OpenArm v1
Enactic · licence Apache-2.0 · source: github.com/enactic/openarm_description @ 1daa95b71
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 f169a14cb061b116 -->
<robot name="openarm">
<link name="world" />
<joint name="openarm_body_world_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="world" />
<child link="openarm_body_link0" />
</joint>
<link name="openarm_body_link0">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/body/visual/body_link0.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/body/collision/body_link0_symp.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="13.89" />
<inertia ixx="1.653" ixy="0.0" ixz="0.0" iyy="1.653" iyz="0.0" izz="0.051" />
</inertial>
</link>
<joint name="openarm_left_openarm_body_link0_joint" type="fixed">
<origin xyz="0.0 0.031 0.698" rpy="-1.5708 0.0 0.0" />
<parent link="openarm_body_link0" />
<child link="openarm_left_link0" />
</joint>
<link name="openarm_left_link0">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link0.dae" scale="0.001 -0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link0_symp.stl" scale="0.001 -0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0009483362816297526 -0.0001580207020448382 0.03076860287587199" rpy="0.0 0.0 0.0" />
<mass value="1.1432284943239561" />
<inertia ixx="0.001128" ixy="4e-06" ixz="-3.3e-05" iyy="0.000962" iyz="7e-06" izz="0.00147" />
</inertial>
</link>
<link name="openarm_left_link1">
<visual>
<origin xyz="-0.0 0.0 -0.0625" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link1.dae" scale="0.001 -0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="-0.0 0.0 -0.0625" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link1_symp.stl" scale="0.001 -0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0011467657911800769 -3.319987657026362e-05 0.05395284380736254" rpy="0.0 0.0 0.0" />
<mass value="1.1416684646202298" />
<inertia ixx="0.001567" ixy="1e-06" ixz="-2.9e-05" iyy="0.001273" iyz="-1e-06" izz="0.001016" />
</inertial>
</link>
<joint name="openarm_left_joint1" type="revolute">
<origin xyz="0.0 0.0 0.0625" rpy="0.0 0.0 0.0" />
<parent link="openarm_left_link0" />
<child link="openarm_left_link1" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="40.0" velocity="16.754666" lower="-3.490659" upper="1.3962629999999998" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="openarm_left_link2">
<visual>
<origin xyz="0.0301 0.0 -0.1225" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link2.dae" scale="0.001 -0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0301 0.0 -0.1225" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link2_symp.stl" scale="0.001 -0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00839629182351943 2.0145102027597523e-08 0.03256649300522363" rpy="0.0 0.0 0.0" />
<mass value="0.2775092746011571" />
<inertia ixx="0.000359" ixy="-1e-06" ixz="-0.000109" iyy="0.000376" iyz="-1e-06" izz="0.000232" />
</inertial>
</link>
<joint name="openarm_left_joint2" type="revolute">
<origin xyz="-0.0301 0.0 0.06" rpy="-1.57079632679 0.0 0.0" />
<parent link="openarm_left_link1" />
<child link="openarm_left_link2" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="40.0" velocity="16.754666" lower="-3.3161253267948965" upper="0.17453267320510335" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="openarm_left_link3">
<visual>
<origin xyz="-0.0 -0.0 -0.18875" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link3.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="-0.0 -0.0 -0.18875" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link3_symp.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.002104752099628911 0.0005549085042607548 0.09047470545721961" rpy="0.0 0.0 0.0" />
<mass value="1.073863338202347" />
<inertia ixx="0.004372" ixy="1e-06" ixz="1.1e-05" iyy="0.004319" iyz="-3.6e-05" izz="0.000661" />
</inertial>
</link>
<joint name="openarm_left_joint3" type="revolute">
<origin xyz="0.0301 0.0 0.06625" rpy="0.0 0.0 0.0" />
<parent link="openarm_left_link2" />
<child link="openarm_left_link3" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="27.0" velocity="5.445426" lower="-1.570796" upper="1.570796" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="openarm_left_link4">
<visual>
<origin xyz="0.0 -0.0315 -0.3425" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link4.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.0315 -0.3425" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link4_symp.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209" rpy="0.0 0.0 0.0" />
<mass value="0.6348534566833373" />
<inertia ixx="0.000623" ixy="-1e-06" ixz="-1.9e-05" iyy="0.000511" iyz="3.8e-05" izz="0.000334" />
</inertial>
</link>
<joint name="openarm_left_joint4" type="revolute">
<origin xyz="-0.0 0.0315 0.15375" rpy="0.0 0.0 0.0" />
<parent link="openarm_left_link3" />
<child link="openarm_left_link4" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="27.0" velocity="5.445426" lower="0.0" upper="2.443461" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="openarm_left_link5">
<visual>
<origin xyz="-0.0 -0.0 -0.438" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link5.dae" scale="0.001 -0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="-0.0 -0.0 -0.438" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link5_symp.stl" scale="0.001 -0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.003049665024221911 -0.0008866902457326625 0.043079803024980934" rpy="0.0 0.0 0.0" />
<mass value="0.6156588026168502" />
<inertia ixx="0.000423" ixy="8e-06" ixz="6e-06" iyy="0.000445" iyz="6e-06" izz="0.000324" />
</inertial>
</link>
<joint name="openarm_left_joint5" type="revolute">
<origin xyz="0.0 -0.0315 0.0955" rpy="0.0 0.0 0.0" />
<parent link="openarm_left_link4" />
<child link="openarm_left_link5" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="7.0" velocity="20.943946" lower="-1.570796" upper="1.570796" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="openarm_left_link6">
<visual>
<origin xyz="-0.0375 -0.0 -0.5585" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link6.dae" scale="0.001 -0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="-0.0375 -0.0 -0.5585" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link6_symp.stl" scale="0.001 -0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.037136587005447405 -0.00033230528343419053 -9.498374522309838e-05" rpy="0.0 0.0 0.0" />
<mass value="0.475202773187987" />
<inertia ixx="0.000143" ixy="-1e-06" ixz="1e-06" iyy="0.000157" iyz="-1e-06" izz="0.000159" />
</inertial>
</link>
<joint name="openarm_left_joint6" type="revolute">
<origin xyz="0.0375 0.0 0.1205" rpy="0.0 0.0 0.0" />
<parent link="openarm_left_link5" />
<child link="openarm_left_link6" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="7.0" velocity="20.943946" lower="-0.785398" upper="0.785398" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="openarm_left_link7">
<visual>
<origin xyz="0.0 -0.0 -0.5585" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link7.dae" scale="0.001 -0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.0 -0.5585" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link7_symp.stl" scale="0.001 -0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="6.875510271106056e-05 -0.01266175250761268 0.06951945409987448" rpy="0.0 0.0 0.0" />
<mass value="0.4659771327380578" />
<inertia ixx="0.000639" ixy="-1e-06" ixz="1e-06" iyy="0.000497" iyz="-8.9e-05" izz="0.000342" />
</inertial>
</link>
<joint name="openarm_left_joint7" type="revolute">
<origin xyz="-0.0375 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="openarm_left_link6" />
<child link="openarm_left_link7" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="7.0" velocity="20.943946" lower="-1.570796" upper="1.570796" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="openarm_right_openarm_body_link0_joint" type="fixed">
<origin xyz="0.0 -0.031 0.698" rpy="1.5708 0.0 0.0" />
<parent link="openarm_body_link0" />
<child link="openarm_right_link0" />
</joint>
<link name="openarm_right_link0">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link0.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link0_symp.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0009483362816297526 0.0001580207020448382 0.03076860287587199" rpy="0.0 0.0 0.0" />
<mass value="1.1432284943239561" />
<inertia ixx="0.001128" ixy="-4e-06" ixz="-3.3e-05" iyy="0.000962" iyz="-7e-06" izz="0.00147" />
</inertial>
</link>
<link name="openarm_right_link1">
<visual>
<origin xyz="-0.0 0.0 -0.0625" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link1.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="-0.0 0.0 -0.0625" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link1_symp.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0011467657911800769 3.319987657026362e-05 0.05395284380736254" rpy="0.0 0.0 0.0" />
<mass value="1.1416684646202298" />
<inertia ixx="0.001567" ixy="-1e-06" ixz="-2.9e-05" iyy="0.001273" iyz="1e-06" izz="0.001016" />
</inertial>
</link>
<joint name="openarm_right_joint1" type="revolute">
<origin xyz="0.0 0.0 0.0625" rpy="0.0 0.0 0.0" />
<parent link="openarm_right_link0" />
<child link="openarm_right_link1" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="40.0" velocity="16.754666" lower="-1.396263" upper="3.490659" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="openarm_right_link2">
<visual>
<origin xyz="0.0301 0.0 -0.1225" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link2.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0301 0.0 -0.1225" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link2_symp.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00839629182351943 -2.0145102027597523e-08 0.03256649300522363" rpy="0.0 0.0 0.0" />
<mass value="0.2775092746011571" />
<inertia ixx="0.000359" ixy="1e-06" ixz="-0.000109" iyy="0.000376" iyz="1e-06" izz="0.000232" />
</inertial>
</link>
<joint name="openarm_right_joint2" type="revolute">
<origin xyz="-0.0301 0.0 0.06" rpy="1.57079632679 0.0 0.0" />
<parent link="openarm_right_link1" />
<child link="openarm_right_link2" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="40.0" velocity="16.754666" lower="-0.17453267320510335" upper="3.3161253267948965" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="openarm_right_link3">
<visual>
<origin xyz="-0.0 -0.0 -0.18875" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link3.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="-0.0 -0.0 -0.18875" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link3_symp.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.002104752099628911 0.0005549085042607548 0.09047470545721961" rpy="0.0 0.0 0.0" />
<mass value="1.073863338202347" />
<inertia ixx="0.004372" ixy="1e-06" ixz="1.1e-05" iyy="0.004319" iyz="-3.6e-05" izz="0.000661" />
</inertial>
</link>
<joint name="openarm_right_joint3" type="revolute">
<origin xyz="0.0301 0.0 0.06625" rpy="0.0 0.0 0.0" />
<parent link="openarm_right_link2" />
<child link="openarm_right_link3" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="27.0" velocity="5.445426" lower="-1.570796" upper="1.570796" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="openarm_right_link4">
<visual>
<origin xyz="0.0 -0.0315 -0.3425" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link4.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.0315 -0.3425" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link4_symp.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209" rpy="0.0 0.0 0.0" />
<mass value="0.6348534566833373" />
<inertia ixx="0.000623" ixy="-1e-06" ixz="-1.9e-05" iyy="0.000511" iyz="3.8e-05" izz="0.000334" />
</inertial>
</link>
<joint name="openarm_right_joint4" type="revolute">
<origin xyz="-0.0 0.0315 0.15375" rpy="0.0 0.0 0.0" />
<parent link="openarm_right_link3" />
<child link="openarm_right_link4" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="27.0" velocity="5.445426" lower="0.0" upper="2.443461" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="openarm_right_link5">
<visual>
<origin xyz="-0.0 -0.0 -0.438" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link5.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="-0.0 -0.0 -0.438" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link5_symp.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.003049665024221911 0.0008866902457326625 0.043079803024980934" rpy="0.0 0.0 0.0" />
<mass value="0.6156588026168502" />
<inertia ixx="0.000423" ixy="-8e-06" ixz="6e-06" iyy="0.000445" iyz="-6e-06" izz="0.000324" />
</inertial>
</link>
<joint name="openarm_right_joint5" type="revolute">
<origin xyz="0.0 -0.0315 0.0955" rpy="0.0 0.0 0.0" />
<parent link="openarm_right_link4" />
<child link="openarm_right_link5" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="7.0" velocity="20.943946" lower="-1.570796" upper="1.570796" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="openarm_right_link6">
<visual>
<origin xyz="-0.0375 -0.0 -0.5585" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link6.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="-0.0375 -0.0 -0.5585" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link6_symp.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.037136587005447405 0.00033230528343419053 -9.498374522309838e-05" rpy="0.0 0.0 0.0" />
<mass value="0.475202773187987" />
<inertia ixx="0.000143" ixy="1e-06" ixz="1e-06" iyy="0.000157" iyz="1e-06" izz="0.000159" />
</inertial>
</link>
<joint name="openarm_right_joint6" type="revolute">
<origin xyz="0.0375 0.0 0.1205" rpy="0.0 0.0 0.0" />
<parent link="openarm_right_link5" />
<child link="openarm_right_link6" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="7.0" velocity="20.943946" lower="-0.785398" upper="0.785398" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="openarm_right_link7">
<visual>
<origin xyz="0.0 -0.0 -0.5585" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link7.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.0 -0.5585" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link7_symp.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="6.875510271106056e-05 0.01266175250761268 0.06951945409987448" rpy="0.0 0.0 0.0" />
<mass value="0.4659771327380578" />
<inertia ixx="0.000639" ixy="1e-06" ixz="1e-06" iyy="0.000497" iyz="8.9e-05" izz="0.000342" />
</inertial>
</link>
<joint name="openarm_right_joint7" type="revolute">
<origin xyz="-0.0375 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="openarm_right_link6" />
<child link="openarm_right_link7" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="7.0" velocity="20.943946" lower="-1.570796" upper="1.570796" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="openarm_left_hand">
<visual>
<origin xyz="0.0 0.0 -0.661001" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/visual/hand.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.661001" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/collision/hand.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="1e-06 0.0 -0.000549" rpy="0.0 0.0 0.0" />
<mass value="0.127" />
<inertia ixx="0.000165558" ixy="0.0" ixz="0.0" iyy="1.7466e-05" iyz="0.0" izz="0.000173524" />
</inertial>
</link>
<joint name="openarm_left_hand_joint" type="fixed">
<origin xyz="0.0 0.0 0.1025" rpy="0.0 0.0 0.0" />
<parent link="openarm_left_link7" />
<child link="openarm_left_hand" />
</joint>
<link name="openarm_left_hand_tcp" />
<joint name="openarm_left_hand_tcp_joint" type="fixed">
<origin xyz="0.0 0.0 0.0835" rpy="0.0 0.0 0.0" />
<parent link="openarm_left_hand" />
<child link="openarm_left_hand_tcp" />
</joint>
<link name="openarm_left_left_finger">
<visual>
<origin xyz="0.0 -0.05 -0.661001" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/visual/finger.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.05 -0.661001" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/collision/finger.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0064528 0.01702 0.0219685" rpy="0.0 0.0 0.0" />
<mass value="0.03602545343277134" />
<inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07" />
</inertial>
</link>
<link name="openarm_left_right_finger">
<visual>
<origin xyz="0.0 0.05 -0.661001" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/visual/finger.dae" scale="0.001 -0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.05 -0.661001" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/collision/finger.stl" scale="0.001 -0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0064528 -0.01702 0.0219685" rpy="0.0 0.0 0.0" />
<mass value="0.03602545343277134" />
<inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07" />
</inertial>
</link>
<joint name="openarm_left_finger_joint1" type="prismatic">
<origin xyz="0.0 -0.005 0.1025" rpy="0.0 0.0 0.0" />
<parent link="openarm_left_link7" />
<child link="openarm_left_right_finger" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="333.0" velocity="10.0" lower="0.0" upper="0.044" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="openarm_left_finger_joint2" type="prismatic">
<origin xyz="0.0 0.005 0.1025" rpy="0.0 0.0 0.0" />
<parent link="openarm_left_link7" />
<child link="openarm_left_left_finger" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="333.0" velocity="10.0" lower="0.0" upper="0.044" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="openarm_right_hand">
<visual>
<origin xyz="0.0 0.0 -0.661001" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/visual/hand.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 -0.661001" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/collision/hand.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="1e-06 0.0 -0.000549" rpy="0.0 0.0 0.0" />
<mass value="0.127" />
<inertia ixx="0.000165558" ixy="0.0" ixz="0.0" iyy="1.7466e-05" iyz="0.0" izz="0.000173524" />
</inertial>
</link>
<joint name="openarm_right_hand_joint" type="fixed">
<origin xyz="0.0 0.0 0.1025" rpy="0.0 0.0 0.0" />
<parent link="openarm_right_link7" />
<child link="openarm_right_hand" />
</joint>
<link name="openarm_right_hand_tcp" />
<joint name="openarm_right_hand_tcp_joint" type="fixed">
<origin xyz="0.0 0.0 0.0835" rpy="0.0 0.0 0.0" />
<parent link="openarm_right_hand" />
<child link="openarm_right_hand_tcp" />
</joint>
<link name="openarm_right_left_finger">
<visual>
<origin xyz="0.0 -0.05 -0.661001" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/visual/finger.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.05 -0.661001" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/collision/finger.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0064528 0.01702 0.0219685" rpy="0.0 0.0 0.0" />
<mass value="0.03602545343277134" />
<inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07" />
</inertial>
</link>
<link name="openarm_right_right_finger">
<visual>
<origin xyz="0.0 0.05 -0.661001" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/visual/finger.dae" scale="0.001 -0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.05 -0.661001" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/collision/finger.stl" scale="0.001 -0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0064528 -0.01702 0.0219685" rpy="0.0 0.0 0.0" />
<mass value="0.03602545343277134" />
<inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07" />
</inertial>
</link>
<joint name="openarm_right_finger_joint1" type="prismatic">
<origin xyz="0.0 -0.005 0.1025" rpy="0.0 0.0 0.0" />
<parent link="openarm_right_link7" />
<child link="openarm_right_right_finger" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="333.0" velocity="10.0" lower="0.0" upper="0.044" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="openarm_right_finger_joint2" type="prismatic">
<origin xyz="0.0 0.005 0.1025" rpy="0.0 0.0 0.0" />
<parent link="openarm_right_link7" />
<child link="openarm_right_left_finger" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="333.0" velocity="10.0" lower="0.0" upper="0.044" />
<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 f169a14cb061b116 -->
<mujoco model="openarm">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="body_link0_0p001_0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/body/visual/body_link0.dae" scale="0.001 0.001 0.001" />
<mesh name="body_link0_symp_0p001_0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/body/collision/body_link0_symp.stl" scale="0.001 0.001 0.001" />
<mesh name="link0_0p001_n0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link0.dae" scale="0.001 -0.001 0.001" />
<mesh name="link0_symp_0p001_n0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link0_symp.stl" scale="0.001 -0.001 0.001" />
<mesh name="link1_0p001_n0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link1.dae" scale="0.001 -0.001 0.001" />
<mesh name="link1_symp_0p001_n0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link1_symp.stl" scale="0.001 -0.001 0.001" />
<mesh name="link2_0p001_n0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link2.dae" scale="0.001 -0.001 0.001" />
<mesh name="link2_symp_0p001_n0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link2_symp.stl" scale="0.001 -0.001 0.001" />
<mesh name="link3_0p001_0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link3.dae" scale="0.001 0.001 0.001" />
<mesh name="link3_symp_0p001_0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link3_symp.stl" scale="0.001 0.001 0.001" />
<mesh name="link4_0p001_0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link4.dae" scale="0.001 0.001 0.001" />
<mesh name="link4_symp_0p001_0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link4_symp.stl" scale="0.001 0.001 0.001" />
<mesh name="link5_0p001_n0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link5.dae" scale="0.001 -0.001 0.001" />
<mesh name="link5_symp_0p001_n0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link5_symp.stl" scale="0.001 -0.001 0.001" />
<mesh name="link6_0p001_n0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link6.dae" scale="0.001 -0.001 0.001" />
<mesh name="link6_symp_0p001_n0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link6_symp.stl" scale="0.001 -0.001 0.001" />
<mesh name="link7_0p001_n0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link7.dae" scale="0.001 -0.001 0.001" />
<mesh name="link7_symp_0p001_n0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link7_symp.stl" scale="0.001 -0.001 0.001" />
<mesh name="link0_0p001_0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link0.dae" scale="0.001 0.001 0.001" />
<mesh name="link0_symp_0p001_0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link0_symp.stl" scale="0.001 0.001 0.001" />
<mesh name="link1_0p001_0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link1.dae" scale="0.001 0.001 0.001" />
<mesh name="link1_symp_0p001_0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link1_symp.stl" scale="0.001 0.001 0.001" />
<mesh name="link2_0p001_0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link2.dae" scale="0.001 0.001 0.001" />
<mesh name="link2_symp_0p001_0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link2_symp.stl" scale="0.001 0.001 0.001" />
<mesh name="link5_0p001_0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link5.dae" scale="0.001 0.001 0.001" />
<mesh name="link5_symp_0p001_0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link5_symp.stl" scale="0.001 0.001 0.001" />
<mesh name="link6_0p001_0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link6.dae" scale="0.001 0.001 0.001" />
<mesh name="link6_symp_0p001_0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link6_symp.stl" scale="0.001 0.001 0.001" />
<mesh name="link7_0p001_0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link7.dae" scale="0.001 0.001 0.001" />
<mesh name="link7_symp_0p001_0p001_0p001" file="openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link7_symp.stl" scale="0.001 0.001 0.001" />
<mesh name="visual_hand_0p001_0p001_0p001" file="openarm_description/assets/end_effector/parallel_link/meshes/visual/hand.dae" scale="0.001 0.001 0.001" />
<mesh name="collision_hand_0p001_0p001_0p001" file="openarm_description/assets/end_effector/parallel_link/meshes/collision/hand.stl" scale="0.001 0.001 0.001" />
<mesh name="visual_finger_0p001_0p001_0p001" file="openarm_description/assets/end_effector/parallel_link/meshes/visual/finger.dae" scale="0.001 0.001 0.001" />
<mesh name="collision_finger_0p001_0p001_0p001" file="openarm_description/assets/end_effector/parallel_link/meshes/collision/finger.stl" scale="0.001 0.001 0.001" />
<mesh name="visual_finger_0p001_n0p001_0p001" file="openarm_description/assets/end_effector/parallel_link/meshes/visual/finger.dae" scale="0.001 -0.001 0.001" />
<mesh name="collision_finger_0p001_n0p001_0p001" file="openarm_description/assets/end_effector/parallel_link/meshes/collision/finger.stl" scale="0.001 -0.001 0.001" />
</asset>
<worldbody>
<body name="openarm_body_link0">
<inertial pos="0.0 0.0 0.0" mass="13.89" fullinertia="1.653 1.653 0.051 0.0 0.0 0.0" />
<geom name="openarm_body_link0_vis_0" type="mesh" mesh="body_link0_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
<geom name="openarm_body_link0_col_0" type="mesh" mesh="body_link0_symp_0p001_0p001_0p001" group="3" />
<body name="openarm_left_link0" pos="0.0 0.031 0.698" quat="0.7071054825112363 -0.7071080798594735 0.0 0.0">
<inertial pos="-0.0009483362816297526 -0.0001580207020448382 0.03076860287587199" mass="1.1432284943239561" fullinertia="0.001128 0.000962 0.00147 4e-06 -3.3e-05 7e-06" />
<geom name="openarm_left_link0_vis_0" type="mesh" mesh="link0_0p001_n0p001_0p001" contype="0" conaffinity="0" group="2" />
<geom name="openarm_left_link0_col_0" type="mesh" mesh="link0_symp_0p001_n0p001_0p001" group="3" />
<body name="openarm_left_link1" pos="0.0 0.0 0.0625">
<joint name="openarm_left_joint1" type="hinge" axis="0.0 0.0 1.0" range="-3.490659 1.3962629999999998" />
<inertial pos="0.0011467657911800769 -3.319987657026362e-05 0.05395284380736254" mass="1.1416684646202298" fullinertia="0.001567 0.001273 0.001016 1e-06 -2.9e-05 -1e-06" />
<geom name="openarm_left_link1_vis_0" type="mesh" mesh="link1_0p001_n0p001_0p001" pos="-0.0 0.0 -0.0625" contype="0" conaffinity="0" group="2" />
<geom name="openarm_left_link1_col_0" type="mesh" mesh="link1_symp_0p001_n0p001_0p001" pos="-0.0 0.0 -0.0625" group="3" />
<body name="openarm_left_link2" pos="-0.0301 0.0 0.06" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
<joint name="openarm_left_joint2" type="hinge" axis="-1.0 0.0 0.0" range="-3.3161253267948965 0.17453267320510335" />
<inertial pos="0.00839629182351943 2.0145102027597523e-08 0.03256649300522363" mass="0.2775092746011571" fullinertia="0.000359 0.000376 0.000232 -1e-06 -0.000109 -1e-06" />
<geom name="openarm_left_link2_vis_0" type="mesh" mesh="link2_0p001_n0p001_0p001" pos="0.0301 0.0 -0.1225" contype="0" conaffinity="0" group="2" />
<geom name="openarm_left_link2_col_0" type="mesh" mesh="link2_symp_0p001_n0p001_0p001" pos="0.0301 0.0 -0.1225" group="3" />
<body name="openarm_left_link3" pos="0.0301 0.0 0.06625">
<joint name="openarm_left_joint3" type="hinge" axis="0.0 0.0 1.0" range="-1.570796 1.570796" />
<inertial pos="-0.002104752099628911 0.0005549085042607548 0.09047470545721961" mass="1.073863338202347" fullinertia="0.004372 0.004319 0.000661 1e-06 1.1e-05 -3.6e-05" />
<geom name="openarm_left_link3_vis_0" type="mesh" mesh="link3_0p001_0p001_0p001" pos="-0.0 -0.0 -0.18875" contype="0" conaffinity="0" group="2" />
<geom name="openarm_left_link3_col_0" type="mesh" mesh="link3_symp_0p001_0p001_0p001" pos="-0.0 -0.0 -0.18875" group="3" />
<body name="openarm_left_link4" pos="-0.0 0.0315 0.15375">
<joint name="openarm_left_joint4" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.443461" />
<inertial pos="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209" mass="0.6348534566833373" fullinertia="0.000623 0.000511 0.000334 -1e-06 -1.9e-05 3.8e-05" />
<geom name="openarm_left_link4_vis_0" type="mesh" mesh="link4_0p001_0p001_0p001" pos="0.0 -0.0315 -0.3425" contype="0" conaffinity="0" group="2" />
<geom name="openarm_left_link4_col_0" type="mesh" mesh="link4_symp_0p001_0p001_0p001" pos="0.0 -0.0315 -0.3425" group="3" />
<body name="openarm_left_link5" pos="0.0 -0.0315 0.0955">
<joint name="openarm_left_joint5" type="hinge" axis="0.0 0.0 1.0" range="-1.570796 1.570796" />
<inertial pos="-0.003049665024221911 -0.0008866902457326625 0.043079803024980934" mass="0.6156588026168502" fullinertia="0.000423 0.000445 0.000324 8e-06 6e-06 6e-06" />
<geom name="openarm_left_link5_vis_0" type="mesh" mesh="link5_0p001_n0p001_0p001" pos="-0.0 -0.0 -0.438" contype="0" conaffinity="0" group="2" />
<geom name="openarm_left_link5_col_0" type="mesh" mesh="link5_symp_0p001_n0p001_0p001" pos="-0.0 -0.0 -0.438" group="3" />
<body name="openarm_left_link6" pos="0.0375 0.0 0.1205">
<joint name="openarm_left_joint6" type="hinge" axis="1.0 0.0 0.0" range="-0.785398 0.785398" />
<inertial pos="-0.037136587005447405 -0.00033230528343419053 -9.498374522309838e-05" mass="0.475202773187987" fullinertia="0.000143 0.000157 0.000159 -1e-06 1e-06 -1e-06" />
<geom name="openarm_left_link6_vis_0" type="mesh" mesh="link6_0p001_n0p001_0p001" pos="-0.0375 -0.0 -0.5585" contype="0" conaffinity="0" group="2" />
<geom name="openarm_left_link6_col_0" type="mesh" mesh="link6_symp_0p001_n0p001_0p001" pos="-0.0375 -0.0 -0.5585" group="3" />
<body name="openarm_left_link7" pos="-0.0375 0.0 0.0">
<joint name="openarm_left_joint7" type="hinge" axis="0.0 -1.0 0.0" range="-1.570796 1.570796" />
<inertial pos="6.875510271106056e-05 -0.01266175250761268 0.06951945409987448" mass="0.4659771327380578" fullinertia="0.000639 0.000497 0.000342 -1e-06 1e-06 -8.9e-05" />
<geom name="openarm_left_link7_vis_0" type="mesh" mesh="link7_0p001_n0p001_0p001" pos="0.0 -0.0 -0.5585" contype="0" conaffinity="0" group="2" />
<geom name="openarm_left_link7_col_0" type="mesh" mesh="link7_symp_0p001_n0p001_0p001" pos="0.0 -0.0 -0.5585" group="3" />
<body name="openarm_left_hand" pos="0.0 0.0 0.1025">
<inertial pos="1e-06 0.0 -0.000549" mass="0.127" fullinertia="0.000165558 1.7466e-05 0.000173524 0.0 0.0 0.0" />
<geom name="openarm_left_hand_vis_0" type="mesh" mesh="visual_hand_0p001_0p001_0p001" pos="0.0 0.0 -0.661001" contype="0" conaffinity="0" group="2" />
<geom name="openarm_left_hand_col_0" type="mesh" mesh="collision_hand_0p001_0p001_0p001" pos="0.0 0.0 -0.661001" group="3" />
<body name="openarm_left_hand_tcp" pos="0.0 0.0 0.0835" />
</body>
<body name="openarm_left_right_finger" pos="0.0 -0.005 0.1025">
<joint name="openarm_left_finger_joint1" type="slide" axis="0.0 -1.0 0.0" range="0.0 0.044" />
<inertial pos="0.0064528 -0.01702 0.0219685" mass="0.03602545343277134" fullinertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07 1e-06 1e-06 1e-06" />
<geom name="openarm_left_right_finger_vis_0" type="mesh" mesh="visual_finger_0p001_n0p001_0p001" pos="0.0 0.05 -0.661001" contype="0" conaffinity="0" group="2" />
<geom name="openarm_left_right_finger_col_0" type="mesh" mesh="collision_finger_0p001_n0p001_0p001" pos="0.0 0.05 -0.661001" group="3" />
</body>
<body name="openarm_left_left_finger" pos="0.0 0.005 0.1025">
<joint name="openarm_left_finger_joint2" type="slide" axis="0.0 1.0 0.0" range="0.0 0.044" />
<inertial pos="0.0064528 0.01702 0.0219685" mass="0.03602545343277134" fullinertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07 1e-06 1e-06 1e-06" />
<geom name="openarm_left_left_finger_vis_0" type="mesh" mesh="visual_finger_0p001_0p001_0p001" pos="0.0 -0.05 -0.661001" contype="0" conaffinity="0" group="2" />
<geom name="openarm_left_left_finger_col_0" type="mesh" mesh="collision_finger_0p001_0p001_0p001" pos="0.0 -0.05 -0.661001" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="openarm_right_link0" pos="0.0 -0.031 0.698" quat="0.7071054825112363 0.7071080798594735 0.0 0.0">
<inertial pos="-0.0009483362816297526 0.0001580207020448382 0.03076860287587199" mass="1.1432284943239561" fullinertia="0.001128 0.000962 0.00147 -4e-06 -3.3e-05 -7e-06" />
<geom name="openarm_right_link0_vis_0" type="mesh" mesh="link0_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
<geom name="openarm_right_link0_col_0" type="mesh" mesh="link0_symp_0p001_0p001_0p001" group="3" />
<body name="openarm_right_link1" pos="0.0 0.0 0.0625">
<joint name="openarm_right_joint1" type="hinge" axis="0.0 0.0 1.0" range="-1.396263 3.490659" />
<inertial pos="0.0011467657911800769 3.319987657026362e-05 0.05395284380736254" mass="1.1416684646202298" fullinertia="0.001567 0.001273 0.001016 -1e-06 -2.9e-05 1e-06" />
<geom name="openarm_right_link1_vis_0" type="mesh" mesh="link1_0p001_0p001_0p001" pos="-0.0 0.0 -0.0625" contype="0" conaffinity="0" group="2" />
<geom name="openarm_right_link1_col_0" type="mesh" mesh="link1_symp_0p001_0p001_0p001" pos="-0.0 0.0 -0.0625" group="3" />
<body name="openarm_right_link2" pos="-0.0301 0.0 0.06" quat="0.7071067811882787 0.7071067811848163 0.0 0.0">
<joint name="openarm_right_joint2" type="hinge" axis="-1.0 0.0 0.0" range="-0.17453267320510335 3.3161253267948965" />
<inertial pos="0.00839629182351943 -2.0145102027597523e-08 0.03256649300522363" mass="0.2775092746011571" fullinertia="0.000359 0.000376 0.000232 1e-06 -0.000109 1e-06" />
<geom name="openarm_right_link2_vis_0" type="mesh" mesh="link2_0p001_0p001_0p001" pos="0.0301 0.0 -0.1225" contype="0" conaffinity="0" group="2" />
<geom name="openarm_right_link2_col_0" type="mesh" mesh="link2_symp_0p001_0p001_0p001" pos="0.0301 0.0 -0.1225" group="3" />
<body name="openarm_right_link3" pos="0.0301 0.0 0.06625">
<joint name="openarm_right_joint3" type="hinge" axis="0.0 0.0 1.0" range="-1.570796 1.570796" />
<inertial pos="-0.002104752099628911 0.0005549085042607548 0.09047470545721961" mass="1.073863338202347" fullinertia="0.004372 0.004319 0.000661 1e-06 1.1e-05 -3.6e-05" />
<geom name="openarm_right_link3_vis_0" type="mesh" mesh="link3_0p001_0p001_0p001" pos="-0.0 -0.0 -0.18875" contype="0" conaffinity="0" group="2" />
<geom name="openarm_right_link3_col_0" type="mesh" mesh="link3_symp_0p001_0p001_0p001" pos="-0.0 -0.0 -0.18875" group="3" />
<body name="openarm_right_link4" pos="-0.0 0.0315 0.15375">
<joint name="openarm_right_joint4" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.443461" />
<inertial pos="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209" mass="0.6348534566833373" fullinertia="0.000623 0.000511 0.000334 -1e-06 -1.9e-05 3.8e-05" />
<geom name="openarm_right_link4_vis_0" type="mesh" mesh="link4_0p001_0p001_0p001" pos="0.0 -0.0315 -0.3425" contype="0" conaffinity="0" group="2" />
<geom name="openarm_right_link4_col_0" type="mesh" mesh="link4_symp_0p001_0p001_0p001" pos="0.0 -0.0315 -0.3425" group="3" />
<body name="openarm_right_link5" pos="0.0 -0.0315 0.0955">
<joint name="openarm_right_joint5" type="hinge" axis="0.0 0.0 1.0" range="-1.570796 1.570796" />
<inertial pos="-0.003049665024221911 0.0008866902457326625 0.043079803024980934" mass="0.6156588026168502" fullinertia="0.000423 0.000445 0.000324 -8e-06 6e-06 -6e-06" />
<geom name="openarm_right_link5_vis_0" type="mesh" mesh="link5_0p001_0p001_0p001" pos="-0.0 -0.0 -0.438" contype="0" conaffinity="0" group="2" />
<geom name="openarm_right_link5_col_0" type="mesh" mesh="link5_symp_0p001_0p001_0p001" pos="-0.0 -0.0 -0.438" group="3" />
<body name="openarm_right_link6" pos="0.0375 0.0 0.1205">
<joint name="openarm_right_joint6" type="hinge" axis="1.0 0.0 0.0" range="-0.785398 0.785398" />
<inertial pos="-0.037136587005447405 0.00033230528343419053 -9.498374522309838e-05" mass="0.475202773187987" fullinertia="0.000143 0.000157 0.000159 1e-06 1e-06 1e-06" />
<geom name="openarm_right_link6_vis_0" type="mesh" mesh="link6_0p001_0p001_0p001" pos="-0.0375 -0.0 -0.5585" contype="0" conaffinity="0" group="2" />
<geom name="openarm_right_link6_col_0" type="mesh" mesh="link6_symp_0p001_0p001_0p001" pos="-0.0375 -0.0 -0.5585" group="3" />
<body name="openarm_right_link7" pos="-0.0375 0.0 0.0">
<joint name="openarm_right_joint7" type="hinge" axis="0.0 1.0 0.0" range="-1.570796 1.570796" />
<inertial pos="6.875510271106056e-05 0.01266175250761268 0.06951945409987448" mass="0.4659771327380578" fullinertia="0.000639 0.000497 0.000342 1e-06 1e-06 8.9e-05" />
<geom name="openarm_right_link7_vis_0" type="mesh" mesh="link7_0p001_0p001_0p001" pos="0.0 -0.0 -0.5585" contype="0" conaffinity="0" group="2" />
<geom name="openarm_right_link7_col_0" type="mesh" mesh="link7_symp_0p001_0p001_0p001" pos="0.0 -0.0 -0.5585" group="3" />
<body name="openarm_right_hand" pos="0.0 0.0 0.1025">
<inertial pos="1e-06 0.0 -0.000549" mass="0.127" fullinertia="0.000165558 1.7466e-05 0.000173524 0.0 0.0 0.0" />
<geom name="openarm_right_hand_vis_0" type="mesh" mesh="visual_hand_0p001_0p001_0p001" pos="0.0 0.0 -0.661001" contype="0" conaffinity="0" group="2" />
<geom name="openarm_right_hand_col_0" type="mesh" mesh="collision_hand_0p001_0p001_0p001" pos="0.0 0.0 -0.661001" group="3" />
<body name="openarm_right_hand_tcp" pos="0.0 0.0 0.0835" />
</body>
<body name="openarm_right_right_finger" pos="0.0 -0.005 0.1025">
<joint name="openarm_right_finger_joint1" type="slide" axis="0.0 -1.0 0.0" range="0.0 0.044" />
<inertial pos="0.0064528 -0.01702 0.0219685" mass="0.03602545343277134" fullinertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07 1e-06 1e-06 1e-06" />
<geom name="openarm_right_right_finger_vis_0" type="mesh" mesh="visual_finger_0p001_n0p001_0p001" pos="0.0 0.05 -0.661001" contype="0" conaffinity="0" group="2" />
<geom name="openarm_right_right_finger_col_0" type="mesh" mesh="collision_finger_0p001_n0p001_0p001" pos="0.0 0.05 -0.661001" group="3" />
</body>
<body name="openarm_right_left_finger" pos="0.0 0.005 0.1025">
<joint name="openarm_right_finger_joint2" type="slide" axis="0.0 1.0 0.0" range="0.0 0.044" />
<inertial pos="0.0064528 0.01702 0.0219685" mass="0.03602545343277134" fullinertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07 1e-06 1e-06 1e-06" />
<geom name="openarm_right_left_finger_vis_0" type="mesh" mesh="visual_finger_0p001_0p001_0p001" pos="0.0 -0.05 -0.661001" contype="0" conaffinity="0" group="2" />
<geom name="openarm_right_left_finger_col_0" type="mesh" mesh="collision_finger_0p001_0p001_0p001" pos="0.0 -0.05 -0.661001" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="openarm_body_link0" body2="openarm_left_link0" />
<exclude body1="openarm_left_link0" body2="openarm_left_link1" />
<exclude body1="openarm_left_link1" body2="openarm_left_link2" />
<exclude body1="openarm_left_link2" body2="openarm_left_link3" />
<exclude body1="openarm_left_link3" body2="openarm_left_link4" />
<exclude body1="openarm_left_link4" body2="openarm_left_link5" />
<exclude body1="openarm_left_link5" body2="openarm_left_link6" />
<exclude body1="openarm_left_link6" body2="openarm_left_link7" />
<exclude body1="openarm_body_link0" body2="openarm_right_link0" />
<exclude body1="openarm_right_link0" body2="openarm_right_link1" />
<exclude body1="openarm_right_link1" body2="openarm_right_link2" />
<exclude body1="openarm_right_link2" body2="openarm_right_link3" />
<exclude body1="openarm_right_link3" body2="openarm_right_link4" />
<exclude body1="openarm_right_link4" body2="openarm_right_link5" />
<exclude body1="openarm_right_link5" body2="openarm_right_link6" />
<exclude body1="openarm_right_link6" body2="openarm_right_link7" />
<exclude body1="openarm_left_link7" body2="openarm_left_hand" />
<exclude body1="openarm_left_hand" body2="openarm_left_hand_tcp" />
<exclude body1="openarm_left_link7" body2="openarm_left_right_finger" />
<exclude body1="openarm_left_link7" body2="openarm_left_left_finger" />
<exclude body1="openarm_right_link7" body2="openarm_right_hand" />
<exclude body1="openarm_right_hand" body2="openarm_right_hand_tcp" />
<exclude body1="openarm_right_link7" body2="openarm_right_right_finger" />
<exclude body1="openarm_right_link7" body2="openarm_right_left_finger" />
</contact>
</mujoco>
Import report
Counts
| Links | 26 |
|---|---|
| Joints | 25 |
| Moving joints | 18 |
| Visuals | 23 |
| Collisions | 23 |
| Materials | 0 |
Meshes
Formats: dae, stl.
Asset size: 75.1 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
@name | 46 | visual names are not carried; the geometry is kept |
mimic | 2 | joint coupling (mimic) is not representable yet; the joint imports as independent |
Forward-kinematics check
Forward kinematics of 26 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 · 5.0e-16 rad.
MuJoCo
robot.xml did not compile in MuJoCo: Error: inertia must satisfy A + B >= C; use 'balanceinertia' to fix
Source & licence
| Repository | https://github.com/enactic/openarm_description |
|---|---|
| Commit | 1daa95b71565a6696242013a42c4d3af689cbdb3 |
| Original file | assets/robot/openarm_v1.0/urdf/openarm_v10.urdf.xacro |
| 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.