M-710iC

Fanuc · licence BSD-3-Clause · source: github.com/robot-descriptions/fanuc_m710ic_description @ d12af4455

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 a3985fa900e9c44c -->
<robot name="m710ic70">
  <link name="base_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://fanuc_m710ic_description/meshes/m710ic50/visual/base_link.stl" />
      </geometry>
      <material name="fanuc_black" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://fanuc_m710ic_description/meshes/m710ic50/collision/base_link.stl" />
      </geometry>
    </collision>
  </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://fanuc_m710ic_description/meshes/m710ic50/visual/link_1.stl" />
      </geometry>
      <material name="fanuc_yellow" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://fanuc_m710ic_description/meshes/m710ic50/collision/link_1.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link_2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://fanuc_m710ic_description/meshes/m710ic50/visual/link_2.stl" />
      </geometry>
      <material name="fanuc_yellow" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://fanuc_m710ic_description/meshes/m710ic50/collision/link_2.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link_3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://fanuc_m710ic_description/meshes/m710ic50/visual/link_3.stl" />
      </geometry>
      <material name="fanuc_yellow" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://fanuc_m710ic_description/meshes/m710ic50/collision/link_3.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link_4">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://fanuc_m710ic_description/meshes/m710ic50/visual/link_4.stl" />
      </geometry>
      <material name="fanuc_yellow" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://fanuc_m710ic_description/meshes/m710ic50/collision/link_4.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link_5">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://fanuc_m710ic_description/meshes/m710ic50/visual/link_5.stl" />
      </geometry>
      <material name="fanuc_yellow" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://fanuc_m710ic_description/meshes/m710ic50/collision/link_5.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link_6">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://fanuc_m710ic_description/meshes/m710ic50/visual/link_6.stl" />
      </geometry>
      <material name="fanuc_black" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://fanuc_m710ic_description/meshes/m710ic50/collision/link_6.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="joint_1" type="revolute">
    <origin xyz="0.0 0.0 0.565" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="link_1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="3.0543" lower="-3.1415" upper="3.1415" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint_2" type="revolute">
    <origin xyz="0.15 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link_1" />
    <child link="link_2" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="0.0" velocity="3.0543" lower="-1.5707" upper="2.3561" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint_3" type="revolute">
    <origin xyz="0.0 0.0 0.87" rpy="0.0 0.0 0.0" />
    <parent link="link_2" />
    <child link="link_3" />
    <axis xyz="0.0 -1.0 0.0" />
    <limit effort="0.0" velocity="3.0543" lower="-2.7925" upper="4.8869" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint_4" type="revolute">
    <origin xyz="0.0 0.0 0.17" rpy="0.0 0.0 0.0" />
    <parent link="link_3" />
    <child link="link_4" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="0.0" velocity="4.3633" lower="-6.283" upper="6.283" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint_5" type="revolute">
    <origin xyz="1.016 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link_4" />
    <child link="link_5" />
    <axis xyz="0.0 -1.0 0.0" />
    <limit effort="0.0" velocity="4.3633" lower="-2.1816" upper="2.1816" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint_6" type="revolute">
    <origin xyz="0.175 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link_5" />
    <child link="link_6" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="0.0" velocity="6.1959" lower="-6.2831" upper="6.2831" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="base" />
  <joint name="base_link-base" type="fixed">
    <origin xyz="0.0 0.0 0.565" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="base" />
  </joint>
  <link name="flange" />
  <joint name="joint_6-flange" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link_6" />
    <child link="flange" />
  </joint>
  <link name="tool0" />
  <joint name="link_6-tool0" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="3.14159 -1.570795 0.0" />
    <parent link="flange" />
    <child link="tool0" />
  </joint>
</robot>

robot.xml

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content a3985fa900e9c44c -->
<mujoco model="m710ic70">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="visual_base_link" file="fanuc_m710ic_description/meshes/m710ic50/visual/base_link.stl" />
    <mesh name="collision_base_link" file="fanuc_m710ic_description/meshes/m710ic50/collision/base_link.stl" />
    <mesh name="visual_link_1" file="fanuc_m710ic_description/meshes/m710ic50/visual/link_1.stl" />
    <mesh name="collision_link_1" file="fanuc_m710ic_description/meshes/m710ic50/collision/link_1.stl" />
    <mesh name="visual_link_2" file="fanuc_m710ic_description/meshes/m710ic50/visual/link_2.stl" />
    <mesh name="collision_link_2" file="fanuc_m710ic_description/meshes/m710ic50/collision/link_2.stl" />
    <mesh name="visual_link_3" file="fanuc_m710ic_description/meshes/m710ic50/visual/link_3.stl" />
    <mesh name="collision_link_3" file="fanuc_m710ic_description/meshes/m710ic50/collision/link_3.stl" />
    <mesh name="visual_link_4" file="fanuc_m710ic_description/meshes/m710ic50/visual/link_4.stl" />
    <mesh name="collision_link_4" file="fanuc_m710ic_description/meshes/m710ic50/collision/link_4.stl" />
    <mesh name="visual_link_5" file="fanuc_m710ic_description/meshes/m710ic50/visual/link_5.stl" />
    <mesh name="collision_link_5" file="fanuc_m710ic_description/meshes/m710ic50/collision/link_5.stl" />
    <mesh name="visual_link_6" file="fanuc_m710ic_description/meshes/m710ic50/visual/link_6.stl" />
    <mesh name="collision_link_6" file="fanuc_m710ic_description/meshes/m710ic50/collision/link_6.stl" />
  </asset>
  <worldbody>
    <body name="base_link">
      <geom name="base_link_vis_0" type="mesh" mesh="visual_base_link" contype="0" conaffinity="0" group="2" />
      <geom name="base_link_col_0" type="mesh" mesh="collision_base_link" group="3" />
      <body name="link_1" pos="0.0 0.0 0.565">
        <joint name="joint_1" type="hinge" axis="0.0 0.0 1.0" range="-3.1415 3.1415" />
        <geom name="link_1_vis_0" type="mesh" mesh="visual_link_1" contype="0" conaffinity="0" group="2" />
        <geom name="link_1_col_0" type="mesh" mesh="collision_link_1" group="3" />
        <body name="link_2" pos="0.15 0.0 0.0">
          <joint name="joint_2" type="hinge" axis="0.0 1.0 0.0" range="-1.5707 2.3561" />
          <geom name="link_2_vis_0" type="mesh" mesh="visual_link_2" contype="0" conaffinity="0" group="2" />
          <geom name="link_2_col_0" type="mesh" mesh="collision_link_2" group="3" />
          <body name="link_3" pos="0.0 0.0 0.87">
            <joint name="joint_3" type="hinge" axis="0.0 -1.0 0.0" range="-2.7925 4.8869" />
            <geom name="link_3_vis_0" type="mesh" mesh="visual_link_3" contype="0" conaffinity="0" group="2" />
            <geom name="link_3_col_0" type="mesh" mesh="collision_link_3" group="3" />
            <body name="link_4" pos="0.0 0.0 0.17">
              <joint name="joint_4" type="hinge" axis="-1.0 0.0 0.0" range="-6.283 6.283" />
              <geom name="link_4_vis_0" type="mesh" mesh="visual_link_4" contype="0" conaffinity="0" group="2" />
              <geom name="link_4_col_0" type="mesh" mesh="collision_link_4" group="3" />
              <body name="link_5" pos="1.016 0.0 0.0">
                <joint name="joint_5" type="hinge" axis="0.0 -1.0 0.0" range="-2.1816 2.1816" />
                <geom name="link_5_vis_0" type="mesh" mesh="visual_link_5" contype="0" conaffinity="0" group="2" />
                <geom name="link_5_col_0" type="mesh" mesh="collision_link_5" group="3" />
                <body name="link_6" pos="0.175 0.0 0.0">
                  <joint name="joint_6" type="hinge" axis="-1.0 0.0 0.0" range="-6.2831 6.2831" />
                  <geom name="link_6_vis_0" type="mesh" mesh="visual_link_6" contype="0" conaffinity="0" group="2" />
                  <geom name="link_6_col_0" type="mesh" mesh="collision_link_6" group="3" />
                  <body name="flange">
                    <body name="tool0" quat="9.381862910741604e-07 0.7071072502786039 -9.38185046294203e-07 0.7071063120929352" />
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="base" pos="0.0 0.0 0.565" />
    </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" />
    <exclude body1="base_link" body2="base" />
    <exclude body1="link_6" body2="flange" />
    <exclude body1="flange" body2="tool0" />
  </contact>
</mujoco>

Import report

Counts

Links	10
Joints	9
Moving joints	6
Visuals	7
Collisions	7
Materials	0

Meshes

Formats: stl.
Asset size: 0.1 MB.

Dropped on import

Nothing dropped: every tag in the original is carried.

Forward-kinematics check

Forward kinematics of 10 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 · 3.6e-16 rad.

MuJoCo

robot.xml did not compile in MuJoCo: Error: mass and inertia of moving bodies must be larger than mjMINVAL

Source & licence

Repository	https://github.com/robot-descriptions/fanuc_m710ic_description
Commit	`d12af44559cd7e46f7afd513237f159f82f8402e`
Original file	`urdf/m710ic70.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.