RobotDescription

Double Pendulum

None · licence BSD-3-Clause · source: github.com/Gepetto/example-robot-data @ d0d9098d7

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 f5b477b09e1511e0 -->
<robot name="2dof_planar">
  <link name="base_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/double_pendulum_description/meshes/base_link.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/double_pendulum_description/meshes/base_link.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0030299 2.6279e-13 0.02912" rpy="0.0 0.0 0.0" />
      <mass value="0.10159" />
      <inertia ixx="2.636e-05" ixy="-1.007e-16" ixz="-2.3835e-06" iyy="1.8042e-05" iyz="-4.6617e-09" izz="1.8795e-05" />
    </inertial>
  </link>
  <link name="link1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/double_pendulum_description/meshes/link1.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/double_pendulum_description/meshes/link1.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0086107 2.1727e-06 0.036012" rpy="0.0 0.0 0.0" />
      <mass value="0.26703" />
      <inertia ixx="0.00040827" ixy="1.2675e-09" ixz="1.8738e-05" iyy="0.00038791" iyz="3.5443e-08" izz="3.6421e-05" />
    </inertial>
  </link>
  <joint name="joint1" type="revolute">
    <origin xyz="0.0060872 0.0 0.035" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="link1" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="0.0" velocity="0.0" lower="0.0" upper="0.0" />
    <dynamics damping="0.05" friction="0.0" />
  </joint>
  <link name="link2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/double_pendulum_description/meshes/link2.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/double_pendulum_description/meshes/link2.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0050107 1.9371e-10 0.10088" rpy="0.0 0.0 0.0" />
      <mass value="0.33238" />
      <inertia ixx="0.0011753" ixy="-3.854e-13" ixz="-2.9304e-08" iyy="0.0011666" iyz="-5.2365e-12" izz="1.4553e-05" />
    </inertial>
  </link>
  <joint name="joint2" type="revolute">
    <origin xyz="0.023 0.0 0.1" rpy="0.0 0.0 0.0" />
    <parent link="link1" />
    <child link="link2" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="0.0" velocity="0.0" lower="0.0" upper="0.0" />
    <dynamics damping="0.05" friction="0.0" />
  </joint>
</robot>