OpenArm v2
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 4fc5fd17cd8ee605 -->
<robot name="openarm_v20">
<link name="world" />
<material name="openarm_body_link0_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
</material>
<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_v2.0/meshes/body/visual/body_link0.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="openarm_body_link0_material" />
</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_v2.0/meshes/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_body_link0_mount_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>
<material name="openarm_left_base_link_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
</material>
<link name="openarm_left_base_link">
<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_v2.0/meshes/arm/visual/base_link.dae" scale="1.0 -1.0 1.0" />
</geometry>
<material name="openarm_left_base_link_material" />
</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_v2.0/meshes/arm/collision/base_link.stl" scale="1.0 -1.0 1.0" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00253123748061566 0.0258185540330169 2.70658291858903e-05" rpy="0.0 0.0 0.0" />
<mass value="1.1432284943239561" />
<inertia ixx="0.00113607806226198" ixy="-3.81487993180929e-07" ixz="1.09161247709715e-08" iyy="0.00159935208714031" iyz="-2.7521421737084e-08" izz="0.000750541980863571" />
</inertial>
</link>
<joint name="openarm_left_base_link_mount_joint" type="fixed">
<origin xyz="0.0 0.031 0.698" rpy="0.0 0.0 0.0" />
<parent link="openarm_body_link0" />
<child link="openarm_left_base_link" />
</joint>
<material name="openarm_left_link1_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
</material>
<link name="openarm_left_link1">
<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_v2.0/meshes/arm/visual/link1.dae" scale="1.0 -1.0 1.0" />
</geometry>
<material name="openarm_left_link1_material" />
</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_v2.0/meshes/arm/collision/link1.stl" scale="1.0 -1.0 1.0" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000900350355624244 0.0444659716892874 2.88441021165683e-05" rpy="0.0 0.0 0.0" />
<mass value="1.1416684646202298" />
<inertia ixx="0.0010943212038551" ixy="-9.41628673674543e-06" ixz="4.53422182483102e-08" iyy="0.000759199728161993" iyz="-6.66755698859637e-08" izz="0.000670659201019629" />
</inertial>
</link>
<joint name="openarm_left_joint1" type="revolute">
<origin xyz="0.0 0.0625 0.0" rpy="0.0 0.0 0.0" />
<parent link="openarm_left_base_link" />
<child link="openarm_left_link1" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="40.0" velocity="16.755" lower="-3.4907" upper="1.3963" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="openarm_left_link2_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
</material>
<link name="openarm_left_link2">
<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_v2.0/meshes/arm/visual/link2.dae" scale="1.0 -1.0 1.0" />
</geometry>
<material name="openarm_left_link2_material" />
</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_v2.0/meshes/arm/collision/link2.stl" scale="1.0 -1.0 1.0" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0247184924346635 -7.60578399428002e-08 -0.0312643102292087" rpy="0.0 0.0 0.0" />
<mass value="0.2775092746011571" />
<inertia ixx="0.000153588833784759" ixy="2.94422592188677e-10" ixz="5.21056076779068e-06" iyy="0.000113062180225725" iyz="-3.75816911469744e-10" izz="8.22999351863579e-05" />
</inertial>
</link>
<joint name="openarm_left_joint2" type="revolute">
<origin xyz="0.0 0.0600000000000001 0.0" rpy="0.0 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="16.755" lower="-3.3161" upper="0.17453" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="openarm_left_link3_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
</material>
<link name="openarm_left_link3">
<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_v2.0/meshes/arm/visual/link3.dae" />
</geometry>
<material name="openarm_left_link3_material" />
</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_v2.0/meshes/arm/collision/link3.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00300861804638783 -0.000514813312550808 -0.109368241429434" rpy="0.0 0.0 0.0" />
<mass value="1.073863338202347" />
<inertia ixx="0.00128939636591746" ixy="-2.29951046666492e-07" ixz="-6.76161926984358e-05" iyy="0.00114018992179734" iyz="-1.06260802872572e-05" izz="0.000559765478676303" />
</inertial>
</link>
<joint name="openarm_left_joint3" type="revolute">
<origin xyz="0.0 0.0 -0.0662500000000008" 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="5.4454" lower="-1.5708" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="openarm_left_link4_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
</material>
<link name="openarm_left_link4">
<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_v2.0/meshes/arm/visual/link4.dae" />
</geometry>
<material name="openarm_left_link4_material" />
</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_v2.0/meshes/arm/collision/link4.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00310326243752606 -0.00136538979048502 -0.0574601379354351" rpy="0.0 0.0 0.0" />
<mass value="0.6348534566833373" />
<inertia ixx="0.0004690036047182" ixy="5.63626910265645e-06" ixz="-1.77877991597693e-06" iyy="0.000433926270522842" iyz="3.41757797773822e-06" izz="0.000245211429759716" />
</inertial>
</link>
<joint name="openarm_left_joint4" type="revolute">
<origin xyz="0.0 0.0 -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="5.4454" lower="0.0" upper="2.4435" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="openarm_left_link5_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
</material>
<link name="openarm_left_link5">
<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_v2.0/meshes/arm/visual/link5.dae" scale="1.0 -1.0 1.0" />
</geometry>
<material name="openarm_left_link5_material" />
</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_v2.0/meshes/arm/collision/link5.stl" scale="1.0 -1.0 1.0" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000737188580130584 0.000412406544351845 -0.047093829077211" rpy="0.0 0.0 0.0" />
<mass value="0.6156588026168502" />
<inertia ixx="0.000279653368752989" ixy="-3.31745289972445e-06" ixz="7.68097311403736e-07" iyy="0.000334599623120095" iyz="1.49934409279756e-07" izz="0.000176662464388138" />
</inertial>
</link>
<joint name="openarm_left_joint5" type="revolute">
<origin xyz="0.0 0.0 -0.0955000000000005" 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="20.944" lower="-1.5708" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="openarm_left_link6_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
</material>
<link name="openarm_left_link6">
<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_v2.0/meshes/arm/visual/link6.dae" scale="1.0 -1.0 1.0" />
</geometry>
<material name="openarm_left_link6_material" />
</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_v2.0/meshes/arm/collision/link6.stl" scale="1.0 -1.0 1.0" />
</geometry>
</collision>
<inertial>
<origin xyz="2.27438423593244e-05 -0.00068649602098908 5.44000494765995e-05" rpy="0.0 0.0 0.0" />
<mass value="0.475202773187987" />
<inertia ixx="0.000179275941446964" ixy="-6.58439346712228e-08" ixz="-3.37101167120887e-08" iyy="0.000136247512758587" iyz="-3.32253600295544e-08" izz="0.000135340695937386" />
</inertial>
</link>
<joint name="openarm_left_joint6" type="revolute">
<origin xyz="0.0 0.0 -0.120499999999998" rpy="0.0 0.0 0.0" />
<parent link="openarm_left_link5" />
<child link="openarm_left_link6" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="7.0" velocity="20.944" lower="-0.7854" upper="0.7854" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="openarm_left_joint7" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="openarm_left_link6" />
<child link="openarm_left_ee_base_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="7.0" velocity="20.944" lower="-1.5708" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="openarm_left_ee_base_link_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
</material>
<link name="openarm_left_ee_base_link">
<visual>
<origin xyz="0.0205 -0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/visual/ee_base_link.dae" scale="1.0 -1.0 1.0" />
</geometry>
<material name="openarm_left_ee_base_link_material" />
</visual>
<collision>
<origin xyz="0.0205 -0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/collision/ee_base_link.stl" scale="1.0 -1.0 1.0" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0137902 -0.0084073 -0.05938" rpy="0.0 -0.0 0.0" />
<mass value="0.52832" />
<inertia ixx="0.00021911" ixy="-4.1683e-06" ixz="1.4043e-06" iyy="0.00015627" iyz="1.5124e-06" izz="0.0001659" />
</inertial>
</link>
<material name="openarm_left_ee_link1_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
</material>
<link name="openarm_left_ee_link1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/visual/finger_inner.dae" scale="1.0 -1.0 1.0" />
</geometry>
<material name="openarm_left_ee_link1_material" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/collision/finger_inner.stl" scale="1.0 -1.0 1.0" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0124990911725494 -0.00176592789915655 -0.0241663193888537" rpy="0.0 0.0 0.0" />
<mass value="0.125979047366671" />
<inertia ixx="3.61105363396623e-05" ixy="-1.35880208293387e-06" ixz="7.13916341634141e-06" iyy="3.62137424319396e-05" iyz="3.60343788693423e-06" izz="1.74958961632907e-05" />
</inertial>
</link>
<material name="openarm_left_ee_link2_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
</material>
<link name="openarm_left_ee_link2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/visual/finger_outer.dae" scale="1.0 -1.0 1.0" />
</geometry>
<material name="openarm_left_ee_link2_material" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/collision/finger_outer.stl" scale="1.0 -1.0 1.0" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.012796 0.0020183 -0.026792" rpy="0.0 0.0 0.0" />
<mass value="0.11372" />
<inertia ixx="3.4565e-05" ixy="1.3392e-06" ixz="7.1576e-06" iyy="3.5306e-05" iyz="-3.7172e-06" izz="1.6571e-05" />
</inertial>
</link>
<joint name="openarm_left_finger_joint1" type="revolute">
<origin xyz="-0.0014300000000005003 -0.0180000000000009 -0.0680000000000174" rpy="0.0 -0.0 0.0" />
<parent link="openarm_left_ee_base_link" />
<child link="openarm_left_ee_link1" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="7.0" velocity="5.0" lower="0.0" upper="0.7854" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="openarm_left_finger_joint2" type="revolute">
<origin xyz="-0.0014300000000005003 0.0180000000000012 -0.0680000000000215" rpy="0.0 -0.0 0.0" />
<parent link="openarm_left_ee_base_link" />
<child link="openarm_left_ee_link2" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="7.0" velocity="5.0" lower="0.0" upper="0.7854" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="openarm_right_base_link_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
</material>
<link name="openarm_right_base_link">
<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_v2.0/meshes/arm/visual/base_link.dae" />
</geometry>
<material name="openarm_right_base_link_material" />
</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_v2.0/meshes/arm/collision/base_link.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00253123748061566 -0.0258185540330169 2.70658291858903e-05" rpy="0.0 0.0 0.0" />
<mass value="1.1432284943239561" />
<inertia ixx="0.00113607806226198" ixy="3.81487993180929e-07" ixz="1.09161247709715e-08" iyy="0.00159935208714031" iyz="2.7521421737084e-08" izz="0.000750541980863571" />
</inertial>
</link>
<joint name="openarm_right_base_link_mount_joint" type="fixed">
<origin xyz="0.0 -0.031 0.698" rpy="0.0 0.0 0.0" />
<parent link="openarm_body_link0" />
<child link="openarm_right_base_link" />
</joint>
<material name="openarm_right_link1_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
</material>
<link name="openarm_right_link1">
<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_v2.0/meshes/arm/visual/link1.dae" />
</geometry>
<material name="openarm_right_link1_material" />
</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_v2.0/meshes/arm/collision/link1.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000900350355624244 -0.0444659716892874 2.88441021165683e-05" rpy="0.0 0.0 0.0" />
<mass value="1.1416684646202298" />
<inertia ixx="0.0010943212038551" ixy="9.41628673674543e-06" ixz="4.53422182483102e-08" iyy="0.000759199728161993" iyz="6.66755698859637e-08" izz="0.000670659201019629" />
</inertial>
</link>
<joint name="openarm_right_joint1" type="revolute">
<origin xyz="0.0 -0.0625 0.0" rpy="0.0 0.0 0.0" />
<parent link="openarm_right_base_link" />
<child link="openarm_right_link1" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="40.0" velocity="16.755" lower="-1.3963" upper="3.4907" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="openarm_right_link2_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
</material>
<link name="openarm_right_link2">
<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_v2.0/meshes/arm/visual/link2.dae" />
</geometry>
<material name="openarm_right_link2_material" />
</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_v2.0/meshes/arm/collision/link2.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0247184924346635 7.60578399428002e-08 -0.0312643102292087" rpy="0.0 0.0 0.0" />
<mass value="0.2775092746011571" />
<inertia ixx="0.000153588833784759" ixy="-2.94422592188677e-10" ixz="5.21056076779068e-06" iyy="0.000113062180225725" iyz="3.75816911469744e-10" izz="8.22999351863579e-05" />
</inertial>
</link>
<joint name="openarm_right_joint2" type="revolute">
<origin xyz="0.0 -0.0600000000000001 0.0" rpy="0.0 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="16.755" lower="-0.17453" upper="3.3161" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="openarm_right_link3_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
</material>
<link name="openarm_right_link3">
<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_v2.0/meshes/arm/visual/link3.dae" />
</geometry>
<material name="openarm_right_link3_material" />
</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_v2.0/meshes/arm/collision/link3.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00300861804638783 -0.000514813312550808 -0.109368241429434" rpy="0.0 0.0 0.0" />
<mass value="1.073863338202347" />
<inertia ixx="0.00128939636591746" ixy="-2.29951046666492e-07" ixz="-6.76161926984358e-05" iyy="0.00114018992179734" iyz="-1.06260802872572e-05" izz="0.000559765478676303" />
</inertial>
</link>
<joint name="openarm_right_joint3" type="revolute">
<origin xyz="0.0 0.0 -0.0662500000000008" 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="5.4454" lower="-1.5708" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="openarm_right_link4_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
</material>
<link name="openarm_right_link4">
<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_v2.0/meshes/arm/visual/link4.dae" />
</geometry>
<material name="openarm_right_link4_material" />
</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_v2.0/meshes/arm/collision/link4.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00310326243752606 -0.00136538979048502 -0.0574601379354351" rpy="0.0 0.0 0.0" />
<mass value="0.6348534566833373" />
<inertia ixx="0.0004690036047182" ixy="5.63626910265645e-06" ixz="-1.77877991597693e-06" iyy="0.000433926270522842" iyz="3.41757797773822e-06" izz="0.000245211429759716" />
</inertial>
</link>
<joint name="openarm_right_joint4" type="revolute">
<origin xyz="0.0 0.0 -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="5.4454" lower="0.0" upper="2.4435" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="openarm_right_link5_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
</material>
<link name="openarm_right_link5">
<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_v2.0/meshes/arm/visual/link5.dae" />
</geometry>
<material name="openarm_right_link5_material" />
</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_v2.0/meshes/arm/collision/link5.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000737188580130584 -0.000412406544351845 -0.047093829077211" rpy="0.0 0.0 0.0" />
<mass value="0.6156588026168502" />
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</inertial>
</link>
<joint name="openarm_right_joint5" type="revolute">
<origin xyz="0.0 0.0 -0.0955000000000005" 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="20.944" lower="-1.5708" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="openarm_right_link6_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
</material>
<link name="openarm_right_link6">
<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_v2.0/meshes/arm/visual/link6.dae" />
</geometry>
<material name="openarm_right_link6_material" />
</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_v2.0/meshes/arm/collision/link6.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="2.27438423593244e-05 0.00068649602098908 5.44000494765995e-05" rpy="0.0 0.0 0.0" />
<mass value="0.475202773187987" />
<inertia ixx="0.000179275941446964" ixy="6.58439346712228e-08" ixz="-3.37101167120887e-08" iyy="0.000136247512758587" iyz="3.32253600295544e-08" izz="0.000135340695937386" />
</inertial>
</link>
<joint name="openarm_right_joint6" type="revolute">
<origin xyz="0.0 0.0 -0.120499999999998" rpy="0.0 0.0 0.0" />
<parent link="openarm_right_link5" />
<child link="openarm_right_link6" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="7.0" velocity="20.944" lower="-0.7854" upper="0.7854" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="openarm_right_joint7" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="openarm_right_link6" />
<child link="openarm_right_ee_base_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="7.0" velocity="20.944" lower="-1.5708" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<material name="openarm_right_ee_base_link_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
</material>
<link name="openarm_right_ee_base_link">
<visual>
<origin xyz="0.0205 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/visual/ee_base_link.dae" />
</geometry>
<material name="openarm_right_ee_base_link_material" />
</visual>
<collision>
<origin xyz="0.0205 0.0 0.0" rpy="0.0 -0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/collision/ee_base_link.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0137902 0.0084073 -0.05938" rpy="0.0 -0.0 0.0" />
<mass value="0.52832" />
<inertia ixx="0.00021911" ixy="4.1683e-06" ixz="1.4043e-06" iyy="0.00015627" iyz="-1.5124e-06" izz="0.0001659" />
</inertial>
</link>
<material name="openarm_right_ee_link1_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
</material>
<link name="openarm_right_ee_link1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/visual/finger_inner.dae" />
</geometry>
<material name="openarm_right_ee_link1_material" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/collision/finger_inner.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0124990911725494 0.00176592789915655 -0.0241663193888537" rpy="0.0 0.0 0.0" />
<mass value="0.125979047366671" />
<inertia ixx="3.61105363396623e-05" ixy="1.35880208293387e-06" ixz="7.13916341634141e-06" iyy="3.62137424319396e-05" iyz="-3.60343788693423e-06" izz="1.74958961632907e-05" />
</inertial>
</link>
<material name="openarm_right_ee_link2_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
</material>
<link name="openarm_right_ee_link2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/visual/finger_outer.dae" />
</geometry>
<material name="openarm_right_ee_link2_material" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/collision/finger_outer.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.012796 -0.0020183 -0.026792" rpy="0.0 0.0 0.0" />
<mass value="0.11372" />
<inertia ixx="3.4565e-05" ixy="-1.3392e-06" ixz="7.1576e-06" iyy="3.5306e-05" iyz="3.7172e-06" izz="1.6571e-05" />
</inertial>
</link>
<joint name="openarm_right_finger_joint1" type="revolute">
<origin xyz="-0.0014300000000005003 0.0180000000000009 -0.0680000000000174" rpy="0.0 -0.0 0.0" />
<parent link="openarm_right_ee_base_link" />
<child link="openarm_right_ee_link1" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="7.0" velocity="5.0" lower="-0.7854" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="openarm_right_finger_joint2" type="revolute">
<origin xyz="-0.0014300000000005003 -0.0180000000000012 -0.0680000000000215" rpy="0.0 -0.0 0.0" />
<parent link="openarm_right_ee_base_link" />
<child link="openarm_right_ee_link2" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="7.0" velocity="5.0" lower="-0.7854" upper="0.0" />
<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 4fc5fd17cd8ee605 -->
<mujoco model="openarm_v20">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="openarm_body_link0_material" rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
<material name="openarm_left_base_link_material" rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
<material name="openarm_left_link1_material" rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
<material name="openarm_left_link2_material" rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
<material name="openarm_left_link3_material" rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
<material name="openarm_left_link4_material" rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
<material name="openarm_left_link5_material" rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
<material name="openarm_left_link6_material" rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
<material name="openarm_left_ee_base_link_material" rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
<material name="openarm_left_ee_link1_material" rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
<material name="openarm_left_ee_link2_material" rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
<material name="openarm_right_base_link_material" rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
<material name="openarm_right_link1_material" rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
<material name="openarm_right_link2_material" rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
<material name="openarm_right_link3_material" rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
<material name="openarm_right_link4_material" rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
<material name="openarm_right_link5_material" rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
<material name="openarm_right_link6_material" rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
<material name="openarm_right_ee_base_link_material" rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
<material name="openarm_right_ee_link1_material" rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
<material name="openarm_right_ee_link2_material" rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
<mesh name="body_link0_0p001_0p001_0p001" file="openarm_description/assets/robot/openarm_v2.0/meshes/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_v2.0/meshes/body/collision/body_link0_symp.stl" scale="0.001 0.001 0.001" />
<mesh name="visual_base_link_1p0_n1p0_1p0" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/base_link.dae" scale="1.0 -1.0 1.0" />
<mesh name="collision_base_link_1p0_n1p0_1p0" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/base_link.stl" scale="1.0 -1.0 1.0" />
<mesh name="visual_link1_1p0_n1p0_1p0" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link1.dae" scale="1.0 -1.0 1.0" />
<mesh name="collision_link1_1p0_n1p0_1p0" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link1.stl" scale="1.0 -1.0 1.0" />
<mesh name="visual_link2_1p0_n1p0_1p0" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link2.dae" scale="1.0 -1.0 1.0" />
<mesh name="collision_link2_1p0_n1p0_1p0" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link2.stl" scale="1.0 -1.0 1.0" />
<mesh name="visual_link3" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link3.dae" />
<mesh name="collision_link3" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link3.stl" />
<mesh name="visual_link4" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link4.dae" />
<mesh name="collision_link4" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link4.stl" />
<mesh name="visual_link5_1p0_n1p0_1p0" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link5.dae" scale="1.0 -1.0 1.0" />
<mesh name="collision_link5_1p0_n1p0_1p0" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link5.stl" scale="1.0 -1.0 1.0" />
<mesh name="visual_link6_1p0_n1p0_1p0" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link6.dae" scale="1.0 -1.0 1.0" />
<mesh name="collision_link6_1p0_n1p0_1p0" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link6.stl" scale="1.0 -1.0 1.0" />
<mesh name="visual_ee_base_link_1p0_n1p0_1p0" file="openarm_description/assets/end_effector/pinch_gripper/meshes/visual/ee_base_link.dae" scale="1.0 -1.0 1.0" />
<mesh name="collision_ee_base_link_1p0_n1p0_1p0" file="openarm_description/assets/end_effector/pinch_gripper/meshes/collision/ee_base_link.stl" scale="1.0 -1.0 1.0" />
<mesh name="visual_finger_inner_1p0_n1p0_1p0" file="openarm_description/assets/end_effector/pinch_gripper/meshes/visual/finger_inner.dae" scale="1.0 -1.0 1.0" />
<mesh name="collision_finger_inner_1p0_n1p0_1p0" file="openarm_description/assets/end_effector/pinch_gripper/meshes/collision/finger_inner.stl" scale="1.0 -1.0 1.0" />
<mesh name="visual_finger_outer_1p0_n1p0_1p0" file="openarm_description/assets/end_effector/pinch_gripper/meshes/visual/finger_outer.dae" scale="1.0 -1.0 1.0" />
<mesh name="collision_finger_outer_1p0_n1p0_1p0" file="openarm_description/assets/end_effector/pinch_gripper/meshes/collision/finger_outer.stl" scale="1.0 -1.0 1.0" />
<mesh name="visual_base_link" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/base_link.dae" />
<mesh name="collision_base_link" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/base_link.stl" />
<mesh name="visual_link1" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link1.dae" />
<mesh name="collision_link1" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link1.stl" />
<mesh name="visual_link2" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link2.dae" />
<mesh name="collision_link2" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link2.stl" />
<mesh name="visual_link5" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link5.dae" />
<mesh name="collision_link5" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link5.stl" />
<mesh name="visual_link6" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link6.dae" />
<mesh name="collision_link6" file="openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link6.stl" />
<mesh name="visual_ee_base_link" file="openarm_description/assets/end_effector/pinch_gripper/meshes/visual/ee_base_link.dae" />
<mesh name="collision_ee_base_link" file="openarm_description/assets/end_effector/pinch_gripper/meshes/collision/ee_base_link.stl" />
<mesh name="visual_finger_inner" file="openarm_description/assets/end_effector/pinch_gripper/meshes/visual/finger_inner.dae" />
<mesh name="collision_finger_inner" file="openarm_description/assets/end_effector/pinch_gripper/meshes/collision/finger_inner.stl" />
<mesh name="visual_finger_outer" file="openarm_description/assets/end_effector/pinch_gripper/meshes/visual/finger_outer.dae" />
<mesh name="collision_finger_outer" file="openarm_description/assets/end_effector/pinch_gripper/meshes/collision/finger_outer.stl" />
</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" material="openarm_body_link0_material" />
<geom name="openarm_body_link0_col_0" type="mesh" mesh="body_link0_symp_0p001_0p001_0p001" group="3" />
<body name="openarm_left_base_link" pos="0.0 0.031 0.698">
<inertial pos="0.00253123748061566 0.0258185540330169 2.70658291858903e-05" mass="1.1432284943239561" fullinertia="0.00113607806226198 0.00159935208714031 0.000750541980863571 -3.81487993180929e-07 1.09161247709715e-08 -2.7521421737084e-08" />
<geom name="openarm_left_base_link_vis_0" type="mesh" mesh="visual_base_link_1p0_n1p0_1p0" contype="0" conaffinity="0" group="2" material="openarm_left_base_link_material" />
<geom name="openarm_left_base_link_col_0" type="mesh" mesh="collision_base_link_1p0_n1p0_1p0" group="3" />
<body name="openarm_left_link1" pos="0.0 0.0625 0.0">
<joint name="openarm_left_joint1" type="hinge" axis="0.0 1.0 0.0" range="-3.4907 1.3963" />
<inertial pos="0.000900350355624244 0.0444659716892874 2.88441021165683e-05" mass="1.1416684646202298" fullinertia="0.0010943212038551 0.000759199728161993 0.000670659201019629 -9.41628673674543e-06 4.53422182483102e-08 -6.66755698859637e-08" />
<geom name="openarm_left_link1_vis_0" type="mesh" mesh="visual_link1_1p0_n1p0_1p0" contype="0" conaffinity="0" group="2" material="openarm_left_link1_material" />
<geom name="openarm_left_link1_col_0" type="mesh" mesh="collision_link1_1p0_n1p0_1p0" group="3" />
<body name="openarm_left_link2" pos="0.0 0.0600000000000001 0.0">
<joint name="openarm_left_joint2" type="hinge" axis="-1.0 0.0 0.0" range="-3.3161 0.17453" />
<inertial pos="-0.0247184924346635 -7.60578399428002e-08 -0.0312643102292087" mass="0.2775092746011571" fullinertia="0.000153588833784759 0.000113062180225725 8.22999351863579e-05 2.94422592188677e-10 5.21056076779068e-06 -3.75816911469744e-10" />
<geom name="openarm_left_link2_vis_0" type="mesh" mesh="visual_link2_1p0_n1p0_1p0" contype="0" conaffinity="0" group="2" material="openarm_left_link2_material" />
<geom name="openarm_left_link2_col_0" type="mesh" mesh="collision_link2_1p0_n1p0_1p0" group="3" />
<body name="openarm_left_link3" pos="0.0 0.0 -0.0662500000000008">
<joint name="openarm_left_joint3" type="hinge" axis="0.0 0.0 -1.0" range="-1.5708 1.5708" />
<inertial pos="-0.00300861804638783 -0.000514813312550808 -0.109368241429434" mass="1.073863338202347" fullinertia="0.00128939636591746 0.00114018992179734 0.000559765478676303 -2.29951046666492e-07 -6.76161926984358e-05 -1.06260802872572e-05" />
<geom name="openarm_left_link3_vis_0" type="mesh" mesh="visual_link3" contype="0" conaffinity="0" group="2" material="openarm_left_link3_material" />
<geom name="openarm_left_link3_col_0" type="mesh" mesh="collision_link3" group="3" />
<body name="openarm_left_link4" pos="0.0 0.0 -0.15375">
<joint name="openarm_left_joint4" type="hinge" axis="0.0 -1.0 0.0" range="0.0 2.4435" />
<inertial pos="-0.00310326243752606 -0.00136538979048502 -0.0574601379354351" mass="0.6348534566833373" fullinertia="0.0004690036047182 0.000433926270522842 0.000245211429759716 5.63626910265645e-06 -1.77877991597693e-06 3.41757797773822e-06" />
<geom name="openarm_left_link4_vis_0" type="mesh" mesh="visual_link4" contype="0" conaffinity="0" group="2" material="openarm_left_link4_material" />
<geom name="openarm_left_link4_col_0" type="mesh" mesh="collision_link4" group="3" />
<body name="openarm_left_link5" pos="0.0 0.0 -0.0955000000000005">
<joint name="openarm_left_joint5" type="hinge" axis="0.0 0.0 -1.0" range="-1.5708 1.5708" />
<inertial pos="-0.000737188580130584 0.000412406544351845 -0.047093829077211" mass="0.6156588026168502" fullinertia="0.000279653368752989 0.000334599623120095 0.000176662464388138 -3.31745289972445e-06 7.68097311403736e-07 1.49934409279756e-07" />
<geom name="openarm_left_link5_vis_0" type="mesh" mesh="visual_link5_1p0_n1p0_1p0" contype="0" conaffinity="0" group="2" material="openarm_left_link5_material" />
<geom name="openarm_left_link5_col_0" type="mesh" mesh="collision_link5_1p0_n1p0_1p0" group="3" />
<body name="openarm_left_link6" pos="0.0 0.0 -0.120499999999998">
<joint name="openarm_left_joint6" type="hinge" axis="0.0 -1.0 0.0" range="-0.7854 0.7854" />
<inertial pos="2.27438423593244e-05 -0.00068649602098908 5.44000494765995e-05" mass="0.475202773187987" fullinertia="0.000179275941446964 0.000136247512758587 0.000135340695937386 -6.58439346712228e-08 -3.37101167120887e-08 -3.32253600295544e-08" />
<geom name="openarm_left_link6_vis_0" type="mesh" mesh="visual_link6_1p0_n1p0_1p0" contype="0" conaffinity="0" group="2" material="openarm_left_link6_material" />
<geom name="openarm_left_link6_col_0" type="mesh" mesh="collision_link6_1p0_n1p0_1p0" group="3" />
<body name="openarm_left_ee_base_link">
<joint name="openarm_left_joint7" type="hinge" axis="1.0 0.0 0.0" range="-1.5708 1.5708" />
<inertial pos="0.0137902 -0.0084073 -0.05938" mass="0.52832" fullinertia="0.00021911 0.00015627 0.0001659 -4.1683e-06 1.4043e-06 1.5124e-06" />
<geom name="openarm_left_ee_base_link_vis_0" type="mesh" mesh="visual_ee_base_link_1p0_n1p0_1p0" pos="0.0205 -0.0 0.0" contype="0" conaffinity="0" group="2" material="openarm_left_ee_base_link_material" />
<geom name="openarm_left_ee_base_link_col_0" type="mesh" mesh="collision_ee_base_link_1p0_n1p0_1p0" pos="0.0205 -0.0 0.0" group="3" />
<body name="openarm_left_ee_link1" pos="-0.0014300000000005003 -0.0180000000000009 -0.0680000000000174">
<joint name="openarm_left_finger_joint1" type="hinge" axis="-1.0 0.0 0.0" range="0.0 0.7854" />
<inertial pos="-0.0124990911725494 -0.00176592789915655 -0.0241663193888537" mass="0.125979047366671" fullinertia="3.61105363396623e-05 3.62137424319396e-05 1.74958961632907e-05 -1.35880208293387e-06 7.13916341634141e-06 3.60343788693423e-06" />
<geom name="openarm_left_ee_link1_vis_0" type="mesh" mesh="visual_finger_inner_1p0_n1p0_1p0" contype="0" conaffinity="0" group="2" material="openarm_left_ee_link1_material" />
<geom name="openarm_left_ee_link1_col_0" type="mesh" mesh="collision_finger_inner_1p0_n1p0_1p0" group="3" />
</body>
<body name="openarm_left_ee_link2" pos="-0.0014300000000005003 0.0180000000000012 -0.0680000000000215">
<joint name="openarm_left_finger_joint2" type="hinge" axis="1.0 0.0 0.0" range="0.0 0.7854" />
<inertial pos="-0.012796 0.0020183 -0.026792" mass="0.11372" fullinertia="3.4565e-05 3.5306e-05 1.6571e-05 1.3392e-06 7.1576e-06 -3.7172e-06" />
<geom name="openarm_left_ee_link2_vis_0" type="mesh" mesh="visual_finger_outer_1p0_n1p0_1p0" contype="0" conaffinity="0" group="2" material="openarm_left_ee_link2_material" />
<geom name="openarm_left_ee_link2_col_0" type="mesh" mesh="collision_finger_outer_1p0_n1p0_1p0" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="openarm_right_base_link" pos="0.0 -0.031 0.698">
<inertial pos="0.00253123748061566 -0.0258185540330169 2.70658291858903e-05" mass="1.1432284943239561" fullinertia="0.00113607806226198 0.00159935208714031 0.000750541980863571 3.81487993180929e-07 1.09161247709715e-08 2.7521421737084e-08" />
<geom name="openarm_right_base_link_vis_0" type="mesh" mesh="visual_base_link" contype="0" conaffinity="0" group="2" material="openarm_right_base_link_material" />
<geom name="openarm_right_base_link_col_0" type="mesh" mesh="collision_base_link" group="3" />
<body name="openarm_right_link1" pos="0.0 -0.0625 0.0">
<joint name="openarm_right_joint1" type="hinge" axis="0.0 -1.0 0.0" range="-1.3963 3.4907" />
<inertial pos="0.000900350355624244 -0.0444659716892874 2.88441021165683e-05" mass="1.1416684646202298" fullinertia="0.0010943212038551 0.000759199728161993 0.000670659201019629 9.41628673674543e-06 4.53422182483102e-08 6.66755698859637e-08" />
<geom name="openarm_right_link1_vis_0" type="mesh" mesh="visual_link1" contype="0" conaffinity="0" group="2" material="openarm_right_link1_material" />
<geom name="openarm_right_link1_col_0" type="mesh" mesh="collision_link1" group="3" />
<body name="openarm_right_link2" pos="0.0 -0.0600000000000001 0.0">
<joint name="openarm_right_joint2" type="hinge" axis="-1.0 0.0 0.0" range="-0.17453 3.3161" />
<inertial pos="-0.0247184924346635 7.60578399428002e-08 -0.0312643102292087" mass="0.2775092746011571" fullinertia="0.000153588833784759 0.000113062180225725 8.22999351863579e-05 -2.94422592188677e-10 5.21056076779068e-06 3.75816911469744e-10" />
<geom name="openarm_right_link2_vis_0" type="mesh" mesh="visual_link2" contype="0" conaffinity="0" group="2" material="openarm_right_link2_material" />
<geom name="openarm_right_link2_col_0" type="mesh" mesh="collision_link2" group="3" />
<body name="openarm_right_link3" pos="0.0 0.0 -0.0662500000000008">
<joint name="openarm_right_joint3" type="hinge" axis="0.0 0.0 -1.0" range="-1.5708 1.5708" />
<inertial pos="-0.00300861804638783 -0.000514813312550808 -0.109368241429434" mass="1.073863338202347" fullinertia="0.00128939636591746 0.00114018992179734 0.000559765478676303 -2.29951046666492e-07 -6.76161926984358e-05 -1.06260802872572e-05" />
<geom name="openarm_right_link3_vis_0" type="mesh" mesh="visual_link3" contype="0" conaffinity="0" group="2" material="openarm_right_link3_material" />
<geom name="openarm_right_link3_col_0" type="mesh" mesh="collision_link3" group="3" />
<body name="openarm_right_link4" pos="0.0 0.0 -0.15375">
<joint name="openarm_right_joint4" type="hinge" axis="0.0 -1.0 0.0" range="0.0 2.4435" />
<inertial pos="-0.00310326243752606 -0.00136538979048502 -0.0574601379354351" mass="0.6348534566833373" fullinertia="0.0004690036047182 0.000433926270522842 0.000245211429759716 5.63626910265645e-06 -1.77877991597693e-06 3.41757797773822e-06" />
<geom name="openarm_right_link4_vis_0" type="mesh" mesh="visual_link4" contype="0" conaffinity="0" group="2" material="openarm_right_link4_material" />
<geom name="openarm_right_link4_col_0" type="mesh" mesh="collision_link4" group="3" />
<body name="openarm_right_link5" pos="0.0 0.0 -0.0955000000000005">
<joint name="openarm_right_joint5" type="hinge" axis="0.0 0.0 -1.0" range="-1.5708 1.5708" />
<inertial pos="-0.000737188580130584 -0.000412406544351845 -0.047093829077211" mass="0.6156588026168502" fullinertia="0.000279653368752989 0.000334599623120095 0.000176662464388138 3.31745289972445e-06 7.68097311403736e-07 -1.49934409279756e-07" />
<geom name="openarm_right_link5_vis_0" type="mesh" mesh="visual_link5" contype="0" conaffinity="0" group="2" material="openarm_right_link5_material" />
<geom name="openarm_right_link5_col_0" type="mesh" mesh="collision_link5" group="3" />
<body name="openarm_right_link6" pos="0.0 0.0 -0.120499999999998">
<joint name="openarm_right_joint6" type="hinge" axis="0.0 1.0 0.0" range="-0.7854 0.7854" />
<inertial pos="2.27438423593244e-05 0.00068649602098908 5.44000494765995e-05" mass="0.475202773187987" fullinertia="0.000179275941446964 0.000136247512758587 0.000135340695937386 6.58439346712228e-08 -3.37101167120887e-08 3.32253600295544e-08" />
<geom name="openarm_right_link6_vis_0" type="mesh" mesh="visual_link6" contype="0" conaffinity="0" group="2" material="openarm_right_link6_material" />
<geom name="openarm_right_link6_col_0" type="mesh" mesh="collision_link6" group="3" />
<body name="openarm_right_ee_base_link">
<joint name="openarm_right_joint7" type="hinge" axis="1.0 0.0 0.0" range="-1.5708 1.5708" />
<inertial pos="0.0137902 0.0084073 -0.05938" mass="0.52832" fullinertia="0.00021911 0.00015627 0.0001659 4.1683e-06 1.4043e-06 -1.5124e-06" />
<geom name="openarm_right_ee_base_link_vis_0" type="mesh" mesh="visual_ee_base_link" pos="0.0205 0.0 0.0" contype="0" conaffinity="0" group="2" material="openarm_right_ee_base_link_material" />
<geom name="openarm_right_ee_base_link_col_0" type="mesh" mesh="collision_ee_base_link" pos="0.0205 0.0 0.0" group="3" />
<body name="openarm_right_ee_link1" pos="-0.0014300000000005003 0.0180000000000009 -0.0680000000000174">
<joint name="openarm_right_finger_joint1" type="hinge" axis="-1.0 0.0 0.0" range="-0.7854 0.0" />
<inertial pos="-0.0124990911725494 0.00176592789915655 -0.0241663193888537" mass="0.125979047366671" fullinertia="3.61105363396623e-05 3.62137424319396e-05 1.74958961632907e-05 1.35880208293387e-06 7.13916341634141e-06 -3.60343788693423e-06" />
<geom name="openarm_right_ee_link1_vis_0" type="mesh" mesh="visual_finger_inner" contype="0" conaffinity="0" group="2" material="openarm_right_ee_link1_material" />
<geom name="openarm_right_ee_link1_col_0" type="mesh" mesh="collision_finger_inner" group="3" />
</body>
<body name="openarm_right_ee_link2" pos="-0.0014300000000005003 -0.0180000000000012 -0.0680000000000215">
<joint name="openarm_right_finger_joint2" type="hinge" axis="1.0 0.0 0.0" range="-0.7854 0.0" />
<inertial pos="-0.012796 -0.0020183 -0.026792" mass="0.11372" fullinertia="3.4565e-05 3.5306e-05 1.6571e-05 -1.3392e-06 7.1576e-06 3.7172e-06" />
<geom name="openarm_right_ee_link2_vis_0" type="mesh" mesh="visual_finger_outer" contype="0" conaffinity="0" group="2" material="openarm_right_ee_link2_material" />
<geom name="openarm_right_ee_link2_col_0" type="mesh" mesh="collision_finger_outer" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="openarm_body_link0" body2="openarm_left_base_link" />
<exclude body1="openarm_left_base_link" 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_ee_base_link" />
<exclude body1="openarm_left_ee_base_link" body2="openarm_left_ee_link1" />
<exclude body1="openarm_left_ee_base_link" body2="openarm_left_ee_link2" />
<exclude body1="openarm_body_link0" body2="openarm_right_base_link" />
<exclude body1="openarm_right_base_link" 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_ee_base_link" />
<exclude body1="openarm_right_ee_base_link" body2="openarm_right_ee_link1" />
<exclude body1="openarm_right_ee_base_link" body2="openarm_right_ee_link2" />
</contact>
</mujoco>
Import report
Counts
| Links | 22 |
|---|---|
| Joints | 21 |
| Moving joints | 18 |
| Visuals | 21 |
| Collisions | 21 |
| Materials | 21 |
Meshes
Formats: dae, stl.
Asset size: 21.7 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
@name | 42 | visual names are not carried; the geometry is kept |
mimic | 2 | joint coupling (mimic) is not representable yet; the joint imports as independent |
ros2_control | 2 | ros2_control hardware blocks are bound outside the description |
Forward-kinematics check
Forward kinematics of 22 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 · 3.2e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 18).
Source & licence
| Repository | https://github.com/enactic/openarm_description |
|---|---|
| Commit | 1daa95b71565a6696242013a42c4d3af689cbdb3 |
| Original file | assets/robot/openarm_v2.0/urdf/openarm_v20.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.