos="0.10359 0.0 0.0" quat="0.5000000000024483 0.5 0.4999999999975517 0.5">
<joint name="right_w0" type="hinge" axis="0.0 0.0 1.0" range="-3.059 3.059" damping="0.7" />
<inertial pos="-0.00168 0.0046 0.13952" mass="2.24665" fullinertia="0.01667742825 0.01675457264 0.0037463115 0.00018403705 0.00018657629 -0.00064732352" />
<geom name="right_upper_forearm_vis_0" type="mesh" mesh="W0" contype="0" conaffinity="0" group="2" material="darkred" />
<geom name="right_upper_forearm_col_0" type="cylinder" size="0.06 0.044" pos="0.0 0.0 -0.044" group="3" />
<body name="right_arm_itb" pos="-0.0565 0.0 0.12" quat="0.5000000000024483 -0.5 -0.4999999999975517 0.5">
<inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
</body>
<body name="right_lower_forearm" pos="0.01 0.0 0.2707" quat="0.5000000000024483 -0.5 -0.5 -0.4999999999975517">
<joint name="right_w1" type="hinge" axis="0.0 0.0 1.0" range="-1.57079632679 2.094" damping="0.7" />
<inertial pos="0.06041 0.00697 0.006" mass="1.60979" fullinertia="0.00387607152 0.00700537914 0.0055275524 -0.00044384784 -0.00021115038 0.00015348067" />
<geom name="right_lower_forearm_vis_0" type="mesh" mesh="W1" contype="0" conaffinity="0" group="2" material="darkred" />
<geom name="right_lower_forearm_col_0" type="cylinder" size="0.06 0.05" group="3" />
<body name="right_wrist" pos="0.115975 0.0 0.0" quat="0.5000000000024483 0.5 0.4999999999975517 0.5">
<joint name="right_w2" type="hinge" axis="0.0 0.0 1.0" range="-3.059 3.059" damping="0.7" />
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<geom name="right_wrist_vis_0" type="mesh" mesh="W2" contype="0" conaffinity="0" group="2" material="lightgrey" />
<geom name="right_wrist_col_0" type="cylinder" size="0.06 0.0825" group="3" />
<body name="right_hand" pos="0.0 0.0 0.11355">
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<geom name="right_hand_col_0" type="cylinder" size="0.04 0.0232" pos="0.0 0.0 -0.0232" group="3" />
<body name="right_hand_camera" pos="0.03825 0.012 0.015355" quat="0.7071067800533724 0.0 0.0 -0.7071067823197227">
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<geom name="right_hand_camera_vis_0" type="cylinder" size="0.02 0.005" contype="0" conaffinity="0" group="2" material="blue" />
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<body name="right_hand_camera_axis" pos="0.03825 0.012 0.015355">
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<body name="right_hand_range" pos="0.032 -0.020245 0.0288" quat="0.5000000000024483 -0.4999999999975517 -0.5 -0.5">
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<geom name="right_hand_range_vis_0" type="box" size="0.0025 0.01 0.0025" contype="0" conaffinity="0" group="2" material="blue" />
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<body name="right_hand_accelerometer" pos="0.00198 0.000133 -0.0146">
<inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
<geom name="right_hand_accelerometer_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="black" />
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<body name="right_gripper_base">
<inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
<geom name="right_gripper_base_vis_0" type="box" size="0.0125 0.0375 0.0175" pos="0.0 0.0 -0.02" contype="0" conaffinity="0" group="2" material="darkred" />
<body name="right_gripper" pos="0.0 0.0 0.025">
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<geom name="right_gripper_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="black" />
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</body>
</body>
</body>
</body>
</body>
<body name="right_upper_forearm_visual" pos="0.088 0.0 0.0" quat="0.5000000000024483 0.5 0.4999999999975517 0.5">
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<geom name="right_upper_forearm_visual_col_0" type="cylinder" size="0.06 0.136" pos="0.0 0.0 0.136" group="3" />
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</body>
</body>
<body name="right_upper_elbow_visual" pos="0.107 0.0 0.0" quat="0.5000000000024483 0.5 0.4999999999975517 0.5">
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<geom name="right_upper_elbow_visual_col_0" type="cylinder" size="0.06 0.1365" pos="0.0 0.0 0.1365" group="3" />
</body>
</body>
</body>
</body>
<body name="left_arm_mount" pos="0.024645 0.219645 0.118588" quat="0.923879181092213 0.0 0.0 0.38268428076468186">
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<body name="left_upper_shoulder" pos="0.055695 0.0 0.011038">
<joint name="left_s0" type="hinge" axis="0.0 0.0 1.0" range="-1.70167993878 1.70167993878" damping="0.7" />
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<geom name="left_upper_shoulder_col_0" type="cylinder" size="0.06 0.1361" pos="0.0 0.0 0.1361" group="3" />
<body name="left_lower_shoulder" pos="0.069 0.0 0.27035" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
<joint name="left_s1" type="hinge" axis="0.0 0.0 1.0" range="-2.147 1.047" damping="0.7" />
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<geom name="left_lower_shoulder_col_0" type="cylinder" size="0.06 0.06" group="3" />
<body name="left_upper_elbow" pos="0.102 0.0 0.0" quat="0.5000000000024483 0.5 0.4999999999975517 0.5">
<joint name="left_e0" type="hinge" axis="0.0 0.0 1.0" range="-3.05417993878 3.05417993878" damping="0.7" />
<inertial pos="-0.00276 0.00132 0.18086" mass="4.31272" fullinertia="0.02661733557 0.02844355207 0.01248008322 0.00029270634 0.00392189887 0.0010838933" />
<geom name="left_upper_elbow_vis_0" type="mesh" mesh="E0" contype="0" conaffinity="0" group="2" material="darkred" />
<geom name="left_upper_elbow_col_0" type="cylinder" size="0.06 0.0535" pos="0.0 0.0 -0.0535" group="3" />
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<joint name="left_e1" type="hinge" axis="0.0 0.0 1.0" range="-0.05 2.618" damping="0.7" />
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<geom name="left_lower_elbow_col_0" type="cylinder" size="0.06 0.05" group="3" />
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<geom name="left_upper_forearm_vis_0" type="mesh" mesh="W0" contype="0" conaffinity="0" group="2" material="darkred" />
<geom name="left_upper_forearm_col_0" type="cylinder" size="0.06 0.044" pos="0.0 0.0 -0.044" group="3" />
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<body name="left_lower_forearm" pos="0.01 0.0 0.2707" quat="0.5000000000024483 -0.5 -0.5 -0.4999999999975517">
<joint name="left_w1" type="hinge" axis="0.0 0.0 1.0" range="-1.57079632679 2.094" damping="0.7" />
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<geom name="left_lower_forearm_col_0" type="cylinder" size="0.06 0.05" group="3" />
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<joint name="left_w2" type="hinge" axis="0.0 0.0 1.0" range="-3.059 3.059" damping="0.7" />
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<geom name="left_wrist_vis_0" type="mesh" mesh="W2" contype="0" conaffinity="0" group="2" material="lightgrey" />
<geom name="left_wrist_col_0" type="cylinder" size="0.06 0.0825" group="3" />
<body name="left_hand" pos="0.0 0.0 0.11355">
<inertial pos="0.01093 0.00042 -0.01532" mass="0.19125" fullinertia="0.00017588 0.00021166377 0.00023745397 1.47073e-06 2.43633e-05 1.72689e-06" />
<geom name="left_hand_col_0" type="cylinder" size="0.04 0.0232" pos="0.0 0.0 -0.0232" group="3" />
<body name="left_hand_camera" pos="0.03825 0.012 0.015355" quat="0.7071067800533724 0.0 0.0 -0.7071067823197227">
<inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
<geom name="left_hand_camera_vis_0" type="cylinder" size="0.02 0.005" contype="0" conaffinity="0" group="2" material="blue" />
</body>
<body name="left_hand_camera_axis" pos="0.03825 0.012 0.015355">
<inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
</body>
<body name="left_hand_range" pos="0.032 -0.020245 0.0288" quat="0.5000000000024483 -0.4999999999975517 -0.5 -0.5">
<inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
<geom name="left_hand_range_vis_0" type="box" size="0.0025 0.01 0.0025" contype="0" conaffinity="0" group="2" material="blue" />
</body>
<body name="left_hand_accelerometer" pos="0.00198 0.000133 -0.0146">
<inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
<geom name="left_hand_accelerometer_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="black" />
</body>
<body name="left_gripper_base">
<inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
<geom name="left_gripper_base_vis_0" type="box" size="0.0125 0.0375 0.0175" pos="0.0 0.0 -0.02" contype="0" conaffinity="0" group="2" material="darkred" />
<body name="left_gripper" pos="0.0 0.0 0.025">
<inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
<geom name="left_gripper_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="black" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="left_upper_forearm_visual" pos="0.088 0.0 0.0" quat="0.5000000000024483 0.5 0.4999999999975517 0.5">
<inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
<geom name="left_upper_forearm_visual_col_0" type="cylinder" size="0.06 0.136" pos="0.0 0.0 0.136" group="3" />
</body>
</body>
</body>
<body name="left_upper_elbow_visual" pos="0.107 0.0 0.0" quat="0.5000000000024483 0.5 0.4999999999975517 0.5">
<inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
<geom name="left_upper_elbow_visual_col_0" type="cylinder" size="0.06 0.1365" pos="0.0 0.0 0.1365" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base" body2="collision_head_link_1" />
<exclude body1="base" body2="collision_head_link_2" />
<exclude body1="head" body2="dummyhead1" />
<exclude body1="base" body2="torso" />
<exclude body1="torso" body2="left_torso_itb" />
<exclude body1="torso" body2="right_torso_itb" />
<exclude body1="torso" body2="pedestal" />
<exclude body1="torso" body2="head" />
<exclude body1="head" body2="screen" />
<exclude body1="head" body2="head_camera" />
<exclude body1="screen" body2="display" />
<exclude body1="torso" body2="sonar_ring" />
<exclude body1="torso" body2="right_arm_mount" />
<exclude body1="right_arm_mount" body2="right_upper_shoulder" />
<exclude body1="right_upper_shoulder" body2="right_lower_shoulder" />
<exclude body1="right_lower_shoulder" body2="right_upper_elbow" />
<exclude body1="right_lower_shoulder" body2="right_upper_elbow_visual" />
<exclude body1="right_upper_elbow" body2="right_lower_elbow" />
<exclude body1="right_lower_elbow" body2="right_upper_forearm" />
<exclude body1="right_lower_elbow" body2="right_upper_forearm_visual" />
<exclude body1="right_upper_forearm" body2="right_arm_itb" />
<exclude body1="right_upper_forearm" body2="right_lower_forearm" />
<exclude body1="right_lower_forearm" body2="right_wrist" />
<exclude body1="right_wrist" body2="right_hand" />
<exclude body1="right_hand" body2="right_hand_camera" />
<exclude body1="right_hand" body2="right_hand_camera_axis" />
<exclude body1="right_hand" body2="right_hand_range" />
<exclude body1="right_hand" body2="right_hand_accelerometer" />
<exclude body1="right_hand" body2="right_gripper_base" />
<exclude body1="right_gripper_base" body2="right_gripper" />
<exclude body1="torso" body2="left_arm_mount" />
<exclude body1="left_arm_mount" body2="left_upper_shoulder" />
<exclude body1="left_upper_shoulder" body2="left_lower_shoulder" />
<exclude body1="left_lower_shoulder" body2="left_upper_elbow" />
<exclude body1="left_lower_shoulder" body2="left_upper_elbow_visual" />
<exclude body1="left_upper_elbow" body2="left_lower_elbow" />
<exclude body1="left_lower_elbow" body2="left_upper_forearm" />
<exclude body1="left_lower_elbow" body2="left_upper_forearm_visual" />
<exclude body1="left_upper_forearm" body2="left_arm_itb" />
<exclude body1="left_upper_forearm" body2="left_lower_forearm" />
<exclude body1="left_lower_forearm" body2="left_wrist" />
<exclude body1="left_wrist" body2="left_hand" />
<exclude body1="left_hand" body2="left_hand_camera" />
<exclude body1="left_hand" body2="left_hand_camera_axis" />
<exclude body1="left_hand" body2="left_hand_range" />
<exclude body1="left_hand" body2="left_hand_accelerometer" />
<exclude body1="left_hand" body2="left_gripper_base" />
<exclude body1="left_gripper_base" body2="left_gripper" />
</contact>
</mujoco>
Import report
Counts
| Links | 49 |
|---|---|
| Joints | 48 |
| Moving joints | 15 |
| Visuals | 32 |
| Collisions | 27 |
| Materials | 6 |
Meshes
Formats: dae.
Asset size: 21.0 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
axis | 9 | fixed joints carry no <axis>; URDF ignores it too |
dynamics | 2 | fixed joints carry no <dynamics>; URDF ignores it too |
gazebo | 24 | Gazebo simulator extensions are not part of the description |
gravity | 36 | <gravity> is not part of the URDF subset RobotDescription mirrors |
limit | 1 | fixed joints carry no <limit>; URDF ignores it too |
transmission | 15 | ROS transmissions (actuator-to-joint wiring) have no RobotDescription field yet |
Forward-kinematics check
Forward kinematics of 49 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 · 5.4e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 15).
Source & licence
| Repository | https://github.com/RethinkRobotics/baxter_common |
|---|---|
| Commit | 6c4b0f375fe4e356a3b12df26ef7c0d5e58df86e |
| Original file | baxter_description/urdf/baxter.urdf |
| Licence | BSD-3-Clause · 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.