Gen2
Kinova · licence BSD-3-Clause · source: github.com/Gepetto/example-robot-data @ d0d9098d7
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 6549193343924259 -->
<robot name="kinova">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0" />
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0" />
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0" />
</material>
<material name="light_grey">
<color rgba="0.4 0.4 0.4 1.0" />
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0" />
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0" />
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0" />
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0" />
</material>
<link name="base">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<material name="carbon_fiber">
<color rgba="0.3 0.3 0.3 1.0" />
</material>
<link name="j2s6s200_link_base">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/base.dae" />
</geometry>
<material name="carbon_fiber" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/base.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.1255" rpy="0.0 0.0 0.0" />
<mass value="0.46784" />
<inertia ixx="0.000951270861568" ixy="0.0" ixz="0.0" iyy="0.000951270861568" iyz="0.0" izz="0.000374272" />
</inertial>
</link>
<joint name="jaco_mounting_block_to_j2s6s200_link_base" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.57079632679" />
<parent link="base" />
<child link="j2s6s200_link_base" />
</joint>
<link name="j2s6s200_link_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/shoulder.dae" />
</geometry>
<material name="carbon_fiber" />
</visual>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_big.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/shoulder.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.002 -0.0605" />
<mass value="0.7477" />
<inertia ixx="0.00152031725204" ixy="0.0" ixz="0.0" iyy="0.00152031725204" iyz="0.0" izz="0.00059816" />
</inertial>
</link>
<joint name="j2s6s200_joint_1" type="continuous">
<origin xyz="0.0 0.0 0.15675" rpy="0.0 3.14159265359 0.0" />
<parent link="j2s6s200_link_base" />
<child link="j2s6s200_link_1" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="40.0" velocity="0.628318530718" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="j2s6s200_link_2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/arm.dae" />
</geometry>
<material name="carbon_fiber" />
</visual>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_big.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/arm.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.2065 -0.01" />
<mass value="0.99" />
<inertia ixx="0.010502207991" ixy="0.0" ixz="0.0" iyy="0.000792" iyz="0.0" izz="0.010502207991" />
</inertial>
</link>
<joint name="j2s6s200_joint_2" type="revolute">
<origin xyz="0.0 0.0016 -0.11875" rpy="-1.57079632679 0.0 3.14159265359" />
<parent link="j2s6s200_link_1" />
<child link="j2s6s200_link_2" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="80.0" velocity="0.628318530718" lower="0.820304748437" upper="5.46288055874" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="j2s6s200_link_3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/forearm.dae" />
</geometry>
<material name="carbon_fiber" />
</visual>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_big.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/forearm.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.081 -0.0086" />
<mass value="0.6763" />
<inertia ixx="0.00142022431908" ixy="0.0" ixz="0.0" iyy="0.000304335" iyz="0.0" izz="0.00142022431908" />
</inertial>
</link>
<joint name="j2s6s200_joint_3" type="revolute">
<origin xyz="0.0 -0.41 0.0" rpy="0.0 3.14159265359 0.0" />
<parent link="j2s6s200_link_2" />
<child link="j2s6s200_link_3" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="40.0" velocity="0.628318530718" lower="0.331612557879" upper="5.9515727493" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="j2s6s200_link_4">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/wrist_spherical_1.dae" />
</geometry>
<material name="carbon_fiber" />
</visual>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_small.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/wrist_spherical_1.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0028848942 -0.0541932613" />
<mass value="0.463" />
<inertia ixx="0.0004321316048" ixy="0.0" ixz="0.0" iyy="0.0004321316048" iyz="0.0" izz="9.26e-05" />
</inertial>
</link>
<joint name="j2s6s200_joint_4" type="continuous">
<origin xyz="0.0 0.2073 -0.0114" rpy="-1.57079632679 0.0 3.14159265359" />
<parent link="j2s6s200_link_3" />
<child link="j2s6s200_link_4" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="20.0" velocity="0.837758040957" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="j2s6s200_link_5">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/wrist_spherical_2.dae" />
</geometry>
<material name="carbon_fiber" />
</visual>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_small.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/wrist_spherical_2.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0497208855 -0.0028562765" />
<mass value="0.463" />
<inertia ixx="0.0004321316048" ixy="0.0" ixz="0.0" iyy="9.26e-05" iyz="0.0" izz="0.0004321316048" />
</inertial>
</link>
<joint name="j2s6s200_joint_5" type="revolute">
<origin xyz="0.0 0.0 -0.10375" rpy="1.57079632679 0.0 3.14159265359" />
<parent link="j2s6s200_link_4" />
<child link="j2s6s200_link_5" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="20.0" velocity="0.837758040957" lower="0.523598775598" upper="5.75958653158" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="j2s6s200_link_6">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/hand_2finger.dae" />
</geometry>
<material name="carbon_fiber" />
</visual>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_small.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/hand_2finger.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.06" />
<mass value="0.99" />
<inertia ixx="0.0003453236187" ixy="0.0" ixz="0.0" iyy="0.0003453236187" iyz="0.0" izz="0.0005816" />
</inertial>
</link>
<joint name="j2s6s200_joint_6" type="continuous">
<origin xyz="0.0 0.10375 0.0" rpy="-1.57079632679 0.0 3.14159265359" />
<parent link="j2s6s200_link_5" />
<child link="j2s6s200_link_6" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="20.0" velocity="0.837758040957" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="j2s6s200_end_effector">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="j2s6s200_joint_end_effector" type="fixed">
<origin xyz="0.0 0.0 -0.16" rpy="3.14159265359 1.57079632679 0.0" />
<parent link="j2s6s200_link_6" />
<child link="j2s6s200_end_effector" />
</joint>
<link name="j2s6s200_link_finger_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_proximal.dae" />
</geometry>
<material name="carbon_fiber" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_proximal.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.022 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="7.8999684e-07" ixy="0.0" ixz="0.0" iyy="7.8999684e-07" iyz="0.0" izz="8e-08" />
</inertial>
</link>
<joint name="j2s6s200_joint_finger_1" type="fixed">
<origin xyz="-0.0025 0.03095 -0.11482" rpy="-1.570796327 0.649262481663582 1.5707963267949" />
<parent link="j2s6s200_link_6" />
<child link="j2s6s200_link_finger_1" />
</joint>
<link name="j2s6s200_link_finger_tip_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_distal.dae" />
</geometry>
<material name="carbon_fiber" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_distal.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.022 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="7.8999684e-07" ixy="0.0" ixz="0.0" iyy="7.8999684e-07" iyz="0.0" izz="8e-08" />
</inertial>
</link>
<joint name="j2s6s200_joint_finger_tip_1" type="fixed">
<origin xyz="0.044 -0.003 0.0" rpy="0.0 0.0 0.0" />
<parent link="j2s6s200_link_finger_1" />
<child link="j2s6s200_link_finger_tip_1" />
</joint>
<link name="j2s6s200_link_finger_2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_proximal.dae" />
</geometry>
<material name="carbon_fiber" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_proximal.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.022 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="7.8999684e-07" ixy="0.0" ixz="0.0" iyy="7.8999684e-07" iyz="0.0" izz="8e-08" />
</inertial>
</link>
<joint name="j2s6s200_joint_finger_2" type="fixed">
<origin xyz="-0.0025 -0.03095 -0.11482" rpy="-1.570796327 0.649262481663582 -1.5707963267949" />
<parent link="j2s6s200_link_6" />
<child link="j2s6s200_link_finger_2" />
</joint>
<link name="j2s6s200_link_finger_tip_2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_distal.dae" />
</geometry>
<material name="carbon_fiber" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_distal.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.022 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="7.8999684e-07" ixy="0.0" ixz="0.0" iyy="7.8999684e-07" iyz="0.0" izz="8e-08" />
</inertial>
</link>
<joint name="j2s6s200_joint_finger_tip_2" type="fixed">
<origin xyz="0.044 -0.003 0.0" rpy="0.0 0.0 0.0" />
<parent link="j2s6s200_link_finger_2" />
<child link="j2s6s200_link_finger_tip_2" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 6549193343924259 -->
<mujoco model="kinova">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="black" rgba="0.0 0.0 0.0 1.0" />
<material name="blue" rgba="0.0 0.0 0.8 1.0" />
<material name="green" rgba="0.0 0.8 0.0 1.0" />
<material name="grey" rgba="0.2 0.2 0.2 1.0" />
<material name="light_grey" rgba="0.4 0.4 0.4 1.0" />
<material name="orange" rgba="1.0 0.423529411765 0.0392156862745 1.0" />
<material name="brown" rgba="0.870588235294 0.811764705882 0.764705882353 1.0" />
<material name="red" rgba="0.8 0.0 0.0 1.0" />
<material name="white" rgba="1.0 1.0 1.0 1.0" />
<material name="carbon_fiber" rgba="0.3 0.3 0.3 1.0" />
<mesh name="base" file="example-robot-data/robots/kinova_description/meshes/base.dae" />
<mesh name="shoulder" file="example-robot-data/robots/kinova_description/meshes/shoulder.dae" />
<mesh name="ring_big" file="example-robot-data/robots/kinova_description/meshes/ring_big.dae" />
<mesh name="arm" file="example-robot-data/robots/kinova_description/meshes/arm.dae" />
<mesh name="forearm" file="example-robot-data/robots/kinova_description/meshes/forearm.dae" />
<mesh name="wrist_spherical_1" file="example-robot-data/robots/kinova_description/meshes/wrist_spherical_1.dae" />
<mesh name="ring_small" file="example-robot-data/robots/kinova_description/meshes/ring_small.dae" />
<mesh name="wrist_spherical_2" file="example-robot-data/robots/kinova_description/meshes/wrist_spherical_2.dae" />
<mesh name="hand_2finger" file="example-robot-data/robots/kinova_description/meshes/hand_2finger.dae" />
<mesh name="finger_proximal" file="example-robot-data/robots/kinova_description/meshes/finger_proximal.dae" />
<mesh name="finger_distal" file="example-robot-data/robots/kinova_description/meshes/finger_distal.dae" />
</asset>
<worldbody>
<body name="base">
<inertial pos="0.0 0.0 0.0" mass="0.0" diaginertia="0 0 0" />
<body name="j2s6s200_link_base" quat="0.7071067811882787 0.0 0.0 0.7071067811848163">
<inertial pos="0.0 0.0 0.1255" mass="0.46784" fullinertia="0.000951270861568 0.000951270861568 0.000374272 0.0 0.0 0.0" />
<geom name="j2s6s200_link_base_vis_0" type="mesh" mesh="base" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2s6s200_link_base_col_0" type="mesh" mesh="base" group="3" />
<body name="j2s6s200_link_1" pos="0.0 0.0 0.15675" quat="-1.0341155355510722e-13 -0.0 1.0 -0.0">
<joint name="j2s6s200_joint_1" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 -0.002 -0.0605" mass="0.7477" fullinertia="0.00152031725204 0.00152031725204 0.00059816 0.0 0.0 0.0" />
<geom name="j2s6s200_link_1_vis_0" type="mesh" mesh="shoulder" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2s6s200_link_1_vis_1" type="mesh" mesh="ring_big" contype="0" conaffinity="0" group="2" />
<geom name="j2s6s200_link_1_col_0" type="mesh" mesh="shoulder" group="3" />
<body name="j2s6s200_link_2" pos="0.0 0.0016 -0.11875" quat="-7.312301077203117e-14 7.312301077167311e-14 -0.7071067811848163 0.7071067811882787">
<joint name="j2s6s200_joint_2" type="hinge" axis="0.0 0.0 1.0" range="0.820304748437 5.46288055874" />
<inertial pos="0.0 -0.2065 -0.01" mass="0.99" fullinertia="0.010502207991 0.000792 0.010502207991 0.0 0.0 0.0" />
<geom name="j2s6s200_link_2_vis_0" type="mesh" mesh="arm" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2s6s200_link_2_vis_1" type="mesh" mesh="ring_big" contype="0" conaffinity="0" group="2" />
<geom name="j2s6s200_link_2_col_0" type="mesh" mesh="arm" group="3" />
<body name="j2s6s200_link_3" pos="0.0 -0.41 0.0" quat="-1.0341155355510722e-13 -0.0 1.0 -0.0">
<joint name="j2s6s200_joint_3" type="hinge" axis="0.0 0.0 1.0" range="0.331612557879 5.9515727493" />
<inertial pos="0.0 0.081 -0.0086" mass="0.6763" fullinertia="0.00142022431908 0.000304335 0.00142022431908 0.0 0.0 0.0" />
<geom name="j2s6s200_link_3_vis_0" type="mesh" mesh="forearm" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2s6s200_link_3_vis_1" type="mesh" mesh="ring_big" contype="0" conaffinity="0" group="2" />
<geom name="j2s6s200_link_3_col_0" type="mesh" mesh="forearm" group="3" />
<body name="j2s6s200_link_4" pos="0.0 0.2073 -0.0114" quat="-7.312301077203117e-14 7.312301077167311e-14 -0.7071067811848163 0.7071067811882787">
<joint name="j2s6s200_joint_4" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0028848942 -0.0541932613" mass="0.463" fullinertia="0.0004321316048 0.0004321316048 9.26e-05 0.0 0.0 0.0" />
<geom name="j2s6s200_link_4_vis_0" type="mesh" mesh="wrist_spherical_1" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2s6s200_link_4_vis_1" type="mesh" mesh="ring_small" contype="0" conaffinity="0" group="2" />
<geom name="j2s6s200_link_4_col_0" type="mesh" mesh="wrist_spherical_1" group="3" />
<body name="j2s6s200_link_5" pos="0.0 0.0 -0.10375" quat="-7.312301077203117e-14 -7.312301077167311e-14 0.7071067811848163 0.7071067811882787">
<joint name="j2s6s200_joint_5" type="hinge" axis="0.0 0.0 1.0" range="0.523598775598 5.75958653158" />
<inertial pos="0.0 0.0497208855 -0.0028562765" mass="0.463" fullinertia="0.0004321316048 9.26e-05 0.0004321316048 0.0 0.0 0.0" />
<geom name="j2s6s200_link_5_vis_0" type="mesh" mesh="wrist_spherical_2" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2s6s200_link_5_vis_1" type="mesh" mesh="ring_small" contype="0" conaffinity="0" group="2" />
<geom name="j2s6s200_link_5_col_0" type="mesh" mesh="wrist_spherical_2" group="3" />
<body name="j2s6s200_link_6" pos="0.0 0.10375 0.0" quat="-7.312301077203117e-14 7.312301077167311e-14 -0.7071067811848163 0.7071067811882787">
<joint name="j2s6s200_joint_6" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 -0.06" mass="0.99" fullinertia="0.0003453236187 0.0003453236187 0.0005816 0.0 0.0 0.0" />
<geom name="j2s6s200_link_6_vis_0" type="mesh" mesh="hand_2finger" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2s6s200_link_6_vis_1" type="mesh" mesh="ring_small" contype="0" conaffinity="0" group="2" />
<geom name="j2s6s200_link_6_col_0" type="mesh" mesh="hand_2finger" group="3" />
<body name="j2s6s200_end_effector" pos="0.0 0.0 -0.16" quat="-7.312301077203117e-14 0.7071067811882787 -7.312301077167311e-14 -0.7071067811848163">
<inertial pos="0.0 0.0 0.0" mass="0.0" diaginertia="0 0 0" />
</body>
<body name="j2s6s200_link_finger_1" pos="-0.0025 0.03095 -0.11482" quat="0.3144045503156031 -0.6333638596737597 -0.3144045504455105 0.6333638596092754">
<inertial pos="0.022 0.0 0.0" mass="0.01" fullinertia="7.8999684e-07 7.8999684e-07 8e-08 0.0 0.0 0.0" />
<geom name="j2s6s200_link_finger_1_vis_0" type="mesh" mesh="finger_proximal" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2s6s200_link_finger_1_col_0" type="mesh" mesh="finger_proximal" group="3" />
<body name="j2s6s200_link_finger_tip_1" pos="0.044 -0.003 0.0">
<inertial pos="0.022 0.0 0.0" mass="0.01" fullinertia="7.8999684e-07 7.8999684e-07 8e-08 0.0 0.0 0.0" />
<geom name="j2s6s200_link_finger_tip_1_vis_0" type="mesh" mesh="finger_distal" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2s6s200_link_finger_tip_1_col_0" type="mesh" mesh="finger_distal" group="3" />
</body>
</body>
<body name="j2s6s200_link_finger_2" pos="-0.0025 -0.03095 -0.11482" quat="0.6333638596092742 -0.3144045504455082 0.6333638596737609 -0.3144045503156053">
<inertial pos="0.022 0.0 0.0" mass="0.01" fullinertia="7.8999684e-07 7.8999684e-07 8e-08 0.0 0.0 0.0" />
<geom name="j2s6s200_link_finger_2_vis_0" type="mesh" mesh="finger_proximal" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2s6s200_link_finger_2_col_0" type="mesh" mesh="finger_proximal" group="3" />
<body name="j2s6s200_link_finger_tip_2" pos="0.044 -0.003 0.0">
<inertial pos="0.022 0.0 0.0" mass="0.01" fullinertia="7.8999684e-07 7.8999684e-07 8e-08 0.0 0.0 0.0" />
<geom name="j2s6s200_link_finger_tip_2_vis_0" type="mesh" mesh="finger_distal" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2s6s200_link_finger_tip_2_col_0" type="mesh" mesh="finger_distal" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base" body2="j2s6s200_link_base" />
<exclude body1="j2s6s200_link_base" body2="j2s6s200_link_1" />
<exclude body1="j2s6s200_link_1" body2="j2s6s200_link_2" />
<exclude body1="j2s6s200_link_2" body2="j2s6s200_link_3" />
<exclude body1="j2s6s200_link_3" body2="j2s6s200_link_4" />
<exclude body1="j2s6s200_link_4" body2="j2s6s200_link_5" />
<exclude body1="j2s6s200_link_5" body2="j2s6s200_link_6" />
<exclude body1="j2s6s200_link_6" body2="j2s6s200_end_effector" />
<exclude body1="j2s6s200_link_6" body2="j2s6s200_link_finger_1" />
<exclude body1="j2s6s200_link_finger_1" body2="j2s6s200_link_finger_tip_1" />
<exclude body1="j2s6s200_link_6" body2="j2s6s200_link_finger_2" />
<exclude body1="j2s6s200_link_finger_2" body2="j2s6s200_link_finger_tip_2" />
</contact>
</mujoco>
Import report
Counts
| Links | 13 |
|---|---|
| Joints | 12 |
| Moving joints | 6 |
| Visuals | 17 |
| Collisions | 11 |
| Materials | 10 |
Meshes
Formats: dae.
Asset size: 6.8 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
@lower | 3 | continuous joints have no position limits; URDF ignores it too |
@upper | 3 | continuous joints have no position limits; URDF ignores it too |
axis | 6 | fixed joints carry no <axis>; URDF ignores it too |
dynamics | 1 | fixed joints carry no <dynamics>; URDF ignores it too |
limit | 6 | fixed joints carry no <limit>; URDF ignores it too |
material | 4 | same name as an earlier material with a different colour; the earlier colour is used |
transmission | 10 | ROS transmissions (actuator-to-joint wiring) have no RobotDescription field yet |
Forward-kinematics check
Forward kinematics of 13 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 · 7.5e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 6).
Source & licence
| Repository | https://github.com/Gepetto/example-robot-data |
|---|---|
| Commit | d0d9098d752014aec3725b07766962acf06c5418 |
| Original file | robots/kinova_description/robots/kinova.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.