OMY-F3M
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 66b2508974629042 -->
<robot name="omy_f3m">
<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="gripper_fixed" type="fixed">
<origin xyz="0.0 -0.006 0.0" rpy="1.57 -1.57 0.0" />
<parent link="end_effector_flange_link" />
<child link="rh_p12_rn_base" />
</joint>
<joint name="end_effector_joint" type="fixed">
<origin xyz="0.0 -0.141 0.0" rpy="0.0 0.0 0.0" />
<parent link="end_effector_flange_link" />
<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/omy_f3m/base_unit.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.03" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.05" radius="0.08" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0040215824 0.0013083991 0.05507347" />
<mass value="1.5287486" />
<inertia ixx="0.0046428203" ixy="4.4405532e-05" ixz="-0.00015049296" iyy="0.0049736955" iyz="2.0756047e-05" izz="0.0064078321" />
</inertial>
</link>
<joint name="joint1" type="revolute">
<origin xyz="0.0 0.0 0.1715" 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/omy_f3m/link1.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 -0.01 -0.035" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.1" radius="0.055" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00011063615 -0.005471127 -0.015897733" />
<mass value="2.0648832" />
<inertia ixx="0.003033219" ixy="5.1792838e-06" ixz="3.3357961e-06" iyy="0.0027276724" iyz="0.00017934953" izz="0.0022826576" />
</inertial>
</link>
<joint name="joint2" type="revolute">
<origin xyz="0.0 -0.1215 0.0" 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/omy_f3m/link2.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="-0.005 -0.02 0.13" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.28" radius="0.046" />
</geometry>
</collision>
<inertial>
<origin xyz="1.1405379e-05 0.016184244 0.10360634" />
<mass value="3.6795395" />
<inertia ixx="0.051731918" ixy="2.3958819e-06" ixz="5.789396e-05" iyy="0.050353401" iyz="-0.00043825716" izz="0.004501436" />
</inertial>
</link>
<joint name="joint3" type="revolute">
<origin xyz="0.0 0.0 0.247" 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/omy_f3m/link3.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.125 0.08" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.17" radius="0.042" />
</geometry>
</collision>
<inertial>
<origin xyz="7.8148689e-05 0.10718481 0.14117267" />
<mass value="2.3865916" />
<inertia ixx="0.022694399" ixy="-9.4142428e-07" ixz="-1.8551757e-05" iyy="0.021920087" iyz="0.00019179387" izz="0.0027761559" />
</inertial>
</link>
<joint name="joint4" type="revolute">
<origin xyz="0.0 0.1215 0.2195" 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/omy_f3m/link4.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 0.0" />
<geometry>
<cylinder length="0.1" radius="0.045" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00013318256 -0.10746667 0.019090688" />
<mass value="1.4002347" />
<inertia ixx="0.0017545679" ixy="-4.5863379e-06" ixz="-1.7759142e-06" iyy="0.0015652147" iyz="0.00015339913" izz="0.0012159839" />
</inertial>
</link>
<joint name="joint5" type="revolute">
<origin xyz="0.0 -0.113 0.0" rpy="0.0 0.0 0.0" />
<parent link="link4" />
<child link="link5" />
<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="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/omy_f3m/link5.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.01 0.005" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.05" radius="0.043" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00013318256 -0.019090688 0.10996667" />
<mass value="1.4002347" />
<inertia ixx="0.0017545679" ixy="-1.7759143e-06" ixz="-4.5863376e-06" iyy="0.0012159839" iyz="0.00015339913" izz="0.0015652147" />
</inertial>
</link>
<joint name="joint6" type="revolute">
<origin xyz="0.0 0.0 0.1155" 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/omy_f3m/link6.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 -0.1 0.0" rpy="1.57 0.0 0.0" />
<geometry>
<cylinder length="0.22" radius="0.08" />
</geometry>
</collision>
<inertial>
<origin xyz="1.1080146e-05 -0.080594056 0.0093029337" />
<mass value="0.40015475" />
<inertia ixx="0.00056741276" ixy="2.0073339e-07" ixz="-1.2345347e-06" iyy="0.00062966706" iyz="-5.6318805e-05" izz="0.00019890515" />
</inertial>
</link>
<joint name="end_effector_flange_joint" type="fixed">
<origin xyz="0.0 -0.103 0.0" rpy="0.0 0.0 0.0" />
<parent link="link6" />
<child link="end_effector_flange_link" />
</joint>
<link name="end_effector_flange_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://open_manipulator_description/meshes/omy_f3m/flange.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin xyz="0.0 0.03 0.04" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.12" radius="0.035" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.0031903102 0.0" />
<mass value="0.016618758" />
<inertia ixx="2.9075758e-06" ixy="0.0" ixz="0.0" iyy="8.1254311e-06" iyz="0.0" izz="5.4926181e-06" />
</inertial>
</link>
<link name="rh_p12_rn_base">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/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/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.032" rpy="0.0 0.0 0.0" />
<mass value="0.236" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="rh_r1_joint" type="revolute">
<origin xyz="0.0 0.008 0.048" rpy="0.0 0.0 0.0" />
<parent link="rh_p12_rn_base" />
<child link="rh_p12_rn_r1" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="1000.0" velocity="6.5" lower="0.0" upper="1.13514578304" />
<dynamics damping="0.7" friction="0.0" />
</joint>
<link name="rh_p12_rn_r1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.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/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.034 0.004" rpy="0.0 0.0 0.0" />
<mass value="0.068" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="rh_r2" type="revolute">
<origin xyz="0.0 0.0493634 0.0285" rpy="0.0 0.0 0.0" />
<parent link="rh_p12_rn_r1" />
<child link="rh_p12_rn_r2" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="1000.0" velocity="6.5" lower="0.0" upper="1.13514578304" />
<dynamics damping="0.7" friction="0.0" />
</joint>
<link name="rh_p12_rn_r2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.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/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.006 0.011" rpy="0.0 0.0 0.0" />
<mass value="0.022" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="rh_l1" type="revolute">
<origin xyz="0.0 -0.008 0.048" rpy="0.0 0.0 0.0" />
<parent link="rh_p12_rn_base" />
<child link="rh_p12_rn_l1" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="1000.0" velocity="6.5" lower="0.0" upper="1.13514578304" />
<dynamics damping="0.7" friction="0.0" />
</joint>
<link name="rh_p12_rn_l1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.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/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.034 0.004" rpy="0.0 0.0 0.0" />
<mass value="0.068" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="rh_l2" type="revolute">
<origin xyz="0.0 -0.0493634 0.0285" rpy="0.0 0.0 0.0" />
<parent link="rh_p12_rn_l1" />
<child link="rh_p12_rn_l2" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="1000.0" velocity="6.5" lower="0.0" upper="1.13514578304" />
<dynamics damping="0.7" friction="0.0" />
</joint>
<link name="rh_p12_rn_l2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.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/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.006 0.011" rpy="0.0 0.0 0.0" />
<mass value="0.022" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 66b2508974629042 -->
<mujoco model="omy_f3m">
<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="base_unit_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_f3m/base_unit.stl" scale="0.001 0.001 0.001" />
<mesh name="link1_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_f3m/link1.stl" scale="0.001 0.001 0.001" />
<mesh name="link2_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_f3m/link2.stl" scale="0.001 0.001 0.001" />
<mesh name="link3_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_f3m/link3.stl" scale="0.001 0.001 0.001" />
<mesh name="link4_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_f3m/link4.stl" scale="0.001 0.001 0.001" />
<mesh name="link5_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_f3m/link5.stl" scale="0.001 0.001 0.001" />
<mesh name="link6_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_f3m/link6.stl" scale="0.001 0.001 0.001" />
<mesh name="flange_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_f3m/flange.stl" scale="0.001 0.001 0.001" />
<mesh name="base_0p001_0p001_0p001" file="open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001" />
<mesh name="r1_0p001_0p001_0p001" file="open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001" />
<mesh name="r2_0p001_0p001_0p001" file="open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001" />
<mesh name="l1_0p001_0p001_0p001" file="open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001" />
<mesh name="l2_0p001_0p001_0p001" file="open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001" />
</asset>
<worldbody>
<body name="link0">
<inertial pos="-0.0040215824 0.0013083991 0.05507347" mass="1.5287486" fullinertia="0.0046428203 0.0049736955 0.0064078321 4.4405532e-05 -0.00015049296 2.0756047e-05" />
<geom name="link0_vis_0" type="mesh" mesh="base_unit_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="link0_col_0" type="cylinder" size="0.08 0.025" pos="0.0 0.0 0.03" group="3" />
<body name="link1" pos="0.0 0.0 0.1715">
<joint name="joint1" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" damping="0.05" />
<inertial pos="-0.00011063615 -0.005471127 -0.015897733" mass="2.0648832" fullinertia="0.003033219 0.0027276724 0.0022826576 5.1792838e-06 3.3357961e-06 0.00017934953" />
<geom name="link1_vis_0" type="mesh" mesh="link1_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="link1_col_0" type="cylinder" size="0.055 0.05" pos="0.0 -0.01 -0.035" group="3" />
<body name="link2" pos="0.0 -0.1215 0.0">
<joint name="joint2" type="hinge" axis="0.0 1.0 0.0" range="-6.283185307179586 6.283185307179586" damping="0.1" />
<inertial pos="1.1405379e-05 0.016184244 0.10360634" mass="3.6795395" fullinertia="0.051731918 0.050353401 0.004501436 2.3958819e-06 5.789396e-05 -0.00043825716" />
<geom name="link2_vis_0" type="mesh" mesh="link2_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="link2_col_0" type="cylinder" size="0.046 0.14" pos="-0.005 -0.02 0.13" group="3" />
<body name="link3" pos="0.0 0.0 0.247">
<joint name="joint3" type="hinge" axis="0.0 1.0 0.0" range="-6.283185307179586 6.283185307179586" damping="0.1" />
<inertial pos="7.8148689e-05 0.10718481 0.14117267" mass="2.3865916" fullinertia="0.022694399 0.021920087 0.0027761559 -9.4142428e-07 -1.8551757e-05 0.00019179387" />
<geom name="link3_vis_0" type="mesh" mesh="link3_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="link3_col_0" type="cylinder" size="0.042 0.085" pos="0.0 0.125 0.08" group="3" />
<body name="link4" pos="0.0 0.1215 0.2195">
<joint name="joint4" type="hinge" axis="0.0 1.0 0.0" range="-6.283185307179586 6.283185307179586" damping="0.1" />
<inertial pos="-0.00013318256 -0.10746667 0.019090688" mass="1.4002347" fullinertia="0.0017545679 0.0015652147 0.0012159839 -4.5863379e-06 -1.7759142e-06 0.00015339913" />
<geom name="link4_vis_0" type="mesh" mesh="link4_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="link4_col_0" type="cylinder" size="0.045 0.05" quat="0.7073882691671998 0.706825181105366 0.0 0.0" group="3" />
<body name="link5" pos="0.0 -0.113 0.0">
<joint name="joint5" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" damping="0.1" />
<inertial pos="0.00013318256 -0.019090688 0.10996667" mass="1.4002347" fullinertia="0.0017545679 0.0012159839 0.0015652147 -1.7759143e-06 -4.5863376e-06 0.00015339913" />
<geom name="link5_vis_0" type="mesh" mesh="link5_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="link5_col_0" type="cylinder" size="0.043 0.025" pos="0.0 0.01 0.005" group="3" />
<body name="link6" pos="0.0 0.0 0.1155">
<joint name="joint6" type="hinge" axis="0.0 1.0 0.0" range="-6.283185307179586 6.283185307179586" damping="0.1" />
<inertial pos="1.1080146e-05 -0.080594056 0.0093029337" mass="0.40015475" fullinertia="0.00056741276 0.00062966706 0.00019890515 2.0073339e-07 -1.2345347e-06 -5.6318805e-05" />
<geom name="link6_vis_0" type="mesh" mesh="link6_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="link6_col_0" type="cylinder" size="0.08 0.11" pos="0.0 -0.1 0.0" quat="0.7073882691671998 0.706825181105366 0.0 0.0" group="3" />
<body name="end_effector_flange_link" pos="0.0 -0.103 0.0">
<inertial pos="0.0 -0.0031903102 0.0" mass="0.016618758" fullinertia="2.9075758e-06 8.1254311e-06 5.4926181e-06 0.0 0.0 0.0" />
<geom name="end_effector_flange_link_vis_0" type="mesh" mesh="flange_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="end_effector_flange_link_col_0" type="cylinder" size="0.035 0.06" pos="0.0 0.03 0.04" group="3" />
<body name="rh_p12_rn_base" pos="0.0 -0.006 0.0" quat="0.5003981633553667 0.49999984146591736 -0.49999984146591736 0.49960183664463337">
<inertial pos="0.0 0.0 0.032" mass="0.236" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
<geom name="rh_p12_rn_base_vis_0" type="mesh" mesh="base_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="rh_p12_rn_base_col_0" type="mesh" mesh="base_0p001_0p001_0p001" group="3" />
<body name="rh_p12_rn_r1" pos="0.0 0.008 0.048">
<joint name="rh_r1_joint" type="hinge" axis="1.0 0.0 0.0" range="0.0 1.13514578304" damping="0.7" />
<inertial pos="0.0 0.034 0.004" mass="0.068" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
<geom name="rh_p12_rn_r1_vis_0" type="mesh" mesh="r1_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="rh_p12_rn_r1_col_0" type="mesh" mesh="r1_0p001_0p001_0p001" group="3" />
<body name="rh_p12_rn_r2" pos="0.0 0.0493634 0.0285">
<joint name="rh_r2" type="hinge" axis="-1.0 0.0 0.0" range="0.0 1.13514578304" damping="0.7" />
<inertial pos="0.0 0.006 0.011" mass="0.022" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
<geom name="rh_p12_rn_r2_vis_0" type="mesh" mesh="r2_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="rh_p12_rn_r2_col_0" type="mesh" mesh="r2_0p001_0p001_0p001" group="3" />
</body>
</body>
<body name="rh_p12_rn_l1" pos="0.0 -0.008 0.048">
<joint name="rh_l1" type="hinge" axis="-1.0 0.0 0.0" range="0.0 1.13514578304" damping="0.7" />
<inertial pos="0.0 -0.034 0.004" mass="0.068" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
<geom name="rh_p12_rn_l1_vis_0" type="mesh" mesh="l1_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="rh_p12_rn_l1_col_0" type="mesh" mesh="l1_0p001_0p001_0p001" group="3" />
<body name="rh_p12_rn_l2" pos="0.0 -0.0493634 0.0285">
<joint name="rh_l2" type="hinge" axis="1.0 0.0 0.0" range="0.0 1.13514578304" damping="0.7" />
<inertial pos="0.0 -0.006 0.011" mass="0.022" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
<geom name="rh_p12_rn_l2_vis_0" type="mesh" mesh="l2_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
<geom name="rh_p12_rn_l2_col_0" type="mesh" mesh="l2_0p001_0p001_0p001" group="3" />
</body>
</body>
</body>
<body name="end_effector_link" pos="0.0 -0.141 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>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="end_effector_flange_link" body2="rh_p12_rn_base" />
<exclude body1="end_effector_flange_link" 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="link6" body2="end_effector_flange_link" />
<exclude body1="rh_p12_rn_base" body2="rh_p12_rn_r1" />
<exclude body1="rh_p12_rn_r1" body2="rh_p12_rn_r2" />
<exclude body1="rh_p12_rn_base" body2="rh_p12_rn_l1" />
<exclude body1="rh_p12_rn_l1" body2="rh_p12_rn_l2" />
</contact>
</mujoco>
Import report
Counts
| Links | 15 |
|---|---|
| Joints | 14 |
| Moving joints | 10 |
| Visuals | 14 |
| Collisions | 13 |
| Materials | 2 |
Meshes
Formats: stl.
Asset size: 19.0 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
axis | 1 | fixed joints carry no <axis>; URDF ignores it too |
mimic | 3 | joint coupling (mimic) is not representable yet; the joint imports as independent |
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 · 6.4e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 10).
Source & licence
| Repository | https://github.com/ROBOTIS-GIT/open_manipulator |
|---|---|
| Commit | bc555a9c41ebd7493dc945ddabc43fc649681b62 |
| Original file | open_manipulator_description/urdf/omy_f3m/omy_f3m.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.