Fetch
Fetch Robotics · licence MIT · source: github.com/openai/roboschool @ 1.0.49
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 b158a1120cf2d8e1 -->
<robot name="fetch">
<link name="base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/base_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.2" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.33" radius="0.28" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0036 0.0 0.0014" rpy="0.0 0.0 0.0" />
<mass value="70.1294" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.987" />
</inertial>
</link>
<link name="r_wheel_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/r_wheel_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.065" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="4.3542" />
<inertia ixx="0.0045" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.0045" />
</inertial>
</link>
<joint name="r_wheel_joint" type="continuous">
<origin xyz="0.0012914 -0.18738 0.055325" rpy="-6.123e-17 0.0 0.0" />
<parent link="base_link" />
<child link="r_wheel_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="8.85" velocity="17.4" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_wheel_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/l_wheel_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.065" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="4.3542" />
<inertia ixx="0.0045" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.0045" />
</inertial>
</link>
<joint name="l_wheel_joint" type="continuous">
<origin xyz="0.0012914 0.18738 0.055325" rpy="-6.123e-17 0.0 0.0" />
<parent link="base_link" />
<child link="l_wheel_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="8.85" velocity="17.4" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="torso_lift_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/torso_lift_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/torso_lift_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0013 -0.0009 0.2935" rpy="0.0 0.0 0.0" />
<mass value="10.7796" />
<inertia ixx="0.3354" ixy="0.0" ixz="-0.0162" iyy="0.3354" iyz="-0.0006" izz="0.0954" />
</inertial>
</link>
<joint name="torso_lift_joint" type="prismatic">
<origin xyz="-0.086875 0.0 0.37743" rpy="-6.123e-17 0.0 0.0" />
<parent link="base_link" />
<child link="torso_lift_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="450.0" velocity="0.1" lower="0.0" upper="0.38615" />
<dynamics damping="100.0" friction="0.0" />
</joint>
<link name="head_pan_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/head_pan_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/head_pan_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0321 0.0161 0.039" rpy="0.0 0.0 0.0" />
<mass value="2.2556" />
<inertia ixx="0.0129" ixy="0.0002" ixz="0.0007" iyy="0.0095" iyz="-0.0" izz="0.0184" />
</inertial>
</link>
<joint name="head_pan_joint" type="revolute">
<origin xyz="0.053125 0.0 0.603001417713939" rpy="0.0 0.0 0.0" />
<parent link="torso_lift_link" />
<child link="head_pan_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.32" velocity="1.57" lower="-1.57" upper="1.57" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="head_tilt_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/head_tilt_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/head_tilt_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0081 0.0025 0.0113" rpy="0.0 0.0 0.0" />
<mass value="0.9087" />
<inertia ixx="0.0061" ixy="-0.0" ixz="0.0002" iyy="0.0014" iyz="-0.0001" izz="0.0061" />
</inertial>
</link>
<joint name="head_tilt_joint" type="revolute">
<origin xyz="0.14253 0.0 0.057999" rpy="0.0 0.0 0.0" />
<parent link="head_pan_link" />
<child link="head_tilt_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="0.68" velocity="1.57" lower="-0.76" upper="1.45" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="shoulder_pan_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/shoulder_pan_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/shoulder_pan_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0927 -0.0056 0.0564" rpy="0.0 0.0 0.0" />
<mass value="2.5587" />
<inertia ixx="0.0043" ixy="-0.0001" ixz="0.001" iyy="0.0087" iyz="-0.0001" izz="0.0087" />
</inertial>
</link>
<joint name="shoulder_pan_joint" type="revolute">
<origin xyz="0.119525 0.0 0.34858" rpy="0.0 0.0 0.0" />
<parent link="torso_lift_link" />
<child link="shoulder_pan_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="33.82" velocity="1.256" lower="-1.6056" upper="1.6056" />
<dynamics damping="1.0" friction="0.0" />
</joint>
<link name="shoulder_lift_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/shoulder_lift_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/shoulder_lift_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.1432 0.0072 -0.0001" rpy="0.0 0.0 0.0" />
<mass value="2.6615" />
<inertia ixx="0.0028" ixy="-0.0021" ixz="-0.0" iyy="0.0111" iyz="-0.0" izz="0.0112" />
</inertial>
</link>
<joint name="shoulder_lift_joint" type="revolute">
<origin xyz="0.117 0.0 0.0599999999999999" rpy="0.0 0.0 0.0" />
<parent link="shoulder_pan_link" />
<child link="shoulder_lift_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="131.76" velocity="1.454" lower="-1.221" upper="1.518" />
<dynamics damping="1.0" friction="0.0" />
</joint>
<link name="upperarm_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/upperarm_roll_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/upperarm_roll_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.1165 0.0014 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.3311" />
<inertia ixx="0.0019" ixy="-0.0001" ixz="0.0" iyy="0.0045" iyz="0.0" izz="0.0047" />
</inertial>
</link>
<joint name="upperarm_roll_joint" type="continuous">
<origin xyz="0.219 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="shoulder_lift_link" />
<child link="upperarm_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="76.94" velocity="1.571" />
<dynamics damping="5.0" friction="0.0" />
</joint>
<link name="elbow_flex_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/elbow_flex_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/elbow_flex_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.1279 0.0073 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.1299" />
<inertia ixx="0.0024" ixy="-0.0016" ixz="0.0" iyy="0.0082" iyz="-0.0" izz="0.0084" />
</inertial>
</link>
<joint name="elbow_flex_joint" type="revolute">
<origin xyz="0.133 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="upperarm_roll_link" />
<child link="elbow_flex_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="66.18" velocity="1.521" lower="-2.251" upper="2.251" />
<dynamics damping="1.0" friction="0.0" />
</joint>
<link name="forearm_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/forearm_roll_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/forearm_roll_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.1097 -0.0266 0.0" rpy="0.0 0.0 0.0" />
<mass value="1.6563" />
<inertia ixx="0.0016" ixy="-0.0003" ixz="0.0" iyy="0.003" iyz="-0.0" izz="0.0035" />
</inertial>
</link>
<joint name="forearm_roll_joint" type="continuous">
<origin xyz="0.197 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="elbow_flex_link" />
<child link="forearm_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="29.35" velocity="1.571" />
<dynamics damping="5.0" friction="0.0" />
</joint>
<link name="wrist_flex_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/wrist_flex_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/wrist_flex_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0882 0.0009 -0.0001" rpy="0.0 0.0 0.0" />
<mass value="1.725" />
<inertia ixx="0.0018" ixy="-0.0001" ixz="-0.0" iyy="0.0042" iyz="0.0" izz="0.0042" />
</inertial>
</link>
<joint name="wrist_flex_joint" type="revolute">
<origin xyz="0.1245 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="forearm_roll_link" />
<child link="wrist_flex_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="25.7" velocity="2.268" lower="-2.16" upper="2.16" />
<dynamics damping="1.0" friction="0.0" />
</joint>
<link name="wrist_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/wrist_roll_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/wrist_roll_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0095 0.0004 -0.0002" rpy="0.0 0.0 0.0" />
<mass value="0.1354" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
</inertial>
</link>
<joint name="wrist_roll_joint" type="continuous">
<origin xyz="0.1385 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="wrist_flex_link" />
<child link="wrist_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="7.36" velocity="2.268" />
<dynamics damping="5.0" friction="0.0" />
</joint>
<link name="gripper_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/gripper_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/gripper_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.09 -0.0001 -0.0017" rpy="0.0 0.0 0.0" />
<mass value="1.5175" />
<inertia ixx="0.0013" ixy="-0.0" ixz="0.0" iyy="0.0019" iyz="-0.0" izz="0.0024" />
</inertial>
</link>
<joint name="gripper_axis" type="fixed">
<origin xyz="0.16645 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="wrist_roll_link" />
<child link="gripper_link" />
</joint>
<link name="r_gripper_finger_link">
<visual>
<origin xyz="0.0 0.101425 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/r_gripper_finger_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.009 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.062 0.013 0.026" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.01 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0798" />
<inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.0002" iyz="0.0" izz="0.0002" />
</inertial>
</link>
<joint name="r_gripper_finger_joint" type="prismatic">
<origin xyz="0.0 0.015425 0.0" rpy="0.0 0.0 0.0" />
<parent link="gripper_link" />
<child link="r_gripper_finger_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="60.0" velocity="0.05" lower="0.0" upper="0.05" />
<dynamics damping="100.0" friction="0.0" />
</joint>
<link name="l_gripper_finger_link">
<visual>
<origin xyz="0.0 -0.101425 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/l_gripper_finger_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.009 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.062 0.013 0.026" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.01 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0798" />
<inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.0002" iyz="0.0" izz="0.0002" />
</inertial>
</link>
<joint name="l_gripper_finger_joint" type="prismatic">
<origin xyz="0.0 -0.015425 0.0" rpy="0.0 0.0 0.0" />
<parent link="gripper_link" />
<child link="l_gripper_finger_link" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="60.0" velocity="0.05" lower="0.0" upper="0.05" />
<dynamics damping="100.0" friction="0.0" />
</joint>
<link name="bellows_link2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/bellows_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/bellows_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0191320000286228 -1.67219873481315e-16 -0.134861625443387" rpy="0.0 0.0 0.0" />
<mass value="0.169374038216602" />
<inertia ixx="0.00331159128762117" ixy="-8.9230964321455e-18" ixz="-5.38622201018293e-08" iyy="0.00174447292786627" iyz="-8.06964979976371e-17" izz="0.00169417568121457" />
</inertial>
</link>
<joint name="bellows_joint2" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="torso_lift_link" />
<child link="bellows_link2" />
</joint>
<link name="estop_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/estop_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/estop_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.002434512737072 -0.00330608315239905 0.00665139196650039" rpy="0.0 0.0 0.0" />
<mass value="0.00196130439134723" />
<inertia ixx="3.02810026604417e-07" ixy="-1.5862023118056e-08" ixz="3.16561396557437e-08" iyy="2.93322917127605e-07" iyz="-4.28833522751273e-08" izz="2.28513272627183e-07" />
</inertial>
</link>
<joint name="estop_joint" type="fixed">
<origin xyz="-0.12465 0.23892 0.31127" rpy="1.5708 0.0 0.0" />
<parent link="base_link" />
<child link="estop_link" />
</joint>
<link name="laser_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/laser_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/laser_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0306228970175641 0.0007091682908278 0.0551974119471302" rpy="0.0 0.0 0.0" />
<mass value="0.00833634573995571" />
<inertia ixx="1.01866461240801e-06" ixy="-5.88447626567756e-08" ixz="7.83857244757914e-08" iyy="5.10039589974707e-07" iyz="-7.12664289617235e-09" izz="1.28270671527309e-06" />
</inertial>
</link>
<joint name="laser_joint" type="fixed">
<origin xyz="0.235 0.0 0.2878" rpy="3.14159265359 0.0 0.0" />
<parent link="base_link" />
<child link="laser_link" />
</joint>
<link name="torso_fixed_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/torso_fixed_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://fetch_description/meshes/torso_fixed_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0722 0.0057 0.2656" rpy="0.0 0.0 0.0" />
<mass value="13.2775" />
<inertia ixx="0.3861" ixy="0.0015" ixz="-0.0102" iyy="0.3388" iyz="0.0117" izz="0.1018" />
</inertial>
</link>
<joint name="torso_fixed_joint" type="fixed">
<origin xyz="-0.086875 0.0 0.377425" rpy="-6.12303176911189e-17 0.0 0.0" />
<parent link="base_link" />
<child link="torso_fixed_link" />
</joint>
<link name="head_camera_link" />
<joint name="head_camera_joint" type="fixed">
<origin xyz="0.055 0.0 0.0225" rpy="0.0 0.0 0.0" />
<parent link="head_tilt_link" />
<child link="head_camera_link" />
</joint>
<link name="head_camera_rgb_frame" />
<joint name="head_camera_rgb_joint" type="fixed">
<origin xyz="0.0 0.02 0.0" rpy="0.0 0.0 0.0" />
<parent link="head_camera_link" />
<child link="head_camera_rgb_frame" />
</joint>
<link name="head_camera_rgb_optical_frame" />
<joint name="head_camera_rgb_optical_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="1.57079632679 0.0 -1.57079632679" />
<parent link="head_camera_rgb_frame" />
<child link="head_camera_rgb_optical_frame" />
</joint>
<link name="head_camera_depth_frame" />
<joint name="head_camera_depth_joint" type="fixed">
<origin xyz="0.0 0.045 0.0" rpy="0.0 0.0 0.0" />
<parent link="head_camera_link" />
<child link="head_camera_depth_frame" />
</joint>
<link name="head_camera_depth_optical_frame" />
<joint name="head_camera_depth_optical_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
<parent link="head_camera_depth_frame" />
<child link="head_camera_depth_optical_frame" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content b158a1120cf2d8e1 -->
<mujoco model="fetch">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="base_link" file="fetch_description/meshes/base_link.dae" />
<mesh name="r_wheel_link" file="fetch_description/meshes/r_wheel_link.STL" />
<mesh name="l_wheel_link" file="fetch_description/meshes/l_wheel_link.STL" />
<mesh name="torso_lift_link" file="fetch_description/meshes/torso_lift_link.dae" />
<mesh name="torso_lift_link_collision" file="fetch_description/meshes/torso_lift_link_collision.STL" />
<mesh name="head_pan_link" file="fetch_description/meshes/head_pan_link.dae" />
<mesh name="head_pan_link_collision" file="fetch_description/meshes/head_pan_link_collision.STL" />
<mesh name="head_tilt_link" file="fetch_description/meshes/head_tilt_link.dae" />
<mesh name="head_tilt_link_collision" file="fetch_description/meshes/head_tilt_link_collision.STL" />
<mesh name="shoulder_pan_link" file="fetch_description/meshes/shoulder_pan_link.dae" />
<mesh name="shoulder_pan_link_collision" file="fetch_description/meshes/shoulder_pan_link_collision.STL" />
<mesh name="shoulder_lift_link" file="fetch_description/meshes/shoulder_lift_link.dae" />
<mesh name="shoulder_lift_link_collision" file="fetch_description/meshes/shoulder_lift_link_collision.STL" />
<mesh name="upperarm_roll_link" file="fetch_description/meshes/upperarm_roll_link.dae" />
<mesh name="upperarm_roll_link_collision" file="fetch_description/meshes/upperarm_roll_link_collision.STL" />
<mesh name="elbow_flex_link" file="fetch_description/meshes/elbow_flex_link.dae" />
<mesh name="elbow_flex_link_collision" file="fetch_description/meshes/elbow_flex_link_collision.STL" />
<mesh name="forearm_roll_link" file="fetch_description/meshes/forearm_roll_link.dae" />
<mesh name="forearm_roll_link_collision" file="fetch_description/meshes/forearm_roll_link_collision.STL" />
<mesh name="wrist_flex_link" file="fetch_description/meshes/wrist_flex_link.dae" />
<mesh name="wrist_flex_link_collision" file="fetch_description/meshes/wrist_flex_link_collision.STL" />
<mesh name="wrist_roll_link" file="fetch_description/meshes/wrist_roll_link.dae" />
<mesh name="wrist_roll_link_collision" file="fetch_description/meshes/wrist_roll_link_collision.STL" />
<mesh name="fetch_description_meshes_gripper_link_dae" file="fetch_description/meshes/gripper_link.dae" />
<mesh name="fetch_description_meshes_gripper_link_STL" file="fetch_description/meshes/gripper_link.STL" />
<mesh name="r_gripper_finger_link" file="fetch_description/meshes/r_gripper_finger_link.STL" />
<mesh name="l_gripper_finger_link" file="fetch_description/meshes/l_gripper_finger_link.STL" />
<mesh name="bellows_link" file="fetch_description/meshes/bellows_link.STL" />
<mesh name="bellows_link_collision" file="fetch_description/meshes/bellows_link_collision.STL" />
<mesh name="estop_link" file="fetch_description/meshes/estop_link.STL" />
<mesh name="laser_link" file="fetch_description/meshes/laser_link.STL" />
<mesh name="fetch_description_meshes_torso_fixed_link_dae" file="fetch_description/meshes/torso_fixed_link.dae" />
<mesh name="fetch_description_meshes_torso_fixed_link_STL" file="fetch_description/meshes/torso_fixed_link.STL" />
</asset>
<worldbody>
<body name="base_link">
<inertial pos="-0.0036 0.0 0.0014" mass="70.1294" fullinertia="0.0 0.0 0.987 0.0 0.0 0.0" />
<geom name="base_link_vis_0" type="mesh" mesh="base_link" contype="0" conaffinity="0" group="2" />
<geom name="base_link_col_0" type="cylinder" size="0.28 0.165" pos="0.0 0.0 0.2" group="3" />
<body name="r_wheel_link" pos="0.0012914 -0.18738 0.055325" quat="1.0 -3.0615e-17 0.0 0.0">
<joint name="r_wheel_joint" type="hinge" axis="0.0 1.0 0.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="4.3542" fullinertia="0.0045 0.005 0.0045 0.0 0.0 0.0" />
<geom name="r_wheel_link_vis_0" type="mesh" mesh="r_wheel_link" contype="0" conaffinity="0" group="2" />
<geom name="r_wheel_link_col_0" type="sphere" size="0.065" group="3" />
</body>
<body name="l_wheel_link" pos="0.0012914 0.18738 0.055325" quat="1.0 -3.0615e-17 0.0 0.0">
<joint name="l_wheel_joint" type="hinge" axis="0.0 1.0 0.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="4.3542" fullinertia="0.0045 0.005 0.0045 0.0 0.0 0.0" />
<geom name="l_wheel_link_vis_0" type="mesh" mesh="l_wheel_link" contype="0" conaffinity="0" group="2" />
<geom name="l_wheel_link_col_0" type="sphere" size="0.065" group="3" />
</body>
<body name="torso_lift_link" pos="-0.086875 0.0 0.37743" quat="1.0 -3.0615e-17 0.0 0.0">
<joint name="torso_lift_joint" type="slide" axis="0.0 0.0 1.0" range="0.0 0.38615" damping="100.0" />
<inertial pos="-0.0013 -0.0009 0.2935" mass="10.7796" fullinertia="0.3354 0.3354 0.0954 0.0 -0.0162 -0.0006" />
<geom name="torso_lift_link_vis_0" type="mesh" mesh="torso_lift_link" contype="0" conaffinity="0" group="2" />
<geom name="torso_lift_link_col_0" type="mesh" mesh="torso_lift_link_collision" group="3" />
<body name="head_pan_link" pos="0.053125 0.0 0.603001417713939">
<joint name="head_pan_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.57 1.57" />
<inertial pos="0.0321 0.0161 0.039" mass="2.2556" fullinertia="0.0129 0.0095 0.0184 0.0002 0.0007 -0.0" />
<geom name="head_pan_link_vis_0" type="mesh" mesh="head_pan_link" contype="0" conaffinity="0" group="2" />
<geom name="head_pan_link_col_0" type="mesh" mesh="head_pan_link_collision" group="3" />
<body name="head_tilt_link" pos="0.14253 0.0 0.057999">
<joint name="head_tilt_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.76 1.45" />
<inertial pos="0.0081 0.0025 0.0113" mass="0.9087" fullinertia="0.0061 0.0014 0.0061 -0.0 0.0002 -0.0001" />
<geom name="head_tilt_link_vis_0" type="mesh" mesh="head_tilt_link" contype="0" conaffinity="0" group="2" />
<geom name="head_tilt_link_col_0" type="mesh" mesh="head_tilt_link_collision" group="3" />
<body name="head_camera_link" pos="0.055 0.0 0.0225">
<body name="head_camera_rgb_frame" pos="0.0 0.02 0.0">
<body name="head_camera_rgb_optical_frame" quat="0.5000000000024483 0.5 -0.4999999999975517 -0.5" />
</body>
<body name="head_camera_depth_frame" pos="0.0 0.045 0.0">
<body name="head_camera_depth_optical_frame" quat="0.5000000000024483 -0.5 0.4999999999975517 -0.5" />
</body>
</body>
</body>
</body>
<body name="shoulder_pan_link" pos="0.119525 0.0 0.34858">
<joint name="shoulder_pan_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.6056 1.6056" damping="1.0" />
<inertial pos="0.0927 -0.0056 0.0564" mass="2.5587" fullinertia="0.0043 0.0087 0.0087 -0.0001 0.001 -0.0001" />
<geom name="shoulder_pan_link_vis_0" type="mesh" mesh="shoulder_pan_link" contype="0" conaffinity="0" group="2" />
<geom name="shoulder_pan_link_col_0" type="mesh" mesh="shoulder_pan_link_collision" group="3" />
<body name="shoulder_lift_link" pos="0.117 0.0 0.0599999999999999">
<joint name="shoulder_lift_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.221 1.518" damping="1.0" />
<inertial pos="0.1432 0.0072 -0.0001" mass="2.6615" fullinertia="0.0028 0.0111 0.0112 -0.0021 -0.0 -0.0" />
<geom name="shoulder_lift_link_vis_0" type="mesh" mesh="shoulder_lift_link" contype="0" conaffinity="0" group="2" />
<geom name="shoulder_lift_link_col_0" type="mesh" mesh="shoulder_lift_link_collision" group="3" />
<body name="upperarm_roll_link" pos="0.219 0.0 0.0">
<joint name="upperarm_roll_joint" type="hinge" axis="1.0 0.0 0.0" limited="false" damping="5.0" />
<inertial pos="0.1165 0.0014 0.0" mass="2.3311" fullinertia="0.0019 0.0045 0.0047 -0.0001 0.0 0.0" />
<geom name="upperarm_roll_link_vis_0" type="mesh" mesh="upperarm_roll_link" contype="0" conaffinity="0" group="2" />
<geom name="upperarm_roll_link_col_0" type="mesh" mesh="upperarm_roll_link_collision" group="3" />
<body name="elbow_flex_link" pos="0.133 0.0 0.0">
<joint name="elbow_flex_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.251 2.251" damping="1.0" />
<inertial pos="0.1279 0.0073 0.0" mass="2.1299" fullinertia="0.0024 0.0082 0.0084 -0.0016 0.0 -0.0" />
<geom name="elbow_flex_link_vis_0" type="mesh" mesh="elbow_flex_link" contype="0" conaffinity="0" group="2" />
<geom name="elbow_flex_link_col_0" type="mesh" mesh="elbow_flex_link_collision" group="3" />
<body name="forearm_roll_link" pos="0.197 0.0 0.0">
<joint name="forearm_roll_joint" type="hinge" axis="1.0 0.0 0.0" limited="false" damping="5.0" />
<inertial pos="0.1097 -0.0266 0.0" mass="1.6563" fullinertia="0.0016 0.003 0.0035 -0.0003 0.0 -0.0" />
<geom name="forearm_roll_link_vis_0" type="mesh" mesh="forearm_roll_link" contype="0" conaffinity="0" group="2" />
<geom name="forearm_roll_link_col_0" type="mesh" mesh="forearm_roll_link_collision" group="3" />
<body name="wrist_flex_link" pos="0.1245 0.0 0.0">
<joint name="wrist_flex_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.16 2.16" damping="1.0" />
<inertial pos="0.0882 0.0009 -0.0001" mass="1.725" fullinertia="0.0018 0.0042 0.0042 -0.0001 -0.0 0.0" />
<geom name="wrist_flex_link_vis_0" type="mesh" mesh="wrist_flex_link" contype="0" conaffinity="0" group="2" />
<geom name="wrist_flex_link_col_0" type="mesh" mesh="wrist_flex_link_collision" group="3" />
<body name="wrist_roll_link" pos="0.1385 0.0 0.0">
<joint name="wrist_roll_joint" type="hinge" axis="1.0 0.0 0.0" limited="false" damping="5.0" />
<inertial pos="0.0095 0.0004 -0.0002" mass="0.1354" fullinertia="0.0001 0.0001 0.0001 0.0 0.0 0.0" />
<geom name="wrist_roll_link_vis_0" type="mesh" mesh="wrist_roll_link" contype="0" conaffinity="0" group="2" />
<geom name="wrist_roll_link_col_0" type="mesh" mesh="wrist_roll_link_collision" group="3" />
<body name="gripper_link" pos="0.16645 0.0 0.0">
<inertial pos="-0.09 -0.0001 -0.0017" mass="1.5175" fullinertia="0.0013 0.0019 0.0024 -0.0 0.0 -0.0" />
<geom name="gripper_link_vis_0" type="mesh" mesh="fetch_description_meshes_gripper_link_dae" contype="0" conaffinity="0" group="2" />
<geom name="gripper_link_col_0" type="mesh" mesh="fetch_description_meshes_gripper_link_STL" group="3" />
<body name="r_gripper_finger_link" pos="0.0 0.015425 0.0">
<joint name="r_gripper_finger_joint" type="slide" axis="0.0 1.0 0.0" range="0.0 0.05" damping="100.0" />
<inertial pos="-0.01 0.0 0.0" mass="0.0798" fullinertia="0.002 0.0002 0.0002 0.0 0.0 0.0" />
<geom name="r_gripper_finger_link_vis_0" type="mesh" mesh="r_gripper_finger_link" pos="0.0 0.101425 0.0" contype="0" conaffinity="0" group="2" />
<geom name="r_gripper_finger_link_col_0" type="box" size="0.031 0.0065 0.013" pos="0.0 -0.009 0.0" group="3" />
</body>
<body name="l_gripper_finger_link" pos="0.0 -0.015425 0.0">
<joint name="l_gripper_finger_joint" type="slide" axis="0.0 -1.0 0.0" range="0.0 0.05" damping="100.0" />
<inertial pos="-0.01 0.0 0.0" mass="0.0798" fullinertia="0.002 0.0002 0.0002 0.0 0.0 0.0" />
<geom name="l_gripper_finger_link_vis_0" type="mesh" mesh="l_gripper_finger_link" pos="0.0 -0.101425 0.0" contype="0" conaffinity="0" group="2" />
<geom name="l_gripper_finger_link_col_0" type="box" size="0.031 0.0065 0.013" pos="0.0 0.009 0.0" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="bellows_link2">
<inertial pos="0.0191320000286228 -1.67219873481315e-16 -0.134861625443387" mass="0.169374038216602" fullinertia="0.00331159128762117 0.00174447292786627 0.00169417568121457 -8.9230964321455e-18 -5.38622201018293e-08 -8.06964979976371e-17" />
<geom name="bellows_link2_vis_0" type="mesh" mesh="bellows_link" contype="0" conaffinity="0" group="2" />
<geom name="bellows_link2_col_0" type="mesh" mesh="bellows_link_collision" group="3" />
</body>
</body>
<body name="estop_link" pos="-0.12465 0.23892 0.31127" quat="0.7071054825112363 0.7071080798594735 0.0 0.0">
<inertial pos="0.002434512737072 -0.00330608315239905 0.00665139196650039" mass="0.00196130439134723" fullinertia="3.02810026604417e-07 2.93322917127605e-07 2.28513272627183e-07 -1.5862023118056e-08 3.16561396557437e-08 -4.28833522751273e-08" />
<geom name="estop_link_vis_0" type="mesh" mesh="estop_link" contype="0" conaffinity="0" group="2" />
<geom name="estop_link_col_0" type="mesh" mesh="estop_link" group="3" />
</body>
<body name="laser_link" pos="0.235 0.0 0.2878" quat="-1.0341155355510722e-13 1.0 0.0 -0.0">
<inertial pos="-0.0306228970175641 0.0007091682908278 0.0551974119471302" mass="0.00833634573995571" fullinertia="1.01866461240801e-06 5.10039589974707e-07 1.28270671527309e-06 -5.88447626567756e-08 7.83857244757914e-08 -7.12664289617235e-09" />
<geom name="laser_link_vis_0" type="mesh" mesh="laser_link" contype="0" conaffinity="0" group="2" />
<geom name="laser_link_col_0" type="mesh" mesh="laser_link" group="3" />
</body>
<body name="torso_fixed_link" pos="-0.086875 0.0 0.377425" quat="1.0 -3.061515884555945e-17 0.0 0.0">
<inertial pos="-0.0722 0.0057 0.2656" mass="13.2775" fullinertia="0.3861 0.3388 0.1018 0.0015 -0.0102 0.0117" />
<geom name="torso_fixed_link_vis_0" type="mesh" mesh="fetch_description_meshes_torso_fixed_link_dae" contype="0" conaffinity="0" group="2" />
<geom name="torso_fixed_link_col_0" type="mesh" mesh="fetch_description_meshes_torso_fixed_link_STL" group="3" />
</body>
</body>
</worldbody>
<contact>
<exclude body1="base_link" body2="r_wheel_link" />
<exclude body1="base_link" body2="l_wheel_link" />
<exclude body1="base_link" body2="torso_lift_link" />
<exclude body1="torso_lift_link" body2="head_pan_link" />
<exclude body1="head_pan_link" body2="head_tilt_link" />
<exclude body1="torso_lift_link" body2="shoulder_pan_link" />
<exclude body1="shoulder_pan_link" body2="shoulder_lift_link" />
<exclude body1="shoulder_lift_link" body2="upperarm_roll_link" />
<exclude body1="upperarm_roll_link" body2="elbow_flex_link" />
<exclude body1="elbow_flex_link" body2="forearm_roll_link" />
<exclude body1="forearm_roll_link" body2="wrist_flex_link" />
<exclude body1="wrist_flex_link" body2="wrist_roll_link" />
<exclude body1="wrist_roll_link" body2="gripper_link" />
<exclude body1="gripper_link" body2="r_gripper_finger_link" />
<exclude body1="gripper_link" body2="l_gripper_finger_link" />
<exclude body1="torso_lift_link" body2="bellows_link2" />
<exclude body1="base_link" body2="estop_link" />
<exclude body1="base_link" body2="laser_link" />
<exclude body1="base_link" body2="torso_fixed_link" />
<exclude body1="head_tilt_link" body2="head_camera_link" />
<exclude body1="head_camera_link" body2="head_camera_rgb_frame" />
<exclude body1="head_camera_rgb_frame" body2="head_camera_rgb_optical_frame" />
<exclude body1="head_camera_link" body2="head_camera_depth_frame" />
<exclude body1="head_camera_depth_frame" body2="head_camera_depth_optical_frame" />
</contact>
</mujoco>
Import report
Counts
| Links | 25 |
|---|---|
| Joints | 24 |
| Moving joints | 14 |
| Visuals | 20 |
| Collisions | 20 |
| Materials | 0 |
Meshes
Formats: dae, stl.
Asset size: 19.7 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
axis | 4 | fixed joints carry no <axis>; URDF ignores it too |
gazebo | 1 | Gazebo simulator extensions are not part of the description |
material | 19 | anonymous material (empty name) cannot be referenced; its colour is not kept |
Forward-kinematics check
Forward kinematics of 25 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 · 3.8e-16 rad.
MuJoCo
robot.xml did not compile in MuJoCo: Error: error 'inertia must have positive eigenvalues' in fullinertia
Source & licence
| Repository | https://github.com/openai/roboschool |
|---|---|
| Commit | 1.0.49 |
| Original file | roboschool/models_robot/fetch_description/robots/fetch.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.