Jaco2 j2n6s300
Kinova · licence BSD-3-Clause · source: github.com/Kinovarobotics/kinova-ros @ 924781d3d
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 4a57d7a4624f1207 -->
<robot name="j2n6s300">
<link name="root" />
<link name="world" />
<joint name="connect_root_and_world" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="world" />
<child link="root" />
</joint>
<material name="carbon_fiber">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1.0" />
</material>
<link name="j2n6s300_link_base">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://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://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="0.00037427200000000004" />
</inertial>
</link>
<joint name="j2n6s300_joint_base" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="root" />
<child link="j2n6s300_link_base" />
</joint>
<link name="j2n6s300_link_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://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://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://kinova_description/meshes/shoulder.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.002 -0.0605" />
<mass value="0.7477" />
<inertia ixx="0.0015203172520400004" ixy="0.0" ixz="0.0" iyy="0.0015203172520400004" iyz="0.0" izz="0.00059816" />
</inertial>
</link>
<joint name="j2n6s300_joint_1" type="continuous">
<origin xyz="0.0 0.0 0.15675" rpy="0.0 3.141592653589793 0.0" />
<parent link="j2n6s300_link_base" />
<child link="j2n6s300_link_1" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="40.0" velocity="0.6283185307179586" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="j2n6s300_link_2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://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://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://kinova_description/meshes/arm.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.2065 -0.01" />
<mass value="0.99" />
<inertia ixx="0.010502207990999999" ixy="0.0" ixz="0.0" iyy="0.0007920000000000001" iyz="0.0" izz="0.010502207990999999" />
</inertial>
</link>
<joint name="j2n6s300_joint_2" type="revolute">
<origin xyz="0.0 0.0016 -0.11875" rpy="-1.5707963267948966 0.0 3.141592653589793" />
<parent link="j2n6s300_link_1" />
<child link="j2n6s300_link_2" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="80.0" velocity="0.6283185307179586" lower="0.8203047484373349" upper="5.462880558742252" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="j2n6s300_link_3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://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://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://kinova_description/meshes/forearm.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.081 -0.0086" />
<mass value="0.6763" />
<inertia ixx="0.0014202243190800001" ixy="0.0" ixz="0.0" iyy="0.000304335" iyz="0.0" izz="0.0014202243190800001" />
</inertial>
</link>
<joint name="j2n6s300_joint_3" type="revolute">
<origin xyz="0.0 -0.41 0.0" rpy="0.0 3.141592653589793 0.0" />
<parent link="j2n6s300_link_2" />
<child link="j2n6s300_link_3" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="40.0" velocity="0.6283185307179586" lower="0.33161255787892263" upper="5.951572749300664" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="j2n6s300_link_4">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kinova_description/meshes/wrist.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://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://kinova_description/meshes/wrist.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.037 -0.0642" />
<mass value="0.426367" />
<inertia ixx="7.734969059999999e-05" ixy="0.0" ixz="0.0" iyy="7.734969059999999e-05" iyz="0.0" izz="0.0001428" />
</inertial>
</link>
<joint name="j2n6s300_joint_4" type="continuous">
<origin xyz="0.0 0.2073 -0.0114" rpy="-1.5707963267948966 0.0 3.141592653589793" />
<parent link="j2n6s300_link_3" />
<child link="j2n6s300_link_4" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="20.0" velocity="0.8377580409572781" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="j2n6s300_link_5">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kinova_description/meshes/wrist.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://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://kinova_description/meshes/wrist.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.037 -0.0642" />
<mass value="0.426367" />
<inertia ixx="7.734969059999999e-05" ixy="0.0" ixz="0.0" iyy="7.734969059999999e-05" iyz="0.0" izz="0.0001428" />
</inertial>
</link>
<joint name="j2n6s300_joint_5" type="continuous">
<origin xyz="0.0 -0.03703 -0.06414" rpy="1.0471975511965976 0.0 3.141592653589793" />
<parent link="j2n6s300_link_4" />
<child link="j2n6s300_link_5" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="20.0" velocity="0.8377580409572781" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="j2n6s300_link_6">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://kinova_description/meshes/hand_3finger.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://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://kinova_description/meshes/hand_3finger.dae" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.06" />
<mass value="0.99" />
<inertia ixx="0.00034532361869999995" ixy="0.0" ixz="0.0" iyy="0.00034532361869999995" iyz="0.0" izz="0.0005815999999999999" />
</inertial>
</link>
<joint name="j2n6s300_joint_6" type="continuous">
<origin xyz="0.0 -0.03703 -0.06414" rpy="1.0471975511965976 0.0 3.141592653589793" />
<parent link="j2n6s300_link_5" />
<child link="j2n6s300_link_6" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="20.0" velocity="0.8377580409572781" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="j2n6s300_end_effector" />
<joint name="j2n6s300_joint_end_effector" type="fixed">
<origin xyz="0.0 0.0 -0.16" rpy="3.141592653589793 0.0 1.5707963267948966" />
<parent link="j2n6s300_link_6" />
<child link="j2n6s300_end_effector" />
</joint>
<link name="j2n6s300_link_finger_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://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://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="j2n6s300_joint_finger_1" type="revolute">
<origin xyz="0.00279 0.03126 -0.11467" rpy="-1.7047873384941834 0.6476144647144773 1.67317415161155" />
<parent link="j2n6s300_link_6" />
<child link="j2n6s300_link_finger_1" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="2.0" velocity="1.0" lower="0.0" upper="1.51" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="j2n6s300_link_finger_tip_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://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://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="j2n6s300_joint_finger_tip_1" type="revolute">
<origin xyz="0.044 -0.003 0.0" rpy="0.0 0.0 0.0" />
<parent link="j2n6s300_link_finger_1" />
<child link="j2n6s300_link_finger_tip_1" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="2.0" velocity="1.0" lower="0.0" upper="2.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="j2n6s300_link_finger_2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://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://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="j2n6s300_joint_finger_2" type="revolute">
<origin xyz="0.02226 -0.02707 -0.11482" rpy="-1.570796327 0.649262481663582 -1.38614049188413" />
<parent link="j2n6s300_link_6" />
<child link="j2n6s300_link_finger_2" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="2.0" velocity="1.0" lower="0.0" upper="1.51" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="j2n6s300_link_finger_tip_2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://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://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="j2n6s300_joint_finger_tip_2" type="revolute">
<origin xyz="0.044 -0.003 0.0" rpy="0.0 0.0 0.0" />
<parent link="j2n6s300_link_finger_2" />
<child link="j2n6s300_link_finger_tip_2" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="2.0" velocity="1.0" lower="0.0" upper="2.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="j2n6s300_link_finger_3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://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://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="j2n6s300_joint_finger_3" type="revolute">
<origin xyz="-0.02226 -0.02707 -0.11482" rpy="-1.570796327 0.649262481663582 -1.75545216211587" />
<parent link="j2n6s300_link_6" />
<child link="j2n6s300_link_finger_3" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="2.0" velocity="1.0" lower="0.0" upper="1.51" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="j2n6s300_link_finger_tip_3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://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://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="j2n6s300_joint_finger_tip_3" type="revolute">
<origin xyz="0.044 -0.003 0.0" rpy="0.0 0.0 0.0" />
<parent link="j2n6s300_link_finger_3" />
<child link="j2n6s300_link_finger_tip_3" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="2.0" velocity="1.0" lower="0.0" upper="2.0" />
<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 4a57d7a4624f1207 -->
<mujoco model="j2n6s300">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="carbon_fiber" rgba="0.792156862745098 0.819607843137255 0.933333333333333 1.0" />
<mesh name="base" file="kinova_description/meshes/base.dae" />
<mesh name="shoulder" file="kinova_description/meshes/shoulder.dae" />
<mesh name="ring_big" file="kinova_description/meshes/ring_big.dae" />
<mesh name="arm" file="kinova_description/meshes/arm.dae" />
<mesh name="forearm" file="kinova_description/meshes/forearm.dae" />
<mesh name="wrist" file="kinova_description/meshes/wrist.dae" />
<mesh name="ring_small" file="kinova_description/meshes/ring_small.dae" />
<mesh name="hand_3finger" file="kinova_description/meshes/hand_3finger.dae" />
<mesh name="finger_proximal" file="kinova_description/meshes/finger_proximal.dae" />
<mesh name="finger_distal" file="kinova_description/meshes/finger_distal.dae" />
</asset>
<worldbody>
<body name="root">
<body name="j2n6s300_link_base">
<inertial pos="0.0 0.0 0.1255" mass="0.46784" fullinertia="0.000951270861568 0.000951270861568 0.00037427200000000004 0.0 0.0 0.0" />
<geom name="j2n6s300_link_base_vis_0" type="mesh" mesh="base" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2n6s300_link_base_col_0" type="mesh" mesh="base" group="3" />
<body name="j2n6s300_link_1" pos="0.0 0.0 0.15675" quat="6.123233995736766e-17 0.0 1.0 0.0">
<joint name="j2n6s300_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="0.0015203172520400004 0.0015203172520400004 0.00059816 0.0 0.0 0.0" />
<geom name="j2n6s300_link_1_vis_0" type="mesh" mesh="shoulder" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2n6s300_link_1_vis_1" type="mesh" mesh="ring_big" contype="0" conaffinity="0" group="2" />
<geom name="j2n6s300_link_1_col_0" type="mesh" mesh="shoulder" group="3" />
<body name="j2n6s300_link_2" pos="0.0 0.0016 -0.11875" quat="4.329780281177467e-17 -4.329780281177466e-17 -0.7071067811865475 0.7071067811865476">
<joint name="j2n6s300_joint_2" type="hinge" axis="0.0 0.0 1.0" range="0.8203047484373349 5.462880558742252" />
<inertial pos="0.0 -0.2065 -0.01" mass="0.99" fullinertia="0.010502207990999999 0.0007920000000000001 0.010502207990999999 0.0 0.0 0.0" />
<geom name="j2n6s300_link_2_vis_0" type="mesh" mesh="arm" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2n6s300_link_2_vis_1" type="mesh" mesh="ring_big" contype="0" conaffinity="0" group="2" />
<geom name="j2n6s300_link_2_col_0" type="mesh" mesh="arm" group="3" />
<body name="j2n6s300_link_3" pos="0.0 -0.41 0.0" quat="6.123233995736766e-17 0.0 1.0 0.0">
<joint name="j2n6s300_joint_3" type="hinge" axis="0.0 0.0 1.0" range="0.33161255787892263 5.951572749300664" />
<inertial pos="0.0 0.081 -0.0086" mass="0.6763" fullinertia="0.0014202243190800001 0.000304335 0.0014202243190800001 0.0 0.0 0.0" />
<geom name="j2n6s300_link_3_vis_0" type="mesh" mesh="forearm" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2n6s300_link_3_vis_1" type="mesh" mesh="ring_big" contype="0" conaffinity="0" group="2" />
<geom name="j2n6s300_link_3_col_0" type="mesh" mesh="forearm" group="3" />
<body name="j2n6s300_link_4" pos="0.0 0.2073 -0.0114" quat="4.329780281177467e-17 -4.329780281177466e-17 -0.7071067811865475 0.7071067811865476">
<joint name="j2n6s300_joint_4" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 -0.037 -0.0642" mass="0.426367" fullinertia="7.734969059999999e-05 7.734969059999999e-05 0.0001428 0.0 0.0 0.0" />
<geom name="j2n6s300_link_4_vis_0" type="mesh" mesh="wrist" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2n6s300_link_4_vis_1" type="mesh" mesh="ring_small" contype="0" conaffinity="0" group="2" />
<geom name="j2n6s300_link_4_col_0" type="mesh" mesh="wrist" group="3" />
<body name="j2n6s300_link_5" pos="0.0 -0.03703 -0.06414" quat="5.3028761936245346e-17 3.0616169978683824e-17 0.49999999999999994 0.8660254037844387">
<joint name="j2n6s300_joint_5" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 -0.037 -0.0642" mass="0.426367" fullinertia="7.734969059999999e-05 7.734969059999999e-05 0.0001428 0.0 0.0 0.0" />
<geom name="j2n6s300_link_5_vis_0" type="mesh" mesh="wrist" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2n6s300_link_5_vis_1" type="mesh" mesh="ring_small" contype="0" conaffinity="0" group="2" />
<geom name="j2n6s300_link_5_col_0" type="mesh" mesh="wrist" group="3" />
<body name="j2n6s300_link_6" pos="0.0 -0.03703 -0.06414" quat="5.3028761936245346e-17 3.0616169978683824e-17 0.49999999999999994 0.8660254037844387">
<joint name="j2n6s300_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="0.00034532361869999995 0.00034532361869999995 0.0005815999999999999 0.0 0.0 0.0" />
<geom name="j2n6s300_link_6_vis_0" type="mesh" mesh="hand_3finger" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2n6s300_link_6_vis_1" type="mesh" mesh="ring_small" contype="0" conaffinity="0" group="2" />
<geom name="j2n6s300_link_6_col_0" type="mesh" mesh="hand_3finger" group="3" />
<body name="j2n6s300_end_effector" pos="0.0 0.0 -0.16" quat="4.329780281177467e-17 0.7071067811865476 0.7071067811865475 4.329780281177466e-17" />
<body name="j2n6s300_link_finger_1" pos="0.00279 0.03126 -0.11467" quat="0.24023796508978942 -0.6336659599902154 -0.3895360342483902 0.6237105492944888">
<joint name="j2n6s300_joint_finger_1" type="hinge" axis="0.0 0.0 1.0" range="0.0 1.51" />
<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="j2n6s300_link_finger_1_vis_0" type="mesh" mesh="finger_proximal" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2n6s300_link_finger_1_col_0" type="mesh" mesh="finger_proximal" group="3" />
<body name="j2n6s300_link_finger_tip_1" pos="0.044 -0.003 0.0">
<joint name="j2n6s300_joint_finger_tip_1" type="hinge" axis="0.0 0.0 1.0" range="0.0 2.0" />
<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="j2n6s300_link_finger_tip_1_vis_0" type="mesh" mesh="finger_distal" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2n6s300_link_finger_tip_1_col_0" type="mesh" mesh="finger_distal" group="3" />
</body>
</body>
<body name="j2n6s300_link_finger_2" pos="0.02226 -0.02707 -0.11482" quat="0.6596533324823282 -0.3714595607374612 0.6016791460724046 -0.2546713192789357">
<joint name="j2n6s300_joint_finger_2" type="hinge" axis="0.0 0.0 1.0" range="0.0 1.51" />
<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="j2n6s300_link_finger_2_vis_0" type="mesh" mesh="finger_proximal" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2n6s300_link_finger_2_col_0" type="mesh" mesh="finger_proximal" group="3" />
<body name="j2n6s300_link_finger_tip_2" pos="0.044 -0.003 0.0">
<joint name="j2n6s300_joint_finger_tip_2" type="hinge" axis="0.0 0.0 1.0" range="0.0 2.0" />
<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="j2n6s300_link_finger_tip_2_vis_0" type="mesh" mesh="finger_distal" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2n6s300_link_finger_tip_2_col_0" type="mesh" mesh="finger_distal" group="3" />
</body>
</body>
<body name="j2n6s300_link_finger_3" pos="-0.02226 -0.02707 -0.11482" quat="0.601679145943983 -0.25467131926704506 0.6596533326107497 -0.3714595607255705">
<joint name="j2n6s300_joint_finger_3" type="hinge" axis="0.0 0.0 1.0" range="0.0 1.51" />
<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="j2n6s300_link_finger_3_vis_0" type="mesh" mesh="finger_proximal" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2n6s300_link_finger_3_col_0" type="mesh" mesh="finger_proximal" group="3" />
<body name="j2n6s300_link_finger_tip_3" pos="0.044 -0.003 0.0">
<joint name="j2n6s300_joint_finger_tip_3" type="hinge" axis="0.0 0.0 1.0" range="0.0 2.0" />
<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="j2n6s300_link_finger_tip_3_vis_0" type="mesh" mesh="finger_distal" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
<geom name="j2n6s300_link_finger_tip_3_col_0" type="mesh" mesh="finger_distal" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="root" body2="j2n6s300_link_base" />
<exclude body1="j2n6s300_link_base" body2="j2n6s300_link_1" />
<exclude body1="j2n6s300_link_1" body2="j2n6s300_link_2" />
<exclude body1="j2n6s300_link_2" body2="j2n6s300_link_3" />
<exclude body1="j2n6s300_link_3" body2="j2n6s300_link_4" />
<exclude body1="j2n6s300_link_4" body2="j2n6s300_link_5" />
<exclude body1="j2n6s300_link_5" body2="j2n6s300_link_6" />
<exclude body1="j2n6s300_link_6" body2="j2n6s300_end_effector" />
<exclude body1="j2n6s300_link_6" body2="j2n6s300_link_finger_1" />
<exclude body1="j2n6s300_link_finger_1" body2="j2n6s300_link_finger_tip_1" />
<exclude body1="j2n6s300_link_6" body2="j2n6s300_link_finger_2" />
<exclude body1="j2n6s300_link_finger_2" body2="j2n6s300_link_finger_tip_2" />
<exclude body1="j2n6s300_link_6" body2="j2n6s300_link_finger_3" />
<exclude body1="j2n6s300_link_finger_3" body2="j2n6s300_link_finger_tip_3" />
</contact>
</mujoco>
Import report
Counts
| Links | 16 |
|---|---|
| Joints | 15 |
| Moving joints | 12 |
| Visuals | 19 |
| Collisions | 13 |
| Materials | 1 |
Meshes
Formats: dae.
Asset size: 6.2 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
axis | 2 | fixed joints carry no <axis>; URDF ignores it too |
dynamics | 1 | fixed joints carry no <dynamics>; URDF ignores it too |
gazebo | 13 | Gazebo simulator extensions are not part of the description |
transmission | 12 | ROS transmissions (actuator-to-joint wiring) have no RobotDescription field yet |
Forward-kinematics check
Forward kinematics of 16 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 · 8.6e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 12).
Source & licence
| Repository | https://github.com/Kinovarobotics/kinova-ros |
|---|---|
| Commit | 924781d3dfe241b2b94b3c72a804b80d3658cf02 |
| Original file | kinova_description/urdf/j2n6s300_standalone.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.