FER
Franka Robotics · licence Apache-2.0 · source: github.com/frankarobotics/franka_description @ 72baf5bf4
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 eed3119bdaa8c22c -->
<robot name="fer">
<link name="base" />
<joint name="fer_base_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="fer_link0" />
</joint>
<link name="fer_link0">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://franka_description/meshes/robots/fer/visual/link0.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://franka_description/meshes/robots/fer/collision/link0.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0172 0.0004 0.0745" rpy="0.0 0.0 0.0" />
<mass value="2.3966" />
<inertia ixx="0.009" ixy="0.0" ixz="0.002" iyy="0.0115" iyz="0.0" izz="0.0085" />
</inertial>
</link>
<link name="fer_link1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://franka_description/meshes/robots/fer/visual/link1.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://franka_description/meshes/robots/fer/collision/link1.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00033 -0.02204 -0.04762" rpy="0.0 0.0 0.0" />
<mass value="2.7907" />
<inertia ixx="0.01564782655" ixy="5.31236e-06" ixz="-3.676721e-05" iyy="0.01439883526" iyz="-0.00248480843" izz="0.00500443991" />
</inertial>
</link>
<joint name="fer_joint1" type="revolute">
<origin xyz="0.0 0.0 0.333" rpy="0.0 0.0 0.0" />
<parent link="fer_link0" />
<child link="fer_link1" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="87.0" velocity="2.175" lower="-2.8973" upper="2.8973" />
<dynamics damping="0.003" friction="0.2" />
</joint>
<link name="fer_link2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://franka_description/meshes/robots/fer/visual/link2.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://franka_description/meshes/robots/fer/collision/link2.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00038 -0.09211 0.01908" rpy="0.0 0.0 0.0" />
<mass value="2.542" />
<inertia ixx="0.01662427728" ixy="3.086077e-05" ixz="8.3594e-06" iyy="0.00462501261" iyz="0.0035589983" izz="0.01545124526" />
</inertial>
</link>
<joint name="fer_joint2" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="-1.570796326794897 0.0 0.0" />
<parent link="fer_link1" />
<child link="fer_link2" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="87.0" velocity="2.175" lower="-1.7628" upper="1.7628" />
<dynamics damping="0.003" friction="0.2" />
</joint>
<link name="fer_link3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://franka_description/meshes/robots/fer/visual/link3.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://franka_description/meshes/robots/fer/collision/link3.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.05152 0.01696 -0.02971" rpy="0.0 0.0 0.0" />
<mass value="2.2513" />
<inertia ixx="0.00631741992" ixy="0.00097309955" ixz="0.00292525834" iyy="0.00866285493" iyz="0.00093469224" izz="0.00657804051" />
</inertial>
</link>
<joint name="fer_joint3" type="revolute">
<origin xyz="0.0 -0.316 0.0" rpy="1.570796326794897 0.0 0.0" />
<parent link="fer_link2" />
<child link="fer_link3" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="87.0" velocity="2.175" lower="-2.8973" upper="2.8973" />
<dynamics damping="0.003" friction="0.2" />
</joint>
<link name="fer_link4">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://franka_description/meshes/robots/fer/visual/link4.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://franka_description/meshes/robots/fer/collision/link4.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.05113 0.05825 0.01698" rpy="0.0 0.0 0.0" />
<mass value="2.2037" />
<inertia ixx="0.00784585566" ixy="-0.00339591957" ixz="0.00158704074" iyy="0.00649543136" iyz="-0.00181477884" izz="0.01003079917" />
</inertial>
</link>
<joint name="fer_joint4" type="revolute">
<origin xyz="0.0825 0.0 0.0" rpy="1.570796326794897 0.0 0.0" />
<parent link="fer_link3" />
<child link="fer_link4" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="87.0" velocity="2.175" lower="-3.0718" upper="-0.0698" />
<dynamics damping="0.003" friction="0.2" />
</joint>
<link name="fer_link5">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://franka_description/meshes/robots/fer/visual/link5.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://franka_description/meshes/robots/fer/collision/link5.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-5e-05 0.0373 -0.0928" rpy="0.0 0.0 0.0" />
<mass value="2.2855" />
<inertia ixx="0.02297014781" ixy="-9.49345e-06" ixz="-2.063156e-05" iyy="0.02095060919" iyz="0.00382345782" izz="0.00430606551" />
</inertial>
</link>
<joint name="fer_joint5" type="revolute">
<origin xyz="-0.0825 0.384 0.0" rpy="-1.570796326794897 0.0 0.0" />
<parent link="fer_link4" />
<child link="fer_link5" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="12.0" velocity="2.61" lower="-2.8973" upper="2.8973" />
<dynamics damping="0.003" friction="0.2" />
</joint>
<link name="fer_link6">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://franka_description/meshes/robots/fer/visual/link6.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://franka_description/meshes/robots/fer/collision/link6.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.06572 -0.00371 0.00153" rpy="0.0 0.0 0.0" />
<mass value="1.353" />
<inertia ixx="0.00087964522" ixy="-0.00021487814" ixz="-0.00011911662" iyy="0.00277796968" iyz="1.274322e-05" izz="0.00286701969" />
</inertial>
</link>
<joint name="fer_joint6" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="1.570796326794897 0.0 0.0" />
<parent link="fer_link5" />
<child link="fer_link6" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="12.0" velocity="2.61" lower="-0.0175" upper="3.7525" />
<dynamics damping="0.003" friction="0.2" />
</joint>
<link name="fer_link7">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://franka_description/meshes/robots/fer/visual/link7.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://franka_description/meshes/robots/fer/collision/link7.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00089 -0.00044 0.05491" rpy="0.0 0.0 0.0" />
<mass value="0.35973" />
<inertia ixx="0.00019541063" ixy="1.65231e-06" ixz="1.48826e-06" iyy="0.00019210361" iyz="-1.31132e-06" izz="0.00017936256" />
</inertial>
</link>
<joint name="fer_joint7" type="revolute">
<origin xyz="0.088 0.0 0.0" rpy="1.570796326794897 0.0 0.0" />
<parent link="fer_link6" />
<child link="fer_link7" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="12.0" velocity="2.61" lower="-2.8973" upper="2.8973" />
<dynamics damping="0.003" friction="0.2" />
</joint>
<link name="fer_link8" />
<joint name="fer_joint8" type="fixed">
<origin xyz="0.0 0.0 0.107" rpy="0.0 0.0 0.0" />
<parent link="fer_link7" />
<child link="fer_link8" />
</joint>
<joint name="fer_hand_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -0.7853981633974483" />
<parent link="fer_link8" />
<child link="fer_hand" />
</joint>
<link name="fer_hand">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://franka_description/meshes/robot_ee/franka_hand_white/collision/hand.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-3.76e-05 0.0119128 0.020726" rpy="0.0 0.0 0.0" />
<mass value="0.6544" />
<inertia ixx="0.00186" ixy="0.0" ixz="0.0" iyy="0.0003" iyz="-2e-05" izz="0.00174" />
</inertial>
</link>
<link name="fer_hand_tcp" />
<joint name="fer_hand_tcp_joint" type="fixed">
<origin xyz="0.0 0.0 0.1034" rpy="0.0 0.0 0.0" />
<parent link="fer_hand" />
<child link="fer_hand_tcp" />
</joint>
<link name="fer_leftfinger">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0185 0.011" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.022 0.015 0.02" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.0068 0.0022" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.022 0.0088 0.0038" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.0159 0.02835" rpy="0.5235987755982988 0.0 0.0" />
<geometry>
<box size="0.0175 0.007 0.0235" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.00758 0.04525" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0175 0.0152 0.0185" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.015285 0.0219675" rpy="0.0 0.0 0.0" />
<mass value="0.0291" />
<inertia ixx="8.49e-06" ixy="0.0" ixz="0.0" iyy="8.53e-06" iyz="-1.06e-06" izz="1.77e-06" />
</inertial>
</link>
<link name="fer_rightfinger">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0185 0.011" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.022 0.015 0.02" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.0068 0.0022" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.022 0.0088 0.0038" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.0159 0.02835" rpy="-0.5235987755982988 0.0 3.141592653589793" />
<geometry>
<box size="0.0175 0.007 0.0235" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.00758 0.04525" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0175 0.0152 0.0185" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.015285 0.0219675" rpy="0.0 0.0 0.0" />
<mass value="0.0291" />
<inertia ixx="8.49e-06" ixy="0.0" ixz="0.0" iyy="8.53e-06" iyz="-1.06e-06" izz="1.77e-06" />
</inertial>
</link>
<joint name="fer_finger_joint1" type="prismatic">
<origin xyz="0.0 0.0 0.0584" rpy="0.0 0.0 0.0" />
<parent link="fer_hand" />
<child link="fer_leftfinger" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="0.2" lower="0.0" upper="0.04" />
<dynamics damping="0.3" friction="0.0" />
</joint>
<joint name="fer_finger_joint2" type="prismatic">
<origin xyz="0.0 0.0 0.0584" rpy="0.0 0.0 3.141592653589793" />
<parent link="fer_hand" />
<child link="fer_rightfinger" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="0.2" lower="0.0" upper="0.04" />
<dynamics damping="0.3" friction="0.0" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content eed3119bdaa8c22c -->
<mujoco model="fer">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="visual_link0" file="franka_description/meshes/robots/fer/visual/link0.dae" />
<mesh name="collision_link0" file="franka_description/meshes/robots/fer/collision/link0.stl" />
<mesh name="visual_link1" file="franka_description/meshes/robots/fer/visual/link1.dae" />
<mesh name="collision_link1" file="franka_description/meshes/robots/fer/collision/link1.stl" />
<mesh name="visual_link2" file="franka_description/meshes/robots/fer/visual/link2.dae" />
<mesh name="collision_link2" file="franka_description/meshes/robots/fer/collision/link2.stl" />
<mesh name="visual_link3" file="franka_description/meshes/robots/fer/visual/link3.dae" />
<mesh name="collision_link3" file="franka_description/meshes/robots/fer/collision/link3.stl" />
<mesh name="visual_link4" file="franka_description/meshes/robots/fer/visual/link4.dae" />
<mesh name="collision_link4" file="franka_description/meshes/robots/fer/collision/link4.stl" />
<mesh name="visual_link5" file="franka_description/meshes/robots/fer/visual/link5.dae" />
<mesh name="collision_link5" file="franka_description/meshes/robots/fer/collision/link5.stl" />
<mesh name="visual_link6" file="franka_description/meshes/robots/fer/visual/link6.dae" />
<mesh name="collision_link6" file="franka_description/meshes/robots/fer/collision/link6.stl" />
<mesh name="visual_link7" file="franka_description/meshes/robots/fer/visual/link7.dae" />
<mesh name="collision_link7" file="franka_description/meshes/robots/fer/collision/link7.stl" />
<mesh name="visual_hand" file="franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae" />
<mesh name="collision_hand" file="franka_description/meshes/robot_ee/franka_hand_white/collision/hand.stl" />
<mesh name="finger" file="franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae" />
</asset>
<worldbody>
<body name="base">
<body name="fer_link0">
<inertial pos="-0.0172 0.0004 0.0745" mass="2.3966" fullinertia="0.009 0.0115 0.0085 0.0 0.002 0.0" />
<geom name="fer_link0_vis_0" type="mesh" mesh="visual_link0" contype="0" conaffinity="0" group="2" />
<geom name="fer_link0_col_0" type="mesh" mesh="collision_link0" group="3" />
<body name="fer_link1" pos="0.0 0.0 0.333">
<joint name="fer_joint1" type="hinge" axis="0.0 0.0 1.0" range="-2.8973 2.8973" damping="0.003" frictionloss="0.2" />
<inertial pos="0.00033 -0.02204 -0.04762" mass="2.7907" fullinertia="0.01564782655 0.01439883526 0.00500443991 5.31236e-06 -3.676721e-05 -0.00248480843" />
<geom name="fer_link1_vis_0" type="mesh" mesh="visual_link1" contype="0" conaffinity="0" group="2" />
<geom name="fer_link1_col_0" type="mesh" mesh="collision_link1" group="3" />
<body name="fer_link2" quat="0.7071067811865474 -0.7071067811865477 0.0 0.0">
<joint name="fer_joint2" type="hinge" axis="0.0 0.0 1.0" range="-1.7628 1.7628" damping="0.003" frictionloss="0.2" />
<inertial pos="0.00038 -0.09211 0.01908" mass="2.542" fullinertia="0.01662427728 0.00462501261 0.01545124526 3.086077e-05 8.3594e-06 0.0035589983" />
<geom name="fer_link2_vis_0" type="mesh" mesh="visual_link2" contype="0" conaffinity="0" group="2" />
<geom name="fer_link2_col_0" type="mesh" mesh="collision_link2" group="3" />
<body name="fer_link3" pos="0.0 -0.316 0.0" quat="0.7071067811865474 0.7071067811865477 0.0 0.0">
<joint name="fer_joint3" type="hinge" axis="0.0 0.0 1.0" range="-2.8973 2.8973" damping="0.003" frictionloss="0.2" />
<inertial pos="0.05152 0.01696 -0.02971" mass="2.2513" fullinertia="0.00631741992 0.00866285493 0.00657804051 0.00097309955 0.00292525834 0.00093469224" />
<geom name="fer_link3_vis_0" type="mesh" mesh="visual_link3" contype="0" conaffinity="0" group="2" />
<geom name="fer_link3_col_0" type="mesh" mesh="collision_link3" group="3" />
<body name="fer_link4" pos="0.0825 0.0 0.0" quat="0.7071067811865474 0.7071067811865477 0.0 0.0">
<joint name="fer_joint4" type="hinge" axis="0.0 0.0 1.0" range="-3.0718 -0.0698" damping="0.003" frictionloss="0.2" />
<inertial pos="-0.05113 0.05825 0.01698" mass="2.2037" fullinertia="0.00784585566 0.00649543136 0.01003079917 -0.00339591957 0.00158704074 -0.00181477884" />
<geom name="fer_link4_vis_0" type="mesh" mesh="visual_link4" contype="0" conaffinity="0" group="2" />
<geom name="fer_link4_col_0" type="mesh" mesh="collision_link4" group="3" />
<body name="fer_link5" pos="-0.0825 0.384 0.0" quat="0.7071067811865474 -0.7071067811865477 0.0 0.0">
<joint name="fer_joint5" type="hinge" axis="0.0 0.0 1.0" range="-2.8973 2.8973" damping="0.003" frictionloss="0.2" />
<inertial pos="-5e-05 0.0373 -0.0928" mass="2.2855" fullinertia="0.02297014781 0.02095060919 0.00430606551 -9.49345e-06 -2.063156e-05 0.00382345782" />
<geom name="fer_link5_vis_0" type="mesh" mesh="visual_link5" contype="0" conaffinity="0" group="2" />
<geom name="fer_link5_col_0" type="mesh" mesh="collision_link5" group="3" />
<body name="fer_link6" quat="0.7071067811865474 0.7071067811865477 0.0 0.0">
<joint name="fer_joint6" type="hinge" axis="0.0 0.0 1.0" range="-0.0175 3.7525" damping="0.003" frictionloss="0.2" />
<inertial pos="0.06572 -0.00371 0.00153" mass="1.353" fullinertia="0.00087964522 0.00277796968 0.00286701969 -0.00021487814 -0.00011911662 1.274322e-05" />
<geom name="fer_link6_vis_0" type="mesh" mesh="visual_link6" contype="0" conaffinity="0" group="2" />
<geom name="fer_link6_col_0" type="mesh" mesh="collision_link6" group="3" />
<body name="fer_link7" pos="0.088 0.0 0.0" quat="0.7071067811865474 0.7071067811865477 0.0 0.0">
<joint name="fer_joint7" type="hinge" axis="0.0 0.0 1.0" range="-2.8973 2.8973" damping="0.003" frictionloss="0.2" />
<inertial pos="0.00089 -0.00044 0.05491" mass="0.35973" fullinertia="0.00019541063 0.00019210361 0.00017936256 1.65231e-06 1.48826e-06 -1.31132e-06" />
<geom name="fer_link7_vis_0" type="mesh" mesh="visual_link7" contype="0" conaffinity="0" group="2" />
<geom name="fer_link7_col_0" type="mesh" mesh="collision_link7" group="3" />
<body name="fer_link8" pos="0.0 0.0 0.107">
<body name="fer_hand" quat="0.9238795325112867 0.0 0.0 -0.3826834323650898">
<inertial pos="-3.76e-05 0.0119128 0.020726" mass="0.6544" fullinertia="0.00186 0.0003 0.00174 0.0 0.0 -2e-05" />
<geom name="fer_hand_vis_0" type="mesh" mesh="visual_hand" contype="0" conaffinity="0" group="2" />
<geom name="fer_hand_col_0" type="mesh" mesh="collision_hand" group="3" />
<body name="fer_hand_tcp" pos="0.0 0.0 0.1034" />
<body name="fer_leftfinger" pos="0.0 0.0 0.0584">
<joint name="fer_finger_joint1" type="slide" axis="0.0 1.0 0.0" range="0.0 0.04" damping="0.3" />
<inertial pos="0.0 0.015285 0.0219675" mass="0.0291" fullinertia="8.49e-06 8.53e-06 1.77e-06 0.0 0.0 -1.06e-06" />
<geom name="fer_leftfinger_vis_0" type="mesh" mesh="finger" contype="0" conaffinity="0" group="2" />
<geom name="fer_leftfinger_col_0" type="box" size="0.011 0.0075 0.01" pos="0.0 0.0185 0.011" group="3" />
<geom name="fer_leftfinger_col_1" type="box" size="0.011 0.0044 0.0019" pos="0.0 0.0068 0.0022" group="3" />
<geom name="fer_leftfinger_col_2" type="box" size="0.00875 0.0035 0.01175" pos="0.0 0.0159 0.02835" quat="0.9659258262890683 0.25881904510252074 0.0 0.0" group="3" />
<geom name="fer_leftfinger_col_3" type="box" size="0.00875 0.0076 0.00925" pos="0.0 0.00758 0.04525" group="3" />
</body>
<body name="fer_rightfinger" pos="0.0 0.0 0.0584" quat="6.123233995736766e-17 0.0 0.0 1.0">
<joint name="fer_finger_joint2" type="slide" axis="0.0 1.0 0.0" range="0.0 0.04" damping="0.3" />
<inertial pos="0.0 0.015285 0.0219675" mass="0.0291" fullinertia="8.49e-06 8.53e-06 1.77e-06 0.0 0.0 -1.06e-06" />
<geom name="fer_rightfinger_vis_0" type="mesh" mesh="finger" contype="0" conaffinity="0" group="2" />
<geom name="fer_rightfinger_col_0" type="box" size="0.011 0.0075 0.01" pos="0.0 0.0185 0.011" group="3" />
<geom name="fer_rightfinger_col_1" type="box" size="0.011 0.0044 0.0019" pos="0.0 0.0068 0.0022" group="3" />
<geom name="fer_rightfinger_col_2" type="box" size="0.00875 0.0035 0.01175" pos="0.0 0.0159 0.02835" quat="5.914589856893349e-17 -1.5848095757158825e-17 -0.25881904510252074 0.9659258262890683" group="3" />
<geom name="fer_rightfinger_col_3" type="box" size="0.00875 0.0076 0.00925" pos="0.0 0.00758 0.04525" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base" body2="fer_link0" />
<exclude body1="fer_link0" body2="fer_link1" />
<exclude body1="fer_link1" body2="fer_link2" />
<exclude body1="fer_link2" body2="fer_link3" />
<exclude body1="fer_link3" body2="fer_link4" />
<exclude body1="fer_link4" body2="fer_link5" />
<exclude body1="fer_link5" body2="fer_link6" />
<exclude body1="fer_link6" body2="fer_link7" />
<exclude body1="fer_link7" body2="fer_link8" />
<exclude body1="fer_link8" body2="fer_hand" />
<exclude body1="fer_hand" body2="fer_hand_tcp" />
<exclude body1="fer_hand" body2="fer_leftfinger" />
<exclude body1="fer_hand" body2="fer_rightfinger" />
</contact>
</mujoco>
Import report
Counts
| Links | 14 |
|---|---|
| Joints | 13 |
| Moving joints | 9 |
| Visuals | 11 |
| Collisions | 17 |
| Materials | 0 |
Meshes
Formats: dae, stl.
Asset size: 10.6 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
@D | 7 | attribute 'D' is not part of the URDF subset RobotDescription mirrors |
@K | 7 | attribute 'K' is not part of the URDF subset RobotDescription mirrors |
@gear_ratio | 7 | attribute 'gear_ratio' is not part of the URDF subset RobotDescription mirrors |
@motor_inertia | 7 | attribute 'motor_inertia' is not part of the URDF subset RobotDescription mirrors |
@mu_coulomb | 7 | attribute 'mu_coulomb' is not part of the URDF subset RobotDescription mirrors |
@mu_viscous | 7 | attribute 'mu_viscous' is not part of the URDF subset RobotDescription mirrors |
@name | 20 | visual names are not carried; the geometry is kept |
mimic | 1 | joint coupling (mimic) is not representable yet; the joint imports as independent |
safety_controller | 7 | soft limits (safety_controller) are not representable yet |
Forward-kinematics check
Forward kinematics of 14 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 · 4.0e-16 rad.
MuJoCo
robot.xml did not compile in MuJoCo: Error: inertia must satisfy A + B >= C; use 'balanceinertia' to fix
Source & licence
| Repository | https://github.com/frankarobotics/franka_description |
|---|---|
| Commit | 72baf5bf4e88eaec27f0eb61be1b20a001abf2ab |
| Original file | robots/fer/fer.urdf.xacro |
| Licence | Apache-2.0 · 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.