FR3 v2.1
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 e8dbc4d01f593c36 -->
<robot name="fr3v2_1">
<link name="base" />
<joint name="fr3v2_1_base_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="fr3v2_1_link0" />
</joint>
<link name="fr3v2_1_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/fr3v2_1/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/fr3v2_1/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="fr3v2_1_link0_accelerometer_top" />
<joint name="fr3v2_1_link0_accelerometer_top_joint" type="fixed">
<origin xyz="-0.017402 -0.007872 0.04715" rpy="3.1416 0.0 0.0" />
<parent link="fr3v2_1_link0" />
<child link="fr3v2_1_link0_accelerometer_top" />
</joint>
<link name="fr3v2_1_link0_accelerometer_bottom" />
<joint name="fr3v2_1_link0_accelerometer_bottom_joint" type="fixed">
<origin xyz="-0.019739 0.0015506 0.05075" rpy="0.0 0.0 -1.5708" />
<parent link="fr3v2_1_link0" />
<child link="fr3v2_1_link0_accelerometer_bottom" />
</joint>
<link name="fr3v2_1_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/fr3v2_1/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/fr3v2_1/collision/link1.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00458 0.027016 -0.0618" rpy="0.0 0.0 0.0" />
<mass value="2.4377" />
<inertia ixx="0.02324" ixy="0.000333" ixz="-0.000676" iyy="0.02146" iyz="0.003739" izz="0.0055" />
</inertial>
</link>
<link name="fr3v2_1_link1_accelerometer_top" />
<joint name="fr3v2_1_link1_accelerometer_top_joint" type="fixed">
<origin xyz="0.017402 -0.093352 -0.00787" rpy="-1.5708 0.0 3.1416" />
<parent link="fr3v2_1_link1" />
<child link="fr3v2_1_link1_accelerometer_top" />
</joint>
<link name="fr3v2_1_link1_accelerometer_bottom" />
<joint name="fr3v2_1_link1_accelerometer_bottom_joint" type="fixed">
<origin xyz="0.01974 -0.08975 0.00155" rpy="-1.5708 1.5708 0.0" />
<parent link="fr3v2_1_link1" />
<child link="fr3v2_1_link1_accelerometer_bottom" />
</joint>
<joint name="fr3v2_1_joint1" type="revolute">
<origin xyz="0.0 0.0 0.333" rpy="0.0 0.0 0.0" />
<parent link="fr3v2_1_link0" />
<child link="fr3v2_1_link1" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="87.0" velocity="2.62" lower="-2.9007400166666666" upper="2.9007400166666666" />
<dynamics damping="0.003" friction="0.2" />
</joint>
<link name="fr3v2_1_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/fr3v2_1/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/fr3v2_1/collision/link2.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.01063 -0.184739 -0.010479" rpy="0.0 0.0 0.0" />
<mass value="2.2375" />
<inertia ixx="0.019026" ixy="0.001241" ixz="0.000499" iyy="0.00566" iyz="-0.001804" izz="0.017114" />
</inertial>
</link>
<link name="fr3v2_1_link2_accelerometer_top" />
<joint name="fr3v2_1_link2_accelerometer_top_joint" type="fixed">
<origin xyz="0.017403 -0.11515 0.00787" rpy="1.5708 0.0 3.1416" />
<parent link="fr3v2_1_link2" />
<child link="fr3v2_1_link2_accelerometer_top" />
</joint>
<link name="fr3v2_1_link2_accelerometer_bottom" />
<joint name="fr3v2_1_link2_accelerometer_bottom_joint" type="fixed">
<origin xyz="0.019737 -0.11875 -0.00155" rpy="1.5708 -1.5708 0.0" />
<parent link="fr3v2_1_link2" />
<child link="fr3v2_1_link2_accelerometer_bottom" />
</joint>
<joint name="fr3v2_1_joint2" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="-1.570796326794897 0.0 0.0" />
<parent link="fr3v2_1_link1" />
<child link="fr3v2_1_link2" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="87.0" velocity="2.62" lower="-1.8360900166666667" upper="1.8360900166666667" />
<dynamics damping="0.003" friction="0.2" />
</joint>
<link name="fr3v2_1_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/fr3v2_1/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/fr3v2_1/collision/link3.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.091995 0.023003 0.047348" rpy="0.0 0.0 0.0" />
<mass value="2.196382" />
<inertia ixx="0.010225" ixy="0.001144" ixz="0.003497" iyy="0.012398" iyz="0.002156" izz="0.006877" />
</inertial>
</link>
<link name="fr3v2_1_link3_accelerometer_top" />
<joint name="fr3v2_1_link3_accelerometer_top_joint" type="fixed">
<origin xyz="0.065099 0.077352 -0.00787" rpy="-1.5708 0.0 0.0" />
<parent link="fr3v2_1_link3" />
<child link="fr3v2_1_link3_accelerometer_top" />
</joint>
<link name="fr3v2_1_link3_accelerometer_bottom" />
<joint name="fr3v2_1_link3_accelerometer_bottom_joint" type="fixed">
<origin xyz="0.062769 0.073756 0.00155" rpy="1.5708 1.5708 0.0" />
<parent link="fr3v2_1_link3" />
<child link="fr3v2_1_link3_accelerometer_bottom" />
</joint>
<joint name="fr3v2_1_joint3" type="revolute">
<origin xyz="0.0 -0.316 0.0" rpy="1.570796326794897 0.0 0.0" />
<parent link="fr3v2_1_link2" />
<child link="fr3v2_1_link3" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="87.0" velocity="2.62" lower="-2.9007400166666666" upper="2.9007400166666666" />
<dynamics damping="0.003" friction="0.2" />
</joint>
<link name="fr3v2_1_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/fr3v2_1/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/fr3v2_1/collision/link4.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.084334 0.096836 0.006248" rpy="0.0 0.0 0.0" />
<mass value="2.186422" />
<inertia ixx="0.008878" ixy="-0.003749" ixz="0.001139" iyy="0.007628" iyz="-0.00046" izz="0.010295" />
</inertial>
</link>
<link name="fr3v2_1_link4_accelerometer_top" />
<joint name="fr3v2_1_link4_accelerometer_top_joint" type="fixed">
<origin xyz="-0.0651 0.046152 -0.00787" rpy="-1.5708 0.0 -3.1416" />
<parent link="fr3v2_1_link4" />
<child link="fr3v2_1_link4_accelerometer_top" />
</joint>
<link name="fr3v2_1_link4_accelerometer_bottom" />
<joint name="fr3v2_1_link4_accelerometer_bottom_joint" type="fixed">
<origin xyz="-0.062775 0.049753 0.00155" rpy="-1.5708 1.5708 0.0" />
<parent link="fr3v2_1_link4" />
<child link="fr3v2_1_link4_accelerometer_bottom" />
</joint>
<joint name="fr3v2_1_joint4" type="revolute">
<origin xyz="0.0825 0.0 0.0" rpy="1.570796326794897 0.0 0.0" />
<parent link="fr3v2_1_link3" />
<child link="fr3v2_1_link4" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="87.0" velocity="2.62" lower="-3.077020016666667" upper="-0.11693708333333333" />
<dynamics damping="0.003" friction="0.2" />
</joint>
<link name="fr3v2_1_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/fr3v2_1/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/fr3v2_1/collision/link5.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="3.9e-05 0.011821 -0.054936" rpy="0.0 0.0 0.0" />
<mass value="2.190783" />
<inertia ixx="0.031874" ixy="0.000134" ixz="-0.000265" iyy="0.029674" iyz="-0.004734" izz="0.004751" />
</inertial>
</link>
<link name="fr3v2_1_link5_accelerometer_top" />
<joint name="fr3v2_1_link5_accelerometer_top_joint" type="fixed">
<origin xyz="-0.017363 0.085872 -0.00795" rpy="-1.5708 0.0 0.0" />
<parent link="fr3v2_1_link5" />
<child link="fr3v2_1_link5_accelerometer_top" />
</joint>
<link name="fr3v2_1_link5_accelerometer_bottom" />
<joint name="fr3v2_1_link5_accelerometer_bottom_joint" type="fixed">
<origin xyz="-0.019742 0.082275 0.00146" rpy="1.5708 1.5708 0.0" />
<parent link="fr3v2_1_link5" />
<child link="fr3v2_1_link5_accelerometer_bottom" />
</joint>
<joint name="fr3v2_1_joint5" type="revolute">
<origin xyz="-0.0825 0.384 0.0" rpy="-1.570796326794897 0.0 0.0" />
<parent link="fr3v2_1_link4" />
<child link="fr3v2_1_link5" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="12.0" velocity="5.26" lower="-2.87630335" upper="2.87630335" />
<dynamics damping="0.003" friction="0.2" />
</joint>
<link name="fr3v2_1_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/fr3v2_1/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/fr3v2_1/collision/link6.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.069627 -0.016716 -0.037235" rpy="0.0 0.0 0.0" />
<mass value="1.583583" />
<inertia ixx="0.00286" ixy="-0.000553" ixz="-0.000638" iyy="0.00391" iyz="-0.00024" izz="0.00453" />
</inertial>
</link>
<joint name="fr3v2_1_joint6" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="1.570796326794897 0.0 0.0" />
<parent link="fr3v2_1_link5" />
<child link="fr3v2_1_link6" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="12.0" velocity="4.18" lower="0.43982265" upper="4.62163335" />
<dynamics damping="0.003" friction="0.2" />
</joint>
<link name="fr3v2_1_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/fr3v2_1/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/fr3v2_1/collision/link7.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.014555 0.00923 0.065858" rpy="0.0 0.0 0.0" />
<mass value="0.698686" />
<inertia ixx="0.000899" ixy="0.0" ixz="-1.3e-05" iyy="0.001099" iyz="-2.2e-05" izz="0.000702" />
</inertial>
</link>
<joint name="fr3v2_1_joint7" type="revolute">
<origin xyz="0.088 0.0 0.0" rpy="1.570796326794897 0.0 0.0" />
<parent link="fr3v2_1_link6" />
<child link="fr3v2_1_link7" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="12.0" velocity="5.26" lower="-3.05083335" upper="3.05083335" />
<dynamics damping="0.003" friction="0.2" />
</joint>
<link name="fr3v2_1_link8" />
<joint name="fr3v2_1_joint8" type="fixed">
<origin xyz="0.0 0.0 0.107" rpy="0.0 0.0 0.0" />
<parent link="fr3v2_1_link7" />
<child link="fr3v2_1_link8" />
</joint>
<joint name="fr3v2_1_hand_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -0.7853981633974483" />
<parent link="fr3v2_1_link8" />
<child link="fr3v2_1_hand" />
</joint>
<link name="fr3v2_1_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="fr3v2_1_hand_tcp" />
<joint name="fr3v2_1_hand_tcp_joint" type="fixed">
<origin xyz="0.0 0.0 0.1034" rpy="0.0 0.0 0.0" />
<parent link="fr3v2_1_hand" />
<child link="fr3v2_1_hand_tcp" />
</joint>
<link name="fr3v2_1_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="fr3v2_1_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="fr3v2_1_finger_joint1" type="prismatic">
<origin xyz="0.0 0.0 0.0584" rpy="0.0 0.0 0.0" />
<parent link="fr3v2_1_hand" />
<child link="fr3v2_1_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="fr3v2_1_finger_joint2" type="prismatic">
<origin xyz="0.0 0.0 0.0584" rpy="0.0 0.0 3.141592653589793" />
<parent link="fr3v2_1_hand" />
<child link="fr3v2_1_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 e8dbc4d01f593c36 -->
<mujoco model="fr3v2_1">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="visual_link0" file="franka_description/meshes/robots/fr3v2_1/visual/link0.dae" />
<mesh name="collision_link0" file="franka_description/meshes/robots/fr3v2_1/collision/link0.stl" />
<mesh name="visual_link1" file="franka_description/meshes/robots/fr3v2_1/visual/link1.dae" />
<mesh name="collision_link1" file="franka_description/meshes/robots/fr3v2_1/collision/link1.stl" />
<mesh name="visual_link2" file="franka_description/meshes/robots/fr3v2_1/visual/link2.dae" />
<mesh name="collision_link2" file="franka_description/meshes/robots/fr3v2_1/collision/link2.stl" />
<mesh name="visual_link3" file="franka_description/meshes/robots/fr3v2_1/visual/link3.dae" />
<mesh name="collision_link3" file="franka_description/meshes/robots/fr3v2_1/collision/link3.stl" />
<mesh name="visual_link4" file="franka_description/meshes/robots/fr3v2_1/visual/link4.dae" />
<mesh name="collision_link4" file="franka_description/meshes/robots/fr3v2_1/collision/link4.stl" />
<mesh name="visual_link5" file="franka_description/meshes/robots/fr3v2_1/visual/link5.dae" />
<mesh name="collision_link5" file="franka_description/meshes/robots/fr3v2_1/collision/link5.stl" />
<mesh name="visual_link6" file="franka_description/meshes/robots/fr3v2_1/visual/link6.dae" />
<mesh name="collision_link6" file="franka_description/meshes/robots/fr3v2_1/collision/link6.stl" />
<mesh name="visual_link7" file="franka_description/meshes/robots/fr3v2_1/visual/link7.dae" />
<mesh name="collision_link7" file="franka_description/meshes/robots/fr3v2_1/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="fr3v2_1_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="fr3v2_1_link0_vis_0" type="mesh" mesh="visual_link0" contype="0" conaffinity="0" group="2" />
<geom name="fr3v2_1_link0_col_0" type="mesh" mesh="collision_link0" group="3" />
<body name="fr3v2_1_link0_accelerometer_top" pos="-0.017402 -0.007872 0.04715" quat="-3.673205103346574e-06 0.9999999999932537 0.0 -0.0" />
<body name="fr3v2_1_link0_accelerometer_bottom" pos="-0.019739 0.0015506 0.05075" quat="0.7071054825112363 0.0 0.0 -0.7071080798594735" />
<body name="fr3v2_1_link1" pos="0.0 0.0 0.333">
<joint name="fr3v2_1_joint1" type="hinge" axis="0.0 0.0 1.0" range="-2.9007400166666666 2.9007400166666666" damping="0.003" frictionloss="0.2" />
<inertial pos="-0.00458 0.027016 -0.0618" mass="2.4377" fullinertia="0.02324 0.02146 0.0055 0.000333 -0.000676 0.003739" />
<geom name="fr3v2_1_link1_vis_0" type="mesh" mesh="visual_link1" contype="0" conaffinity="0" group="2" />
<geom name="fr3v2_1_link1_col_0" type="mesh" mesh="collision_link1" group="3" />
<body name="fr3v2_1_link1_accelerometer_top" pos="0.017402 -0.093352 -0.00787" quat="-2.5973434669646147e-06 2.597353007557415e-06 -0.7071080798547033 0.707105482506466" />
<body name="fr3v2_1_link1_accelerometer_bottom" pos="0.01974 -0.08975 0.00155" quat="0.4999981633974483 -0.49999999999662686 0.49999999999662686 0.5000018366025516" />
<body name="fr3v2_1_link2" quat="0.7071067811865474 -0.7071067811865477 0.0 0.0">
<joint name="fr3v2_1_joint2" type="hinge" axis="0.0 0.0 1.0" range="-1.8360900166666667 1.8360900166666667" damping="0.003" frictionloss="0.2" />
<inertial pos="-0.01063 -0.184739 -0.010479" mass="2.2375" fullinertia="0.019026 0.00566 0.017114 0.001241 0.000499 -0.001804" />
<geom name="fr3v2_1_link2_vis_0" type="mesh" mesh="visual_link2" contype="0" conaffinity="0" group="2" />
<geom name="fr3v2_1_link2_col_0" type="mesh" mesh="collision_link2" group="3" />
<body name="fr3v2_1_link2_accelerometer_top" pos="0.017403 -0.11515 0.00787" quat="-2.5973434669646147e-06 -2.597353007557415e-06 0.7071080798547033 0.707105482506466" />
<body name="fr3v2_1_link2_accelerometer_bottom" pos="0.019737 -0.11875 -0.00155" quat="0.4999981633974483 0.49999999999662686 -0.49999999999662686 0.5000018366025516" />
<body name="fr3v2_1_link3" pos="0.0 -0.316 0.0" quat="0.7071067811865474 0.7071067811865477 0.0 0.0">
<joint name="fr3v2_1_joint3" type="hinge" axis="0.0 0.0 1.0" range="-2.9007400166666666 2.9007400166666666" damping="0.003" frictionloss="0.2" />
<inertial pos="0.091995 0.023003 0.047348" mass="2.196382" fullinertia="0.010225 0.012398 0.006877 0.001144 0.003497 0.002156" />
<geom name="fr3v2_1_link3_vis_0" type="mesh" mesh="visual_link3" contype="0" conaffinity="0" group="2" />
<geom name="fr3v2_1_link3_col_0" type="mesh" mesh="collision_link3" group="3" />
<body name="fr3v2_1_link3_accelerometer_top" pos="0.065099 0.077352 -0.00787" quat="0.7071054825112363 -0.7071080798594735 0.0 0.0" />
<body name="fr3v2_1_link3_accelerometer_bottom" pos="0.062769 0.073756 0.00155" quat="0.4999981633974483 0.49999999999662686 0.49999999999662686 -0.5000018366025516" />
<body name="fr3v2_1_link4" pos="0.0825 0.0 0.0" quat="0.7071067811865474 0.7071067811865477 0.0 0.0">
<joint name="fr3v2_1_joint4" type="hinge" axis="0.0 0.0 1.0" range="-3.077020016666667 -0.11693708333333333" damping="0.003" frictionloss="0.2" />
<inertial pos="-0.084334 0.096836 0.006248" mass="2.186422" fullinertia="0.008878 0.007628 0.010295 -0.003749 0.001139 -0.00046" />
<geom name="fr3v2_1_link4_vis_0" type="mesh" mesh="visual_link4" contype="0" conaffinity="0" group="2" />
<geom name="fr3v2_1_link4_col_0" type="mesh" mesh="collision_link4" group="3" />
<body name="fr3v2_1_link4_accelerometer_top" pos="-0.0651 0.046152 -0.00787" quat="-2.5973434669646147e-06 2.597353007557415e-06 0.7071080798547033 -0.707105482506466" />
<body name="fr3v2_1_link4_accelerometer_bottom" pos="-0.062775 0.049753 0.00155" quat="0.4999981633974483 -0.49999999999662686 0.49999999999662686 0.5000018366025516" />
<body name="fr3v2_1_link5" pos="-0.0825 0.384 0.0" quat="0.7071067811865474 -0.7071067811865477 0.0 0.0">
<joint name="fr3v2_1_joint5" type="hinge" axis="0.0 0.0 1.0" range="-2.87630335 2.87630335" damping="0.003" frictionloss="0.2" />
<inertial pos="3.9e-05 0.011821 -0.054936" mass="2.190783" fullinertia="0.031874 0.029674 0.004751 0.000134 -0.000265 -0.004734" />
<geom name="fr3v2_1_link5_vis_0" type="mesh" mesh="visual_link5" contype="0" conaffinity="0" group="2" />
<geom name="fr3v2_1_link5_col_0" type="mesh" mesh="collision_link5" group="3" />
<body name="fr3v2_1_link5_accelerometer_top" pos="-0.017363 0.085872 -0.00795" quat="0.7071054825112363 -0.7071080798594735 0.0 0.0" />
<body name="fr3v2_1_link5_accelerometer_bottom" pos="-0.019742 0.082275 0.00146" quat="0.4999981633974483 0.49999999999662686 0.49999999999662686 -0.5000018366025516" />
<body name="fr3v2_1_link6" quat="0.7071067811865474 0.7071067811865477 0.0 0.0">
<joint name="fr3v2_1_joint6" type="hinge" axis="0.0 0.0 1.0" range="0.43982265 4.62163335" damping="0.003" frictionloss="0.2" />
<inertial pos="0.069627 -0.016716 -0.037235" mass="1.583583" fullinertia="0.00286 0.00391 0.00453 -0.000553 -0.000638 -0.00024" />
<geom name="fr3v2_1_link6_vis_0" type="mesh" mesh="visual_link6" contype="0" conaffinity="0" group="2" />
<geom name="fr3v2_1_link6_col_0" type="mesh" mesh="collision_link6" group="3" />
<body name="fr3v2_1_link7" pos="0.088 0.0 0.0" quat="0.7071067811865474 0.7071067811865477 0.0 0.0">
<joint name="fr3v2_1_joint7" type="hinge" axis="0.0 0.0 1.0" range="-3.05083335 3.05083335" damping="0.003" frictionloss="0.2" />
<inertial pos="-0.014555 0.00923 0.065858" mass="0.698686" fullinertia="0.000899 0.001099 0.000702 0.0 -1.3e-05 -2.2e-05" />
<geom name="fr3v2_1_link7_vis_0" type="mesh" mesh="visual_link7" contype="0" conaffinity="0" group="2" />
<geom name="fr3v2_1_link7_col_0" type="mesh" mesh="collision_link7" group="3" />
<body name="fr3v2_1_link8" pos="0.0 0.0 0.107">
<body name="fr3v2_1_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="fr3v2_1_hand_vis_0" type="mesh" mesh="visual_hand" contype="0" conaffinity="0" group="2" />
<geom name="fr3v2_1_hand_col_0" type="mesh" mesh="collision_hand" group="3" />
<body name="fr3v2_1_hand_tcp" pos="0.0 0.0 0.1034" />
<body name="fr3v2_1_leftfinger" pos="0.0 0.0 0.0584">
<joint name="fr3v2_1_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="fr3v2_1_leftfinger_vis_0" type="mesh" mesh="finger" contype="0" conaffinity="0" group="2" />
<geom name="fr3v2_1_leftfinger_col_0" type="box" size="0.011 0.0075 0.01" pos="0.0 0.0185 0.011" group="3" />
<geom name="fr3v2_1_leftfinger_col_1" type="box" size="0.011 0.0044 0.0019" pos="0.0 0.0068 0.0022" group="3" />
<geom name="fr3v2_1_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="fr3v2_1_leftfinger_col_3" type="box" size="0.00875 0.0076 0.00925" pos="0.0 0.00758 0.04525" group="3" />
</body>
<body name="fr3v2_1_rightfinger" pos="0.0 0.0 0.0584" quat="6.123233995736766e-17 0.0 0.0 1.0">
<joint name="fr3v2_1_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="fr3v2_1_rightfinger_vis_0" type="mesh" mesh="finger" contype="0" conaffinity="0" group="2" />
<geom name="fr3v2_1_rightfinger_col_0" type="box" size="0.011 0.0075 0.01" pos="0.0 0.0185 0.011" group="3" />
<geom name="fr3v2_1_rightfinger_col_1" type="box" size="0.011 0.0044 0.0019" pos="0.0 0.0068 0.0022" group="3" />
<geom name="fr3v2_1_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="fr3v2_1_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="fr3v2_1_link0" />
<exclude body1="fr3v2_1_link0" body2="fr3v2_1_link0_accelerometer_top" />
<exclude body1="fr3v2_1_link0" body2="fr3v2_1_link0_accelerometer_bottom" />
<exclude body1="fr3v2_1_link1" body2="fr3v2_1_link1_accelerometer_top" />
<exclude body1="fr3v2_1_link1" body2="fr3v2_1_link1_accelerometer_bottom" />
<exclude body1="fr3v2_1_link0" body2="fr3v2_1_link1" />
<exclude body1="fr3v2_1_link2" body2="fr3v2_1_link2_accelerometer_top" />
<exclude body1="fr3v2_1_link2" body2="fr3v2_1_link2_accelerometer_bottom" />
<exclude body1="fr3v2_1_link1" body2="fr3v2_1_link2" />
<exclude body1="fr3v2_1_link3" body2="fr3v2_1_link3_accelerometer_top" />
<exclude body1="fr3v2_1_link3" body2="fr3v2_1_link3_accelerometer_bottom" />
<exclude body1="fr3v2_1_link2" body2="fr3v2_1_link3" />
<exclude body1="fr3v2_1_link4" body2="fr3v2_1_link4_accelerometer_top" />
<exclude body1="fr3v2_1_link4" body2="fr3v2_1_link4_accelerometer_bottom" />
<exclude body1="fr3v2_1_link3" body2="fr3v2_1_link4" />
<exclude body1="fr3v2_1_link5" body2="fr3v2_1_link5_accelerometer_top" />
<exclude body1="fr3v2_1_link5" body2="fr3v2_1_link5_accelerometer_bottom" />
<exclude body1="fr3v2_1_link4" body2="fr3v2_1_link5" />
<exclude body1="fr3v2_1_link5" body2="fr3v2_1_link6" />
<exclude body1="fr3v2_1_link6" body2="fr3v2_1_link7" />
<exclude body1="fr3v2_1_link7" body2="fr3v2_1_link8" />
<exclude body1="fr3v2_1_link8" body2="fr3v2_1_hand" />
<exclude body1="fr3v2_1_hand" body2="fr3v2_1_hand_tcp" />
<exclude body1="fr3v2_1_hand" body2="fr3v2_1_leftfinger" />
<exclude body1="fr3v2_1_hand" body2="fr3v2_1_rightfinger" />
</contact>
</mujoco>
Import report
Counts
| Links | 26 |
|---|---|
| Joints | 25 |
| Moving joints | 9 |
| Visuals | 11 |
| Collisions | 17 |
| Materials | 0 |
Meshes
Formats: dae, stl.
Asset size: 29.3 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 |
position_based_velocity_limits | 7 | <position_based_velocity_limits> is not part of the URDF subset RobotDescription mirrors |
safety_controller | 7 | soft limits (safety_controller) are not representable yet |
Forward-kinematics check
Forward kinematics of 26 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 · 6.0e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 9).
Source & licence
| Repository | https://github.com/frankarobotics/franka_description |
|---|---|
| Commit | 72baf5bf4e88eaec27f0eb61be1b20a001abf2ab |
| Original file | robots/fr3v2_1/fr3v2_1.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.