OMX-L

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.

Loading the model…

drag to orbit · scroll to zoom · right-drag to pan

robot.urdf

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content a04b18ecd3c2d1f7 -->
<robot name="omx_l">
  <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>
  <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_l/leader_01_base_roll.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_l/leader_01_base_roll.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.012386332 -0.0054472355 0.017445097" />
      <mass value="0.1451075" />
      <inertia ixx="0.00026282503" ixy="-5.6142816e-06" ixz="7.6859313e-06" iyy="0.00014776451" iyz="1.9373248e-06" izz="0.00032042208" />
    </inertial>
  </link>
  <joint name="joint1" type="revolute">
    <origin xyz="-0.0095 0.0 0.0545" 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_l/leader_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_l/leader_02_base_tilt_revised.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="2.8350399e-05 0.00027511324 0.031280924" />
      <mass value="0.025270951" />
      <inertia ixx="4.407733e-06" ixy="-5.1031924e-11" ixz="2.7554862e-09" iyy="4.2180835e-06" iyz="-1.0167291e-08" izz="1.8680433e-06" />
    </inertial>
  </link>
  <joint name="joint2" type="revolute">
    <origin xyz="0.0 0.0 0.042" 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_l/leader_03_middle_vertical.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_l/leader_03_middle_vertical.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.014249177 0.00017241147 0.06876064" />
      <mass value="0.047706231" />
      <inertia ixx="5.7560469e-05" ixy="-7.9164009e-08" ixz="-1.4421845e-05" iyy="6.5815615e-05" iyz="-5.9873674e-08" izz="1.6524158e-05" />
    </inertial>
  </link>
  <joint name="joint3" type="revolute">
    <origin xyz="0.0375 0.0 0.09" 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_l/leader_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_l/leader_04_middle_horizontal.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.082827424 0.00017241501 0.00018239232" />
      <mass value="0.047706231" />
      <inertia ixx="5.6041415e-06" ixy="-1.40775e-07" ixz="-4.6279276e-08" iyy="9.4566746e-05" iyz="1.7550147e-09" izz="9.7231617e-05" />
    </inertial>
  </link>
  <joint name="joint4" type="revolute">
    <origin xyz="0.1275 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_l/leader_05_tip_roll.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_l/leader_05_tip_roll.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.022262812 6.5433687e-05 0.0058864358" />
      <mass value="0.030431812" />
      <inertia ixx="5.235858e-06" ixy="2.3487203e-08" ixz="-9.5018115e-07" iyy="7.4646004e-06" iyz="1.2256581e-09" izz="6.7807709e-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_l/leader_06_tip_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_l/leader_06_tip_pan_revised.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.036124223 0.0002809335 2.3574439e-05" />
      <mass value="0.039629659" />
      <inertia ixx="1.0561641e-05" ixy="7.0019235e-08" ixz="6.0092663e-06" iyy="2.1697511e-05" iyz="-9.8831905e-08" izz="1.515746e-05" />
    </inertial>
  </link>
  <joint name="gripper_joint_1" type="revolute">
    <origin xyz="0.0298 0.0 0.0175" rpy="0.0 0.0 0.0" />
    <parent link="link5" />
    <child link="link6" />
    <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="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_l/leader_07_tip_grip.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_l/leader_07_tip_grip.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.028485958 3.9910336e-05 0.00034995059" />
      <mass value="0.019611455" />
      <inertia ixx="3.3447451e-06" ixy="4.3870812e-08" ixz="-2.497067e-07" iyy="9.0407894e-06" iyz="-3.0927869e-09" izz="1.1024375e-05" />
    </inertial>
  </link>
</robot>

robot.xml

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content a04b18ecd3c2d1f7 -->
<mujoco model="omx_l">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="grey" rgba="0.2 0.2 0.2 1.0" />
    <mesh name="leader_01_base_roll_0p001_0p001_0p001" file="open_manipulator_description/meshes/omx_l/leader_01_base_roll.stl" scale="0.001 0.001 0.001" />
    <mesh name="leader_02_base_tilt_revised_0p001_0p001_0p001" file="open_manipulator_description/meshes/omx_l/leader_02_base_tilt_revised.stl" scale="0.001 0.001 0.001" />
    <mesh name="leader_03_middle_vertical_0p001_0p001_0p001" file="open_manipulator_description/meshes/omx_l/leader_03_middle_vertical.stl" scale="0.001 0.001 0.001" />
    <mesh name="leader_04_middle_horizontal_0p001_0p001_0p001" file="open_manipulator_description/meshes/omx_l/leader_04_middle_horizontal.stl" scale="0.001 0.001 0.001" />
    <mesh name="leader_05_tip_roll_0p001_0p001_0p001" file="open_manipulator_description/meshes/omx_l/leader_05_tip_roll.stl" scale="0.001 0.001 0.001" />
    <mesh name="leader_06_tip_pan_revised_0p001_0p001_0p001" file="open_manipulator_description/meshes/omx_l/leader_06_tip_pan_revised.stl" scale="0.001 0.001 0.001" />
    <mesh name="leader_07_tip_grip_0p001_0p001_0p001" file="open_manipulator_description/meshes/omx_l/leader_07_tip_grip.stl" scale="0.001 0.001 0.001" />
  </asset>
  <worldbody>
    <body name="link0">
      <inertial pos="-0.012386332 -0.0054472355 0.017445097" mass="0.1451075" fullinertia="0.00026282503 0.00014776451 0.00032042208 -5.6142816e-06 7.6859313e-06 1.9373248e-06" />
      <geom name="link0_vis_0" type="mesh" mesh="leader_01_base_roll_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
      <geom name="link0_col_0" type="mesh" mesh="leader_01_base_roll_0p001_0p001_0p001" group="3" />
      <body name="link1" pos="-0.0095 0.0 0.0545">
        <joint name="joint1" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" damping="0.05" />
        <inertial pos="2.8350399e-05 0.00027511324 0.031280924" mass="0.025270951" fullinertia="4.407733e-06 4.2180835e-06 1.8680433e-06 -5.1031924e-11 2.7554862e-09 -1.0167291e-08" />
        <geom name="link1_vis_0" type="mesh" mesh="leader_02_base_tilt_revised_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
        <geom name="link1_col_0" type="mesh" mesh="leader_02_base_tilt_revised_0p001_0p001_0p001" group="3" />
        <body name="link2" pos="0.0 0.0 0.042">
          <joint name="joint2" type="hinge" axis="0.0 1.0 0.0" range="-6.283185307179586 6.283185307179586" damping="0.1" />
          <inertial pos="0.014249177 0.00017241147 0.06876064" mass="0.047706231" fullinertia="5.7560469e-05 6.5815615e-05 1.6524158e-05 -7.9164009e-08 -1.4421845e-05 -5.9873674e-08" />
          <geom name="link2_vis_0" type="mesh" mesh="leader_03_middle_vertical_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
          <geom name="link2_col_0" type="mesh" mesh="leader_03_middle_vertical_0p001_0p001_0p001" group="3" />
          <body name="link3" pos="0.0375 0.0 0.09">
            <joint name="joint3" type="hinge" axis="0.0 1.0 0.0" range="-6.283185307179586 6.283185307179586" damping="0.1" />
            <inertial pos="0.082827424 0.00017241501 0.00018239232" mass="0.047706231" fullinertia="5.6041415e-06 9.4566746e-05 9.7231617e-05 -1.40775e-07 -4.6279276e-08 1.7550147e-09" />
            <geom name="link3_vis_0" type="mesh" mesh="leader_04_middle_horizontal_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
            <geom name="link3_col_0" type="mesh" mesh="leader_04_middle_horizontal_0p001_0p001_0p001" group="3" />
            <body name="link4" pos="0.1275 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="0.022262812 6.5433687e-05 0.0058864358" mass="0.030431812" fullinertia="5.235858e-06 7.4646004e-06 6.7807709e-06 2.3487203e-08 -9.5018115e-07 1.2256581e-09" />
              <geom name="link4_vis_0" type="mesh" mesh="leader_05_tip_roll_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
              <geom name="link4_col_0" type="mesh" mesh="leader_05_tip_roll_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="0.036124223 0.0002809335 2.3574439e-05" mass="0.039629659" fullinertia="1.0561641e-05 2.1697511e-05 1.515746e-05 7.0019235e-08 6.0092663e-06 -9.8831905e-08" />
                <geom name="link5_vis_0" type="mesh" mesh="leader_06_tip_pan_revised_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
                <geom name="link5_col_0" type="mesh" mesh="leader_06_tip_pan_revised_0p001_0p001_0p001" group="3" />
                <body name="link6" pos="0.0298 0.0 0.0175">
                  <joint name="gripper_joint_1" type="hinge" axis="0.0 1.0 0.0" range="-6.283185307179586 6.283185307179586" damping="0.1" />
                  <inertial pos="0.028485958 3.9910336e-05 0.00034995059" mass="0.019611455" fullinertia="3.3447451e-06 9.0407894e-06 1.1024375e-05 4.3870812e-08 -2.497067e-07 -3.0927869e-09" />
                  <geom name="link6_vis_0" type="mesh" mesh="leader_07_tip_grip_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
                  <geom name="link6_col_0" type="mesh" mesh="leader_07_tip_grip_0p001_0p001_0p001" group="3" />
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <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" />
  </contact>
</mujoco>

Import report

Counts

Links	8
Joints	7
Moving joints	6
Visuals	7
Collisions	7
Materials	1

Meshes

Formats: stl.
Asset size: 4.6 MB.

Dropped on import

Tag	Count	Why
`material`	7	<material> is not part of the URDF subset RobotDescription mirrors

Forward-kinematics check

Forward kinematics of 8 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 · 1.9e-16 rad.

MuJoCo

robot.xml compiles in MuJoCo with its meshes (nq = 6).

Source & licence

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