LEAP Hand v1
Carnegie Mellon University · licence MIT · source: github.com/leap-hand/LEAP_Hand_Sim @ 150bc3d4b
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 08da2c7df5948b9e -->
<robot name="onshape">
<material name="palm_lower_material">
<color rgba="0.6039215686274509 0.14901960784313725 0.14901960784313725 1.0" />
</material>
<link name="palm_lower">
<visual>
<origin xyz="-0.020095249652862544 0.025757756134899473 -0.034722403578460216" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="palm_lower.stl" />
</geometry>
<material name="palm_lower_material" />
</visual>
<collision>
<origin xyz="-0.020095249652862544 0.025757756134899473 -0.034722403578460216" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="palm_lower.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.237" />
<inertia ixx="0.000354094" ixy="-1.193e-06" ixz="-2.445e-06" iyy="0.000260915" iyz="-2.905e-06" izz="0.000529257" />
</inertial>
</link>
<material name="mcp_joint_material">
<color rgba="0.8666666666666667 0.8666666666666667 0.050980392156862744 1.0" />
</material>
<link name="mcp_joint">
<visual>
<origin xyz="0.008406902261174496 0.0077662438597169954 0.014657354985032912" rpy="1.6375789613221e-15 -1.021047330249102e-30 1.7177968783327987e-31" />
<geometry>
<mesh filename="mcp_joint.stl" />
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<material name="mcp_joint_material" />
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<collision>
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<geometry>
<mesh filename="mcp_joint.stl" />
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</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.044" />
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</link>
<material name="pip_material">
<color rgba="0.7490196078431373 0.7490196078431373 0.7490196078431373 1.0" />
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<link name="pip">
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<material name="dip_material">
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<link name="dip">
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</link>
<material name="fingertip_material">
<color rgba="0.8666666666666667 0.8666666666666667 0.050980392156862744 1.0" />
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<link name="fingertip">
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<material name="fingertip_material" />
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</link>
<joint name="0" type="revolute">
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<joint name="2" type="revolute">
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<joint name="3" type="revolute">
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<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="mcp_joint_2">
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<inertial>
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<link name="thumb_fingertip">
<visual>
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<geometry>
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robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 08da2c7df5948b9e -->
<mujoco model="onshape">
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<material name="thumb_fingertip_material" rgba="0.6039215686274509 0.14901960784313725 0.14901960784313725 1.0" />
<mesh name="palm_lower" file="palm_lower.stl" />
<mesh name="mcp_joint" file="mcp_joint.stl" />
<mesh name="pip" file="pip.stl" />
<mesh name="dip" file="dip.stl" />
<mesh name="fingertip" file="fingertip.stl" />
<mesh name="thumb_pip" file="thumb_pip.stl" />
<mesh name="thumb_dip" file="thumb_dip.stl" />
<mesh name="thumb_fingertip" file="thumb_fingertip.stl" />
</asset>
<worldbody>
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<body name="thumb_fingertip" pos="-1.249000902703301e-16 0.046599999999999864 0.0001999999999999771" quat="6.123233995736766e-17 -2.711709361696763e-31 7.54858367669599e-45 1.0">
<joint name="15" type="hinge" axis="0.0 0.0 -1.0" range="-1.34 1.88" />
<inertial pos="0.0 0.0 0.0" mass="0.049" fullinertia="2.0372e-05 4.336e-06 1.9845e-05 -4.89e-07 -3e-08 -9.7e-08" />
<geom name="thumb_fingertip_vis_0" type="mesh" mesh="thumb_fingertip" pos="0.06255953846266739 0.07845968291139699 0.048992911807332215" quat="1.0 2.1895288505078193e-47 -1.665334536937735e-16 6.021204338895968e-47" contype="0" conaffinity="0" group="2" material="thumb_fingertip_material" />
<geom name="thumb_fingertip_col_0" type="mesh" mesh="thumb_fingertip" pos="0.06255953846266739 0.07845968291139699 0.048992911807332215" quat="1.0 2.1895288505078193e-47 -1.665334536937735e-16 6.021204338895968e-47" group="3" />
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="mcp_joint" body2="pip" />
<exclude body1="palm_lower" body2="mcp_joint" />
<exclude body1="pip" body2="dip" />
<exclude body1="dip" body2="fingertip" />
<exclude body1="mcp_joint_2" body2="pip_2" />
<exclude body1="palm_lower" body2="mcp_joint_2" />
<exclude body1="pip_2" body2="dip_2" />
<exclude body1="dip_2" body2="fingertip_2" />
<exclude body1="mcp_joint_3" body2="pip_3" />
<exclude body1="palm_lower" body2="mcp_joint_3" />
<exclude body1="pip_3" body2="dip_3" />
<exclude body1="dip_3" body2="fingertip_3" />
<exclude body1="palm_lower" body2="pip_4" />
<exclude body1="pip_4" body2="thumb_pip" />
<exclude body1="thumb_pip" body2="thumb_dip" />
<exclude body1="thumb_dip" body2="thumb_fingertip" />
</contact>
</mujoco>
Import report
Counts
| Links | 17 |
|---|---|
| Joints | 16 |
| Moving joints | 16 |
| Visuals | 17 |
| Collisions | 17 |
| Materials | 8 |
Meshes
Formats: stl.
Asset size: 12.1 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
joint_properties | 16 | <joint_properties> is not part of the URDF subset RobotDescription mirrors |
Forward-kinematics check
Forward kinematics of 17 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 · 5.1e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 16).
Source & licence
| Repository | https://github.com/leap-hand/LEAP_Hand_Sim |
|---|---|
| Commit | 150bc3d4b61fd6619193ba5a8ef209f3609ced89 |
| Original file | assets/leap_hand/robot.urdf |
| Licence | MIT · the upstream LICENSE file |
| Files | robot.urdf · robot.xml |
Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.