e.DO

Comau · licence BSD-3-Clause · source: github.com/ianathompson/eDO_description @ 17b3f92f8

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 26cb1b3fc1fd3736 -->
<robot name="edo_sim">
  <link name="base_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://edo_sim/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://edo_sim/meshes/base_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0617583602130883 0.437262464550775 -0.00395442197852672" rpy="0.0 0.0 0.0" />
      <mass value="0.0785942338762368" />
      <inertia ixx="0.0123841200738068" ixy="-0.000187984913202787" ixz="-1.32683892634308e-06" iyy="7.0169034503364e-05" iyz="-9.17416945099319e-05" izz="0.0123862261905614" />
    </inertial>
  </link>
  <link name="link_1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://edo_sim/meshes/link_1.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://edo_sim/meshes/link_1.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00457048841401064 0.303831811417004 -0.00202866410579916" rpy="0.0 0.0 0.0" />
      <mass value="0.0785942338762368" />
      <inertia ixx="0.0123841200738068" ixy="0.000187984913202727" ixz="-1.32683892634271e-06" iyy="7.01690345033622e-05" iyz="9.17416945099368e-05" izz="0.0123862261905615" />
    </inertial>
  </link>
  <joint name="joint_1" type="continuous">
    <origin xyz="0.057188 0.0059831 0.13343" rpy="1.5708 6.9389e-16 -3.1416" />
    <parent link="base_link" />
    <child link="link_1" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="link_2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://edo_sim/meshes/link_2.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://edo_sim/meshes/link_2.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0168406485709407 0.071318237296396 -0.0876822373080704" rpy="0.0 0.0 0.0" />
      <mass value="0.0785942338762368" />
      <inertia ixx="0.0122070242873091" ixy="0.000930596667670934" ixz="-0.0011486325666074" iyy="0.007576065624266" iyz="0.0059380539105297" izz="0.00505742538729646" />
    </inertial>
  </link>
  <joint name="joint_2" type="continuous">
    <origin xyz="0.0 0.18967 0.0" rpy="0.94237 -0.4634 -0.11653" />
    <parent link="link_1" />
    <child link="link_2" />
    <axis xyz="-0.88847 0.2908 0.35504" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="link_3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://edo_sim/meshes/link_3.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://edo_sim/meshes/link_3.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00457048841401063 0.0962524890074447 0.00395442197852662" rpy="0.0 0.0 0.0" />
      <mass value="0.0785942338762368" />
      <inertia ixx="0.0123841200738068" ixy="0.000187984913202718" ixz="1.32683892634266e-06" iyy="7.01690345033619e-05" iyz="-9.17416945099381e-05" izz="0.0123862261905615" />
    </inertial>
  </link>
  <joint name="joint_3" type="continuous">
    <origin xyz="-0.024558 0.12737 -0.16578" rpy="0.97336 -0.36296 2.8253" />
    <parent link="link_2" />
    <child link="link_3" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="link_4">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://edo_sim/meshes/link_4.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://edo_sim/meshes/link_4.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00422951158597114 -0.00395442197852627 0.255057059248813" rpy="0.0 0.0 0.0" />
      <mass value="0.0785942338762368" />
      <inertia ixx="0.0123841200738068" ixy="-1.32683892634285e-06" ixz="0.000187984913202718" iyy="0.0123862261905615" iyz="9.17416945099506e-05" izz="7.01690345033621e-05" />
    </inertial>
  </link>
  <joint name="joint_4" type="continuous">
    <origin xyz="0.0088 -0.1588 0.0" rpy="-1.5708 0.0 0.0" />
    <parent link="link_3" />
    <child link="link_4" />
    <axis xyz="0.0 0.0 -1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="link_5">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://edo_sim/meshes/link_5.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://edo_sim/meshes/link_5.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00422951158596777 -0.00395442197852616 -0.360352489007445" rpy="0.0 0.0 0.0" />
      <mass value="0.0785942338762368" />
      <inertia ixx="0.0123841200738068" ixy="1.32683892634191e-06" ixz="0.000187984913202582" iyy="0.0123862261905615" iyz="-9.17416945099552e-05" izz="7.01690345033581e-05" />
    </inertial>
  </link>
  <joint name="joint_5" type="continuous">
    <origin xyz="0.0 0.0 -0.1053" rpy="3.1416 1.1102e-14 3.1416" />
    <parent link="link_4" />
    <child link="link_5" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="link_6">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://edo_sim/meshes/link_6.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://edo_sim/meshes/link_6.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="1.10581233290358e-05 -0.00932339385603209 6.35624315718574e-06" rpy="0.0 0.0 0.0" />
      <mass value="0.0279702497322662" />
      <inertia ixx="7.63464744598253e-06" ixy="1.89204959067221e-10" ixz="5.32970316039599e-09" iyy="1.45744912344428e-05" iyz="1.08958003890421e-10" izz="7.62871791498103e-06" />
    </inertial>
  </link>
  <joint name="joint_6" type="continuous">
    <origin xyz="-0.0039 0.0 0.1636" rpy="-1.5708 1.249e-14 0.0" />
    <parent link="link_5" />
    <child link="link_6" />
    <axis xyz="0.0 -1.0 0.0" />
    <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 26cb1b3fc1fd3736 -->
<mujoco model="edo_sim">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="base_link" file="edo_sim/meshes/base_link.STL" />
    <mesh name="link_1" file="edo_sim/meshes/link_1.STL" />
    <mesh name="link_2" file="edo_sim/meshes/link_2.STL" />
    <mesh name="link_3" file="edo_sim/meshes/link_3.STL" />
    <mesh name="link_4" file="edo_sim/meshes/link_4.STL" />
    <mesh name="link_5" file="edo_sim/meshes/link_5.STL" />
    <mesh name="link_6" file="edo_sim/meshes/link_6.STL" />
  </asset>
  <worldbody>
    <body name="base_link">
      <inertial pos="0.0617583602130883 0.437262464550775 -0.00395442197852672" mass="0.0785942338762368" fullinertia="0.0123841200738068 7.0169034503364e-05 0.0123862261905614 -0.000187984913202787 -1.32683892634308e-06 -9.17416945099319e-05" />
      <geom name="base_link_vis_0" type="mesh" mesh="base_link" contype="0" conaffinity="0" group="2" />
      <geom name="base_link_col_0" type="mesh" mesh="base_link" group="3" />
      <body name="link_1" pos="0.057188 0.0059831 0.13343" quat="-2.597343467209942e-06 -2.5973530073120882e-06 -0.7071080798547033 -0.707105482506466">
        <joint name="joint_1" type="hinge" axis="0.0 1.0 0.0" limited="false" />
        <inertial pos="-0.00457048841401064 0.303831811417004 -0.00202866410579916" mass="0.0785942338762368" fullinertia="0.0123841200738068 7.01690345033622e-05 0.0123862261905615 0.000187984913202727 -1.32683892634271e-06 9.17416945099368e-05" />
        <geom name="link_1_vis_0" type="mesh" mesh="link_1" contype="0" conaffinity="0" group="2" />
        <geom name="link_1_col_0" type="mesh" mesh="link_1" group="3" />
        <body name="link_2" pos="0.0 0.18967 0.0" quat="0.8718188456449125 0.4291474078975194 -0.22999001297475052 0.053563015272539816">
          <joint name="joint_2" type="hinge" axis="-0.88847 0.2908 0.35504" limited="false" />
          <inertial pos="-0.0168406485709407 0.071318237296396 -0.0876822373080704" mass="0.0785942338762368" fullinertia="0.0122070242873091 0.007576065624266 0.00505742538729646 0.000930596667670934 -0.0011486325666074 0.0059380539105297" />
          <geom name="link_2_vis_0" type="mesh" mesh="link_2" contype="0" conaffinity="0" group="2" />
          <geom name="link_2_col_0" type="mesh" mesh="link_2" group="3" />
          <body name="link_3" pos="-0.024558 0.12737 -0.16578" quat="0.0535574850494981 0.22998515083148746 0.4291488210357482 0.8718197724276606">
            <joint name="joint_3" type="hinge" axis="1.0 0.0 0.0" limited="false" />
            <inertial pos="0.00457048841401063 0.0962524890074447 0.00395442197852662" mass="0.0785942338762368" fullinertia="0.0123841200738068 7.01690345033619e-05 0.0123862261905615 0.000187984913202718 1.32683892634266e-06 -9.17416945099381e-05" />
            <geom name="link_3_vis_0" type="mesh" mesh="link_3" contype="0" conaffinity="0" group="2" />
            <geom name="link_3_col_0" type="mesh" mesh="link_3" group="3" />
            <body name="link_4" pos="0.0088 -0.1588 0.0" quat="0.7071054825112363 -0.7071080798594735 0.0 0.0">
              <joint name="joint_4" type="hinge" axis="0.0 0.0 -1.0" limited="false" />
              <inertial pos="-0.00422951158597114 -0.00395442197852627 0.255057059248813" mass="0.0785942338762368" fullinertia="0.0123841200738068 0.0123862261905615 7.01690345033621e-05 -1.32683892634285e-06 0.000187984913202718 9.17416945099506e-05" />
              <geom name="link_4_vis_0" type="mesh" mesh="link_4" contype="0" conaffinity="0" group="2" />
              <geom name="link_4_col_0" type="mesh" mesh="link_4" group="3" />
              <body name="link_5" pos="0.0 0.0 -0.1053" quat="1.349798673125124e-11 -3.6732051033217732e-06 0.9999999999865075 -3.6732051033217732e-06">
                <joint name="joint_5" type="hinge" axis="-1.0 0.0 0.0" limited="false" />
                <inertial pos="0.00422951158596777 -0.00395442197852616 -0.360352489007445" mass="0.0785942338762368" fullinertia="0.0123841200738068 0.0123862261905615 7.01690345033581e-05 1.32683892634191e-06 0.000187984913202582 -9.17416945099552e-05" />
                <geom name="link_5_vis_0" type="mesh" mesh="link_5" contype="0" conaffinity="0" group="2" />
                <geom name="link_5_col_0" type="mesh" mesh="link_5" group="3" />
                <body name="link_6" pos="-0.0039 0.0 0.1636" quat="0.7071054825112363 -0.7071080798594735 4.415873738282671e-15 4.415889958722412e-15">
                  <joint name="joint_6" type="hinge" axis="0.0 -1.0 0.0" limited="false" />
                  <inertial pos="1.10581233290358e-05 -0.00932339385603209 6.35624315718574e-06" mass="0.0279702497322662" fullinertia="7.63464744598253e-06 1.45744912344428e-05 7.62871791498103e-06 1.89204959067221e-10 5.32970316039599e-09 1.08958003890421e-10" />
                  <geom name="link_6_vis_0" type="mesh" mesh="link_6" contype="0" conaffinity="0" group="2" />
                  <geom name="link_6_col_0" type="mesh" mesh="link_6" group="3" />
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="link_1" />
    <exclude body1="link_1" body2="link_2" />
    <exclude body1="link_2" body2="link_3" />
    <exclude body1="link_3" body2="link_4" />
    <exclude body1="link_4" body2="link_5" />
    <exclude body1="link_5" body2="link_6" />
  </contact>
</mujoco>

Import report

Counts

Links	7
Joints	6
Moving joints	6
Visuals	7
Collisions	7
Materials	0

Meshes

Formats: stl.
Asset size: 24.8 MB.

Dropped on import

Tag	Count	Why
`limit`	6	no <limit>; RobotDescription always writes one, so effort = velocity = 0
`material`	7	anonymous material (empty name) cannot be referenced; its colour is not kept

Forward-kinematics check

Forward kinematics of 7 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 · 8.0e-16 rad.

MuJoCo

robot.xml compiles in MuJoCo with its meshes (nq = 6).

Source & licence

Repository	https://github.com/ianathompson/eDO_description
Commit	`17b3f92f834746106d6a4befaab8eeab3ac248e6`
Original file	`robots/edo_sim.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.