Gen3 Lite
Kinova · licence BSD-3-Clause · source: github.com/Kinovarobotics/ros2_kortex @ ca433b079
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 850da28e07e8560d -->
<robot name="gen3_lite_gen3_lite_2f">
<link name="world" />
<joint name="base_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="world" />
<child link="base_link" />
</joint>
<link name="base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3_lite/6dof/meshes/base_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3_lite/6dof/meshes/base_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00244324 0.00015573 0.08616742" rpy="0.0 0.0 0.0" />
<mass value="1.14608471" />
<inertia ixx="0.00335854" ixy="3.9e-07" ixz="0.00010989" iyy="0.003311" iyz="1.91e-06" izz="0.00077158" />
</inertial>
</link>
<link name="shoulder_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3_lite/6dof/meshes/shoulder_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3_lite/6dof/meshes/shoulder_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="2.477e-05 0.02213531 0.09937686" rpy="0.0 0.0 0.0" />
<mass value="0.95974404" />
<inertia ixx="0.00165947" ixy="2e-08" ixz="3.6e-07" iyy="0.00140355" iyz="0.00034927" izz="0.00089493" />
</inertial>
</link>
<joint name="joint_1" type="revolute">
<origin xyz="0.0 0.0 0.12825" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="shoulder_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="1.6" lower="-2.68" upper="2.68" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="arm_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3_lite/6dof/meshes/arm_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3_lite/6dof/meshes/arm_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.02998299 0.21154808 0.0453031" rpy="0.0 0.0 0.0" />
<mass value="1.17756164" />
<inertia ixx="0.01149277" ixy="1e-06" ixz="1.6e-07" iyy="0.00102851" iyz="0.00140765" izz="0.01133492" />
</inertial>
</link>
<joint name="joint_2" type="revolute">
<origin xyz="0.0 -0.03 0.115" rpy="1.5708 0.0 0.0" />
<parent link="shoulder_link" />
<child link="arm_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="14.0" velocity="1.6" lower="-2.61" upper="2.61" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="forearm_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3_lite/6dof/meshes/forearm_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3_lite/6dof/meshes/forearm_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0301559 0.09502206 0.0073555" rpy="0.0 0.0 0.0" />
<mass value="0.59767669" />
<inertia ixx="0.00163256" ixy="7.11e-06" ixz="1.54e-06" iyy="0.00029798" iyz="9.587e-05" izz="0.00169091" />
</inertial>
</link>
<joint name="joint_3" type="revolute">
<origin xyz="0.0 0.28 0.0" rpy="-3.1416 0.0 0.0" />
<parent link="arm_link" />
<child link="forearm_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="1.6" lower="-2.61" upper="2.61" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="lower_wrist_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3_lite/6dof/meshes/lower_wrist_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3_lite/6dof/meshes/lower_wrist_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00575149 0.01000443 0.08719207" rpy="0.0 0.0 0.0" />
<mass value="0.52693412" />
<inertia ixx="0.00069098" ixy="2.4e-07" ixz="0.00016483" iyy="0.00078519" iyz="7.4e-07" izz="0.00034115" />
</inertial>
</link>
<joint name="joint_4" type="revolute">
<origin xyz="0.0 -0.14 0.02" rpy="1.5708 0.0 0.0" />
<parent link="forearm_link" />
<child link="lower_wrist_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="7.0" velocity="1.6" lower="-2.6" upper="2.6" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="upper_wrist_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3_lite/6dof/meshes/upper_wrist_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3_lite/6dof/meshes/upper_wrist_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.08056517 0.00980409 0.01872799" rpy="0.0 0.0 0.0" />
<mass value="0.58097325" />
<inertia ixx="0.00021268" ixy="5.21e-06" ixz="2.91e-06" iyy="0.00106371" iyz="1.1e-07" izz="0.00108465" />
</inertial>
</link>
<joint name="joint_5" type="revolute">
<origin xyz="0.0285 0.0 0.105" rpy="0.0 1.5708 0.0" />
<parent link="lower_wrist_link" />
<child link="upper_wrist_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="7.0" velocity="1.6" lower="-2.53" upper="2.53" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="end_effector_link" />
<joint name="joint_6" type="revolute">
<origin xyz="-0.105 0.0 0.0285" rpy="0.0 -1.5708 0.0" />
<parent link="upper_wrist_link" />
<child link="end_effector_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="7.0" velocity="3.2" lower="-2.6" upper="2.6" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="dummy_link" />
<joint name="end_effector" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="end_effector_link" />
<child link="dummy_link" />
</joint>
<link name="tool_frame" />
<joint name="tool_frame_joint" type="fixed">
<origin xyz="0.0 0.0 0.13" rpy="0.0 0.0 1.57079632679" />
<parent link="dummy_link" />
<child link="tool_frame" />
</joint>
<joint name="gripper_base_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="dummy_link" />
<child link="gripper_base_link" />
</joint>
<link name="gripper_base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/grippers/gen3_lite_2f/meshes/gripper_base_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/grippers/gen3_lite_2f/meshes/gripper_base_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="4.03e-06 1.08e-05 0.041397" rpy="0.0 0.0 0.0" />
<mass value="0.1395" />
<inertia ixx="0.00011614" ixy="1e-08" ixz="4e-08" iyy="0.00010327" iyz="0.0" izz="9.707e-05" />
</inertial>
</link>
<link name="right_finger_prox_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/grippers/gen3_lite_2f/meshes/right_finger_prox_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/grippers/gen3_lite_2f/meshes/right_finger_prox_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.020257 0.0063483 6.991e-05" rpy="0.0 0.0 0.0" />
<mass value="0.018385" />
<inertia ixx="2.29e-06" ixy="1.43e-06" ixz="0.0" iyy="4.56e-06" iyz="0.0" izz="4.77e-06" />
</inertial>
</link>
<joint name="right_finger_bottom_joint" type="revolute">
<origin xyz="0.0 -0.030501 0.070003" rpy="1.571 0.611 1.571" />
<parent link="gripper_base_link" />
<child link="right_finger_prox_link" />
<axis xyz="0.0 0.0 -1.0" />
<limit effort="50.0" velocity="0.6" lower="0.0" upper="0.85" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="right_finger_dist_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/grippers/gen3_lite_2f/meshes/right_finger_dist_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/grippers/gen3_lite_2f/meshes/right_finger_dist_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.018488 0.0011091 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.010748" />
<inertia ixx="6.3e-07" ixy="3.2e-07" ixz="0.0" iyy="1.83e-06" iyz="0.0" izz="1.61e-06" />
</inertial>
</link>
<joint name="right_finger_tip_joint" type="revolute">
<origin xyz="-0.045636 0.020423 0.0" rpy="0.0 0.0 0.0" />
<parent link="right_finger_prox_link" />
<child link="right_finger_dist_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="1000.0" velocity="1000.0" lower="-0.5" upper="0.21" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_finger_prox_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/grippers/gen3_lite_2f/meshes/left_finger_prox_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/grippers/gen3_lite_2f/meshes/left_finger_prox_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.020257 0.0063483 6.99e-05" rpy="0.0 0.0 0.0" />
<mass value="0.018385" />
<inertia ixx="2.29e-06" ixy="1.43e-06" ixz="0.0" iyy="4.56e-06" iyz="0.0" izz="4.77e-06" />
</inertial>
</link>
<joint name="left_finger_bottom_joint" type="revolute">
<origin xyz="0.0 0.0305 0.070003" rpy="-1.571 0.611 -1.571" />
<parent link="gripper_base_link" />
<child link="left_finger_prox_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="1000.0" velocity="1000.0" lower="0.0" upper="0.85" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_finger_dist_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/grippers/gen3_lite_2f/meshes/left_finger_dist_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kortex_description/grippers/gen3_lite_2f/meshes/left_finger_dist_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.018488 0.0011091 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.010748" />
<inertia ixx="6.3e-07" ixy="3.2e-07" ixz="0.0" iyy="1.83e-06" iyz="0.0" izz="1.61e-06" />
</inertial>
</link>
<joint name="left_finger_tip_joint" type="revolute">
<origin xyz="-0.045636 -0.020423 6.9901e-05" rpy="0.0 0.0 0.0" />
<parent link="left_finger_prox_link" />
<child link="left_finger_dist_link" />
<axis xyz="0.0 0.0 -1.0" />
<limit effort="1000.0" velocity="1000.0" lower="-0.5" upper="0.21" />
<dynamics damping="0.0" friction="0.0" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 850da28e07e8560d -->
<mujoco model="gen3_lite_gen3_lite_2f">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="base_link" file="kortex_description/arms/gen3_lite/6dof/meshes/base_link.STL" />
<mesh name="shoulder_link" file="kortex_description/arms/gen3_lite/6dof/meshes/shoulder_link.STL" />
<mesh name="arm_link" file="kortex_description/arms/gen3_lite/6dof/meshes/arm_link.STL" />
<mesh name="forearm_link" file="kortex_description/arms/gen3_lite/6dof/meshes/forearm_link.STL" />
<mesh name="lower_wrist_link" file="kortex_description/arms/gen3_lite/6dof/meshes/lower_wrist_link.STL" />
<mesh name="upper_wrist_link" file="kortex_description/arms/gen3_lite/6dof/meshes/upper_wrist_link.STL" />
<mesh name="gripper_base_link" file="kortex_description/grippers/gen3_lite_2f/meshes/gripper_base_link.STL" />
<mesh name="right_finger_prox_link" file="kortex_description/grippers/gen3_lite_2f/meshes/right_finger_prox_link.STL" />
<mesh name="right_finger_dist_link" file="kortex_description/grippers/gen3_lite_2f/meshes/right_finger_dist_link.STL" />
<mesh name="left_finger_prox_link" file="kortex_description/grippers/gen3_lite_2f/meshes/left_finger_prox_link.STL" />
<mesh name="left_finger_dist_link" file="kortex_description/grippers/gen3_lite_2f/meshes/left_finger_dist_link.STL" />
</asset>
<worldbody>
<body name="base_link">
<inertial pos="0.00244324 0.00015573 0.08616742" mass="1.14608471" fullinertia="0.00335854 0.003311 0.00077158 3.9e-07 0.00010989 1.91e-06" />
<geom name="base_link_vis_0" type="mesh" mesh="base_link" contype="0" conaffinity="0" group="2" />
<geom name="base_link_col_0" type="mesh" mesh="base_link" group="3" />
<body name="shoulder_link" pos="0.0 0.0 0.12825">
<joint name="joint_1" type="hinge" axis="0.0 0.0 1.0" range="-2.68 2.68" />
<inertial pos="2.477e-05 0.02213531 0.09937686" mass="0.95974404" fullinertia="0.00165947 0.00140355 0.00089493 2e-08 3.6e-07 0.00034927" />
<geom name="shoulder_link_vis_0" type="mesh" mesh="shoulder_link" contype="0" conaffinity="0" group="2" />
<geom name="shoulder_link_col_0" type="mesh" mesh="shoulder_link" group="3" />
<body name="arm_link" pos="0.0 -0.03 0.115" quat="0.7071054825112363 0.7071080798594735 0.0 0.0">
<joint name="joint_2" type="hinge" axis="0.0 0.0 1.0" range="-2.61 2.61" />
<inertial pos="0.02998299 0.21154808 0.0453031" mass="1.17756164" fullinertia="0.01149277 0.00102851 0.01133492 1e-06 1.6e-07 0.00140765" />
<geom name="arm_link_vis_0" type="mesh" mesh="arm_link" contype="0" conaffinity="0" group="2" />
<geom name="arm_link_col_0" type="mesh" mesh="arm_link" group="3" />
<body name="forearm_link" pos="0.0 0.28 0.0" quat="-3.673205103346574e-06 -0.9999999999932537 -0.0 0.0">
<joint name="joint_3" type="hinge" axis="0.0 0.0 1.0" range="-2.61 2.61" />
<inertial pos="0.0301559 0.09502206 0.0073555" mass="0.59767669" fullinertia="0.00163256 0.00029798 0.00169091 7.11e-06 1.54e-06 9.587e-05" />
<geom name="forearm_link_vis_0" type="mesh" mesh="forearm_link" contype="0" conaffinity="0" group="2" />
<geom name="forearm_link_col_0" type="mesh" mesh="forearm_link" group="3" />
<body name="lower_wrist_link" pos="0.0 -0.14 0.02" quat="0.7071054825112363 0.7071080798594735 0.0 0.0">
<joint name="joint_4" type="hinge" axis="0.0 0.0 1.0" range="-2.6 2.6" />
<inertial pos="0.00575149 0.01000443 0.08719207" mass="0.52693412" fullinertia="0.00069098 0.00078519 0.00034115 2.4e-07 0.00016483 7.4e-07" />
<geom name="lower_wrist_link_vis_0" type="mesh" mesh="lower_wrist_link" contype="0" conaffinity="0" group="2" />
<geom name="lower_wrist_link_col_0" type="mesh" mesh="lower_wrist_link" group="3" />
<body name="upper_wrist_link" pos="0.0285 0.0 0.105" quat="0.7071054825112363 0.0 0.7071080798594735 0.0">
<joint name="joint_5" type="hinge" axis="0.0 0.0 1.0" range="-2.53 2.53" />
<inertial pos="0.08056517 0.00980409 0.01872799" mass="0.58097325" fullinertia="0.00021268 0.00106371 0.00108465 5.21e-06 2.91e-06 1.1e-07" />
<geom name="upper_wrist_link_vis_0" type="mesh" mesh="upper_wrist_link" contype="0" conaffinity="0" group="2" />
<geom name="upper_wrist_link_col_0" type="mesh" mesh="upper_wrist_link" group="3" />
<body name="end_effector_link" pos="-0.105 0.0 0.0285" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0">
<joint name="joint_6" type="hinge" axis="0.0 0.0 1.0" range="-2.6 2.6" />
<body name="dummy_link">
<body name="tool_frame" pos="0.0 0.0 0.13" quat="0.7071067811882787 0.0 0.0 0.7071067811848163" />
<body name="gripper_base_link">
<inertial pos="4.03e-06 1.08e-05 0.041397" mass="0.1395" fullinertia="0.00011614 0.00010327 9.707e-05 1e-08 4e-08 0.0" />
<geom name="gripper_base_link_vis_0" type="mesh" mesh="gripper_base_link" contype="0" conaffinity="0" group="2" />
<geom name="gripper_base_link_col_0" type="mesh" mesh="gripper_base_link" group="3" />
<body name="right_finger_prox_link" pos="0.0 -0.030501 0.070003" quat="0.6271668821134601 0.32646330604194035 0.6272998657710793 0.3264633060419403">
<joint name="right_finger_bottom_joint" type="hinge" axis="0.0 0.0 -1.0" range="0.0 0.85" />
<inertial pos="0.020257 0.0063483 6.991e-05" mass="0.018385" fullinertia="2.29e-06 4.56e-06 4.77e-06 1.43e-06 0.0 0.0" />
<geom name="right_finger_prox_link_vis_0" type="mesh" mesh="right_finger_prox_link" contype="0" conaffinity="0" group="2" />
<geom name="right_finger_prox_link_col_0" type="mesh" mesh="right_finger_prox_link" group="3" />
<body name="right_finger_dist_link" pos="-0.045636 0.020423 0.0">
<joint name="right_finger_tip_joint" type="hinge" axis="0.0 0.0 1.0" range="-0.5 0.21" />
<inertial pos="0.018488 0.0011091 0.0" mass="0.010748" fullinertia="6.3e-07 1.83e-06 1.61e-06 3.2e-07 0.0 0.0" />
<geom name="right_finger_dist_link_vis_0" type="mesh" mesh="right_finger_dist_link" contype="0" conaffinity="0" group="2" />
<geom name="right_finger_dist_link_col_0" type="mesh" mesh="right_finger_dist_link" group="3" />
</body>
</body>
<body name="left_finger_prox_link" pos="0.0 0.0305 0.070003" quat="0.6271668821134601 -0.32646330604194035 0.6272998657710793 -0.3264633060419403">
<joint name="left_finger_bottom_joint" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.85" />
<inertial pos="0.020257 0.0063483 6.99e-05" mass="0.018385" fullinertia="2.29e-06 4.56e-06 4.77e-06 1.43e-06 0.0 0.0" />
<geom name="left_finger_prox_link_vis_0" type="mesh" mesh="left_finger_prox_link" contype="0" conaffinity="0" group="2" />
<geom name="left_finger_prox_link_col_0" type="mesh" mesh="left_finger_prox_link" group="3" />
<body name="left_finger_dist_link" pos="-0.045636 -0.020423 6.9901e-05">
<joint name="left_finger_tip_joint" type="hinge" axis="0.0 0.0 -1.0" range="-0.5 0.21" />
<inertial pos="-0.018488 0.0011091 0.0" mass="0.010748" fullinertia="6.3e-07 1.83e-06 1.61e-06 3.2e-07 0.0 0.0" />
<geom name="left_finger_dist_link_vis_0" type="mesh" mesh="left_finger_dist_link" contype="0" conaffinity="0" group="2" />
<geom name="left_finger_dist_link_col_0" type="mesh" mesh="left_finger_dist_link" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base_link" body2="shoulder_link" />
<exclude body1="shoulder_link" body2="arm_link" />
<exclude body1="arm_link" body2="forearm_link" />
<exclude body1="forearm_link" body2="lower_wrist_link" />
<exclude body1="lower_wrist_link" body2="upper_wrist_link" />
<exclude body1="upper_wrist_link" body2="end_effector_link" />
<exclude body1="end_effector_link" body2="dummy_link" />
<exclude body1="dummy_link" body2="tool_frame" />
<exclude body1="dummy_link" body2="gripper_base_link" />
<exclude body1="gripper_base_link" body2="right_finger_prox_link" />
<exclude body1="right_finger_prox_link" body2="right_finger_dist_link" />
<exclude body1="gripper_base_link" body2="left_finger_prox_link" />
<exclude body1="left_finger_prox_link" body2="left_finger_dist_link" />
</contact>
</mujoco>
Import report
Counts
| Links | 15 |
|---|---|
| Joints | 14 |
| Moving joints | 10 |
| Visuals | 11 |
| Collisions | 11 |
| Materials | 0 |
Meshes
Formats: stl.
Asset size: 9.4 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
axis | 3 | fixed joints carry no <axis>; URDF ignores it too |
gazebo | 11 | Gazebo simulator extensions are not part of the description |
limit | 1 | fixed joints carry no <limit>; URDF ignores it too |
material | 11 | anonymous material (empty name) cannot be referenced; its colour is not kept |
mimic | 3 | joint coupling (mimic) is not representable yet; the joint imports as independent |
ros2_control | 1 | ros2_control hardware blocks are bound outside the description |
Forward-kinematics check
Forward kinematics of 15 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 · 1.2e-15 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 10).
Source & licence
| Repository | https://github.com/Kinovarobotics/ros2_kortex |
|---|---|
| Commit | ca433b079d672100cb1d42ee27049da548c08e2c |
| Original file | kortex_description/robots/gen3_lite_gen3_lite_2f.xacro |
| 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.