Crazyflie 2.0

Bitcraze · licence MIT · source: github.com/utiasDSL/gym-pybullet-drones @ 2c2470c20

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 ed77817ecbc12daf -->
<robot name="cf2">
  <material name="grey">
    <color rgba="0.5 0.5 0.5 1.0" />
  </material>
  <link name="base_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 95.0" />
      <geometry>
        <mesh filename="./cf2.dae" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.025" radius="0.06" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.027" />
      <inertia ixx="2.3951e-05" ixy="0.0" ixz="0.0" iyy="2.3951e-05" iyz="0.0" izz="3.2347e-05" />
    </inertial>
  </link>
  <link name="prop0_link">
    <inertial>
      <origin xyz="0.0397 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.0" />
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
    </inertial>
  </link>
  <joint name="prop0_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="prop0_link" />
  </joint>
  <link name="prop1_link">
    <inertial>
      <origin xyz="0.0 0.0397 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.0" />
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
    </inertial>
  </link>
  <joint name="prop1_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="prop1_link" />
  </joint>
  <link name="prop2_link">
    <inertial>
      <origin xyz="-0.0397 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.0" />
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
    </inertial>
  </link>
  <joint name="prop2_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="prop2_link" />
  </joint>
  <link name="prop3_link">
    <inertial>
      <origin xyz="0.0 -0.0397 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.0" />
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
    </inertial>
  </link>
  <joint name="prop3_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="prop3_link" />
  </joint>
  <link name="center_of_mass_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.0" />
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
    </inertial>
  </link>
  <joint name="center_of_mass_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="center_of_mass_link" />
  </joint>
</robot>

robot.xml

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content ed77817ecbc12daf -->
<mujoco model="cf2">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="grey" rgba="0.5 0.5 0.5 1.0" />
    <mesh name="cf2" file="./cf2.dae" />
  </asset>
  <worldbody>
    <body name="base_link">
      <inertial pos="0.0 0.0 0.0" mass="0.027" fullinertia="2.3951e-05 2.3951e-05 3.2347e-05 0.0 0.0 0.0" />
      <geom name="base_link_vis_0" type="mesh" mesh="cf2" quat="-0.9301004142012893 0.0 -0.0 -0.36730534913419133" contype="0" conaffinity="0" group="2" material="grey" />
      <geom name="base_link_col_0" type="cylinder" size="0.06 0.0125" group="3" />
      <body name="prop0_link">
        <inertial pos="0.0397 0.0 0.0" mass="0.0" diaginertia="0 0 0" />
      </body>
      <body name="prop1_link">
        <inertial pos="0.0 0.0397 0.0" mass="0.0" diaginertia="0 0 0" />
      </body>
      <body name="prop2_link">
        <inertial pos="-0.0397 0.0 0.0" mass="0.0" diaginertia="0 0 0" />
      </body>
      <body name="prop3_link">
        <inertial pos="0.0 -0.0397 0.0" mass="0.0" diaginertia="0 0 0" />
      </body>
      <body name="center_of_mass_link">
        <inertial pos="0.0 0.0 0.0" mass="0.0" diaginertia="0 0 0" />
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="prop0_link" />
    <exclude body1="base_link" body2="prop1_link" />
    <exclude body1="base_link" body2="prop2_link" />
    <exclude body1="base_link" body2="prop3_link" />
    <exclude body1="base_link" body2="center_of_mass_link" />
  </contact>
</mujoco>

Import report

Counts

Links	6
Joints	5
Moving joints	0
Visuals	1
Collisions	1
Materials	1

Meshes

Formats: dae.
Asset size: 0.5 MB.

Dropped on import

Tag	Count	Why
`properties`	1	<properties> is not part of the URDF subset RobotDescription mirrors

Forward-kinematics check

Forward kinematics of 6 link frames at 20 random joint positions within limits, original URDF against robot.urdf, computed by pinocchio 3.8.0. Worst difference: 0.

MuJoCo

robot.xml compiles in MuJoCo with its meshes (nq = 0).

Source & licence

Repository	https://github.com/utiasDSL/gym-pybullet-drones
Commit	`2c2470c2043eb4cf474d9af2681c9fa10f2d0e2f`
Original file	`gym_pybullet_drones/assets/cf2p.urdf`
Licence	MIT · 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.