OMX-F

ROBOTIS · licence Apache-2.0 · source: github.com/ROBOTIS-GIT/open_manipulator @ bc555a9c4

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 e33032184f8638bf -->
<robot name="omx_f">
  <link name="world" />
  <joint name="world_fixed" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="world" />
    <child link="link0" />
  </joint>
  <joint name="end_effector_joint" type="fixed">
    <origin xyz="0.09193 -0.0016 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link5" />
    <child link="end_effector_link" />
  </joint>
  <material name="red">
    <color rgba="1.0 0.0 0.0 1.0" />
  </material>
  <link name="end_effector_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.01 0.01 0.01" />
      </geometry>
      <material name="red" />
    </visual>
  </link>
  <material name="grey">
    <color rgba="0.2 0.2 0.2 1.0" />
  </material>
  <link name="link0">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_01_base.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_01_base.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.014412508 -0.0031498879 0.019276599" />
      <mass value="0.22389051" />
      <inertia ixx="0.00035680461" ixy="-3.2971789e-06" ixz="1.9076767e-05" iyy="0.00021941932" iyz="1.4071642e-06" izz="0.00045575899" />
    </inertial>
  </link>
  <joint name="joint1" type="revolute">
    <origin xyz="-0.01125 0.0 0.034" rpy="0.0 0.0 0.0" />
    <parent link="link0" />
    <child link="link1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="1000.0" velocity="4.8" lower="-6.283185307179586" upper="6.283185307179586" />
    <dynamics damping="0.05" friction="0.0" />
  </joint>
  <link name="link1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_02_base_tilt_Revised.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_02_base_tilt_Revised.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-6.2236205e-06 0.0006049232 0.047418803" />
      <mass value="0.065987041" />
      <inertia ixx="2.1731667e-05" ixy="-7.6702212e-09" ixz="6.6046977e-09" iyy="2.1351513e-05" iyz="-3.7906717e-07" izz="1.1657955e-05" />
    </inertial>
  </link>
  <joint name="joint2" type="revolute">
    <origin xyz="0.0 0.0 0.0635" rpy="0.0 0.0 0.0" />
    <parent link="link1" />
    <child link="link2" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1000.0" velocity="4.8" lower="-6.283185307179586" upper="6.283185307179586" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="link2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_03_middle_verticle.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_03_middle_verticle.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.018089916 0.00029778758 0.099005452" />
      <mass value="0.087221471" />
      <inertia ixx="0.00010307915" ixy="-9.2378697e-07" ixz="-2.2596578e-05" iyy="0.00012086327" iyz="-1.9374145e-06" izz="4.1993677e-05" />
    </inertial>
  </link>
  <joint name="joint3" type="revolute">
    <origin xyz="0.0415 0.0 0.11315" rpy="0.0 0.0 0.0" />
    <parent link="link2" />
    <child link="link3" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1000.0" velocity="4.8" lower="-6.283185307179586" upper="6.283185307179586" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="link3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_04_middle_horizontal.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_04_middle_horizontal.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.087398602 0.00041310065 -0.003582921" />
      <mass value="0.083759129" />
      <inertia ixx="1.5203101e-05" ixy="-5.8569583e-07" ixz="-8.2013982e-06" iyy="0.00022606158" iyz="4.169928e-07" izz="0.00023066887" />
    </inertial>
  </link>
  <joint name="joint4" type="revolute">
    <origin xyz="0.162 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link3" />
    <child link="link4" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1000.0" velocity="4.8" lower="-6.283185307179586" upper="6.283185307179586" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="link4">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_05_tip.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_05_tip.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.02323498 6.7735378e-05 0.0059761312" />
      <mass value="0.029975063" />
      <inertia ixx="5.099513e-06" ixy="2.6331668e-08" ixz="-7.7603197e-07" iyy="7.0990471e-06" iyz="1.6379679e-09" izz="6.3119495e-06" />
    </inertial>
  </link>
  <joint name="joint5" type="revolute">
    <origin xyz="0.0287 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link4" />
    <child link="link5" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1000.0" velocity="4.8" lower="-6.283185307179586" upper="6.283185307179586" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="link5">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_06_pan_Revised.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_06_pan_Revised.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.028072407 2.4135941e-05 0.013528914" />
      <mass value="0.043810887" />
      <inertia ixx="2.3694459e-05" ixy="-2.6142526e-08" ixz="-2.9392841e-06" iyy="2.3236924e-05" iyz="7.5430405e-08" izz="7.1806291e-06" />
    </inertial>
  </link>
  <joint name="gripper_joint_1" type="revolute">
    <origin xyz="0.0295 0.0075 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link5" />
    <child link="link6" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="1000.0" velocity="4.8" lower="-6.283185307179586" upper="6.283185307179586" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="link6">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_07_gripper_motorized.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_07_gripper_motorized.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.016164565 0.0012731032 0.00027291598" />
      <mass value="0.012090677" />
      <inertia ixx="2.7083287e-06" ixy="1.3972453e-07" ixz="5.8887943e-08" iyy="6.8733728e-06" iyz="1.5370708e-08" izz="4.6941881e-06" />
    </inertial>
  </link>
  <joint name="gripper_joint_2" type="revolute">
    <origin xyz="0.0295 -0.0108 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link5" />
    <child link="link7" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="1000.0" velocity="4.8" lower="-6.283185307179586" upper="6.283185307179586" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="link7">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_08_gripper_gear.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_08_gripper_gear.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.016164565 0.0012731032 0.00027291598" />
      <mass value="0.012090677" />
      <inertia ixx="2.7083287e-06" ixy="1.3972453e-07" ixz="5.8887943e-08" iyy="6.8733728e-06" iyz="1.5370708e-08" izz="4.6941881e-06" />
    </inertial>
  </link>
</robot>

robot.xml

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content e33032184f8638bf -->
<mujoco model="omx_f">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="red" rgba="1.0 0.0 0.0 1.0" />
    <material name="grey" rgba="0.2 0.2 0.2 1.0" />
    <mesh name="follower_01_base_0p001_0p001_0p001" file="open_manipulator_description/meshes/omx_f/follower_01_base.stl" scale="0.001 0.001 0.001" />
    <mesh name="follower_02_base_tilt_Revised_0p001_0p001_0p001" file="open_manipulator_description/meshes/omx_f/follower_02_base_tilt_Revised.stl" scale="0.001 0.001 0.001" />
    <mesh name="follower_03_middle_verticle_0p001_0p001_0p001" file="open_manipulator_description/meshes/omx_f/follower_03_middle_verticle.stl" scale="0.001 0.001 0.001" />
    <mesh name="follower_04_middle_horizontal_0p001_0p001_0p001" file="open_manipulator_description/meshes/omx_f/follower_04_middle_horizontal.stl" scale="0.001 0.001 0.001" />
    <mesh name="follower_05_tip_0p001_0p001_0p001" file="open_manipulator_description/meshes/omx_f/follower_05_tip.stl" scale="0.001 0.001 0.001" />
    <mesh name="follower_06_pan_Revised_0p001_0p001_0p001" file="open_manipulator_description/meshes/omx_f/follower_06_pan_Revised.stl" scale="0.001 0.001 0.001" />
    <mesh name="follower_07_gripper_motorized_0p001_0p001_0p001" file="open_manipulator_description/meshes/omx_f/follower_07_gripper_motorized.stl" scale="0.001 0.001 0.001" />
    <mesh name="follower_08_gripper_gear_0p001_0p001_0p001" file="open_manipulator_description/meshes/omx_f/follower_08_gripper_gear.stl" scale="0.001 0.001 0.001" />
  </asset>
  <worldbody>
    <body name="link0">
      <inertial pos="-0.014412508 -0.0031498879 0.019276599" mass="0.22389051" fullinertia="0.00035680461 0.00021941932 0.00045575899 -3.2971789e-06 1.9076767e-05 1.4071642e-06" />
      <geom name="link0_vis_0" type="mesh" mesh="follower_01_base_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
      <geom name="link0_col_0" type="mesh" mesh="follower_01_base_0p001_0p001_0p001" group="3" />
      <body name="link1" pos="-0.01125 0.0 0.034">
        <joint name="joint1" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" damping="0.05" />
        <inertial pos="-6.2236205e-06 0.0006049232 0.047418803" mass="0.065987041" fullinertia="2.1731667e-05 2.1351513e-05 1.1657955e-05 -7.6702212e-09 6.6046977e-09 -3.7906717e-07" />
        <geom name="link1_vis_0" type="mesh" mesh="follower_02_base_tilt_Revised_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
        <geom name="link1_col_0" type="mesh" mesh="follower_02_base_tilt_Revised_0p001_0p001_0p001" group="3" />
        <body name="link2" pos="0.0 0.0 0.0635">
          <joint name="joint2" type="hinge" axis="0.0 1.0 0.0" range="-6.283185307179586 6.283185307179586" damping="0.1" />
          <inertial pos="0.018089916 0.00029778758 0.099005452" mass="0.087221471" fullinertia="0.00010307915 0.00012086327 4.1993677e-05 -9.2378697e-07 -2.2596578e-05 -1.9374145e-06" />
          <geom name="link2_vis_0" type="mesh" mesh="follower_03_middle_verticle_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
          <geom name="link2_col_0" type="mesh" mesh="follower_03_middle_verticle_0p001_0p001_0p001" group="3" />
          <body name="link3" pos="0.0415 0.0 0.11315">
            <joint name="joint3" type="hinge" axis="0.0 1.0 0.0" range="-6.283185307179586 6.283185307179586" damping="0.1" />
            <inertial pos="0.087398602 0.00041310065 -0.003582921" mass="0.083759129" fullinertia="1.5203101e-05 0.00022606158 0.00023066887 -5.8569583e-07 -8.2013982e-06 4.169928e-07" />
            <geom name="link3_vis_0" type="mesh" mesh="follower_04_middle_horizontal_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
            <geom name="link3_col_0" type="mesh" mesh="follower_04_middle_horizontal_0p001_0p001_0p001" group="3" />
            <body name="link4" pos="0.162 0.0 0.0">
              <joint name="joint4" type="hinge" axis="0.0 1.0 0.0" range="-6.283185307179586 6.283185307179586" damping="0.1" />
              <inertial pos="0.02323498 6.7735378e-05 0.0059761312" mass="0.029975063" fullinertia="5.099513e-06 7.0990471e-06 6.3119495e-06 2.6331668e-08 -7.7603197e-07 1.6379679e-09" />
              <geom name="link4_vis_0" type="mesh" mesh="follower_05_tip_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
              <geom name="link4_col_0" type="mesh" mesh="follower_05_tip_0p001_0p001_0p001" group="3" />
              <body name="link5" pos="0.0287 0.0 0.0">
                <joint name="joint5" type="hinge" axis="1.0 0.0 0.0" range="-6.283185307179586 6.283185307179586" damping="0.1" />
                <inertial pos="0.028072407 2.4135941e-05 0.013528914" mass="0.043810887" fullinertia="2.3694459e-05 2.3236924e-05 7.1806291e-06 -2.6142526e-08 -2.9392841e-06 7.5430405e-08" />
                <geom name="link5_vis_0" type="mesh" mesh="follower_06_pan_Revised_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
                <geom name="link5_col_0" type="mesh" mesh="follower_06_pan_Revised_0p001_0p001_0p001" group="3" />
                <body name="end_effector_link" pos="0.09193 -0.0016 0.0">
                  <geom name="end_effector_link_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="red" />
                </body>
                <body name="link6" pos="0.0295 0.0075 0.0">
                  <joint name="gripper_joint_1" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" damping="0.1" />
                  <inertial pos="0.016164565 0.0012731032 0.00027291598" mass="0.012090677" fullinertia="2.7083287e-06 6.8733728e-06 4.6941881e-06 1.3972453e-07 5.8887943e-08 1.5370708e-08" />
                  <geom name="link6_vis_0" type="mesh" mesh="follower_07_gripper_motorized_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
                  <geom name="link6_col_0" type="mesh" mesh="follower_07_gripper_motorized_0p001_0p001_0p001" group="3" />
                </body>
                <body name="link7" pos="0.0295 -0.0108 0.0">
                  <joint name="gripper_joint_2" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" damping="0.1" />
                  <inertial pos="0.016164565 0.0012731032 0.00027291598" mass="0.012090677" fullinertia="2.7083287e-06 6.8733728e-06 4.6941881e-06 1.3972453e-07 5.8887943e-08 1.5370708e-08" />
                  <geom name="link7_vis_0" type="mesh" mesh="follower_08_gripper_gear_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
                  <geom name="link7_col_0" type="mesh" mesh="follower_08_gripper_gear_0p001_0p001_0p001" group="3" />
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="link5" body2="end_effector_link" />
    <exclude body1="link0" body2="link1" />
    <exclude body1="link1" body2="link2" />
    <exclude body1="link2" body2="link3" />
    <exclude body1="link3" body2="link4" />
    <exclude body1="link4" body2="link5" />
    <exclude body1="link5" body2="link6" />
    <exclude body1="link5" body2="link7" />
  </contact>
</mujoco>

Import report

Counts

Links	10
Joints	9
Moving joints	7
Visuals	9
Collisions	8
Materials	2

Meshes

Formats: stl.
Asset size: 5.7 MB.

Dropped on import

Tag	Count	Why
`material`	8	<material> is not part of the URDF subset RobotDescription mirrors
`mimic`	1	joint coupling (mimic) is not representable yet; the joint imports as independent

Forward-kinematics check

Forward kinematics of 10 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 · 3.1e-16 rad.

MuJoCo

robot.xml compiles in MuJoCo with its meshes (nq = 7).

Source & licence

Repository	https://github.com/ROBOTIS-GIT/open_manipulator
Commit	`bc555a9c41ebd7493dc945ddabc43fc649681b62`
Original file	`open_manipulator_description/urdf/omx_f/omx_f.urdf`
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.