Panda
Franka Robotics · licence Apache-2.0 · source: github.com/Gepetto/example-robot-data @ d0d9098d7
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 1ac076c5b9bab3bd -->
<robot name="panda">
<link name="panda_link0">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link0.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link0.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.041018 -0.00014 0.049974" rpy="0.0 0.0 0.0" />
<mass value="0.629769" />
<inertia ixx="0.00315" ixy="8.2904e-07" ixz="0.00015" iyy="0.00388" iyz="8.2299e-06" izz="0.004285" />
</inertial>
</link>
<link name="panda_link1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link1.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link1.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.003875 0.002081 -0.04762" rpy="0.0 0.0 0.0" />
<mass value="4.970684" />
<inertia ixx="0.70337" ixy="-0.000139" ixz="0.006772" iyy="0.70661" iyz="0.019169" izz="0.009117" />
</inertial>
</link>
<joint name="panda_joint1" type="revolute">
<origin xyz="0.0 0.0 0.333" rpy="0.0 0.0 0.0" />
<parent link="panda_link0" />
<child link="panda_link1" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="87.0" velocity="2.175" lower="-2.8973" upper="2.8973" />
<dynamics damping="0.003" friction="0.0" />
</joint>
<link name="panda_link2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link2.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link2.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.003141 -0.02872 0.003495" rpy="0.0 0.0 0.0" />
<mass value="0.646926" />
<inertia ixx="0.007962" ixy="-0.003925" ixz="0.010254" iyy="0.02811" iyz="0.000704" izz="0.025995" />
</inertial>
</link>
<joint name="panda_joint2" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 0.0" />
<parent link="panda_link1" />
<child link="panda_link2" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="87.0" velocity="2.175" lower="-1.7628" upper="1.7628" />
<dynamics damping="0.003" friction="0.0" />
</joint>
<link name="panda_link3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link3.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link3.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.027518 0.039252 -0.066502" rpy="0.0 0.0 0.0" />
<mass value="3.228604" />
<inertia ixx="0.037242" ixy="-0.004761" ixz="-0.011396" iyy="0.036155" iyz="-0.012805" izz="0.01083" />
</inertial>
</link>
<joint name="panda_joint3" type="revolute">
<origin xyz="0.0 -0.316 0.0" rpy="1.5707963267948966 0.0 0.0" />
<parent link="panda_link2" />
<child link="panda_link3" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="87.0" velocity="2.175" lower="-2.8973" upper="2.8973" />
<dynamics damping="0.003" friction="0.0" />
</joint>
<link name="panda_link4">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link4.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link4.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.05317 0.104419 0.027454" rpy="0.0 0.0 0.0" />
<mass value="3.587895" />
<inertia ixx="0.025853" ixy="0.007796" ixz="-0.001332" iyy="0.019552" iyz="0.008641" izz="0.028323" />
</inertial>
</link>
<joint name="panda_joint4" type="revolute">
<origin xyz="0.0825 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<parent link="panda_link3" />
<child link="panda_link4" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="87.0" velocity="2.175" lower="-3.0718" upper="-0.0698" />
<dynamics damping="0.003" friction="0.0" />
</joint>
<link name="panda_link5">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link5.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link5.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.011953 0.041065 -0.038437" rpy="0.0 0.0 0.0" />
<mass value="1.225946" />
<inertia ixx="0.035549" ixy="-0.002117" ixz="-0.004037" iyy="0.029474" iyz="0.000229" izz="0.008627" />
</inertial>
</link>
<joint name="panda_joint5" type="revolute">
<origin xyz="-0.0825 0.384 0.0" rpy="-1.5707963267948966 0.0 0.0" />
<parent link="panda_link4" />
<child link="panda_link5" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="12.0" velocity="2.61" lower="-2.8973" upper="2.8973" />
<dynamics damping="0.003" friction="0.0" />
</joint>
<link name="panda_link6">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link6.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link6.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.060149 -0.014117 -0.010517" rpy="0.0 0.0 0.0" />
<mass value="1.666555" />
<inertia ixx="0.001964" ixy="0.000109" ixz="-0.001158" iyy="0.004354" iyz="0.000341" izz="0.005433" />
</inertial>
</link>
<joint name="panda_joint6" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<parent link="panda_link5" />
<child link="panda_link6" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="12.0" velocity="2.61" lower="-0.0175" upper="3.7525" />
<dynamics damping="0.003" friction="0.0" />
</joint>
<link name="panda_link7">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link7.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link7.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.010517 -0.004252 0.061597" rpy="0.0 0.0 0.0" />
<mass value="0.735522" />
<inertia ixx="0.012516" ixy="-0.000428" ixz="-0.001196" iyy="0.010027" iyz="-0.000741" izz="0.004815" />
</inertial>
</link>
<joint name="panda_joint7" type="revolute">
<origin xyz="0.088 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
<parent link="panda_link6" />
<child link="panda_link7" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="12.0" velocity="2.61" lower="-2.8973" upper="2.8973" />
<dynamics damping="0.003" friction="0.0" />
</joint>
<link name="panda_link8">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="panda_joint8" type="fixed">
<origin xyz="0.0 0.0 0.107" rpy="0.0 0.0 0.0" />
<parent link="panda_link7" />
<child link="panda_link8" />
</joint>
<joint name="panda_hand_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -0.7853981633974483" />
<parent link="panda_link8" />
<child link="panda_hand" />
</joint>
<link name="panda_hand">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/hand.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/hand.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.01 0.0 0.03" rpy="0.0 0.0 0.0" />
<mass value="0.73" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.0025" iyz="0.0" izz="0.0017" />
</inertial>
</link>
<link name="panda_hand_tcp">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="panda_hand_tcp_joint" type="fixed">
<origin xyz="0.0 0.0 0.1034" rpy="0.0 0.0 0.0" />
<parent link="panda_hand" />
<child link="panda_hand_tcp" />
</joint>
<link name="panda_leftfinger">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/finger.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0185 0.011" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.022 0.015 0.02" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.0068 0.0022" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.022 0.0088 0.0038" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.0159 0.02835" rpy="0.5235987755982988 0.0 0.0" />
<geometry>
<box size="0.0175 0.007 0.0235" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.00758 0.04525" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0175 0.0152 0.0185" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.015" />
<inertia ixx="2.3749999999999997e-06" ixy="0.0" ixz="0.0" iyy="2.3749999999999997e-06" iyz="0.0" izz="7.5e-07" />
</inertial>
</link>
<link name="panda_rightfinger">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 3.141592653589793" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/finger.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.0185 0.011" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.022 0.015 0.02" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 -0.0068 0.0022" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.022 0.0088 0.0038" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 -0.0159 0.02835" rpy="-0.5235987755982988 0.0 0.0" />
<geometry>
<box size="0.0175 0.007 0.0235" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 -0.00758 0.04525" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0175 0.0152 0.0185" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.015" />
<inertia ixx="2.3749999999999997e-06" ixy="0.0" ixz="0.0" iyy="2.3749999999999997e-06" iyz="0.0" izz="7.5e-07" />
</inertial>
</link>
<joint name="panda_finger_joint1" type="prismatic">
<origin xyz="0.0 0.0 0.0584" rpy="0.0 0.0 0.0" />
<parent link="panda_hand" />
<child link="panda_leftfinger" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="100.0" velocity="0.2" lower="0.0" upper="0.04" />
<dynamics damping="0.3" friction="0.0" />
</joint>
<joint name="panda_finger_joint2" type="prismatic">
<origin xyz="0.0 0.0 0.0584" rpy="0.0 0.0 0.0" />
<parent link="panda_hand" />
<child link="panda_rightfinger" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="100.0" velocity="0.2" lower="0.0" upper="0.04" />
<dynamics damping="0.3" friction="0.0" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 1ac076c5b9bab3bd -->
<mujoco model="panda">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="visual_link0" file="example-robot-data/robots/panda_description/meshes/visual/link0.dae" />
<mesh name="collision_link0" file="example-robot-data/robots/panda_description/meshes/collision/link0.stl" />
<mesh name="visual_link1" file="example-robot-data/robots/panda_description/meshes/visual/link1.dae" />
<mesh name="collision_link1" file="example-robot-data/robots/panda_description/meshes/collision/link1.stl" />
<mesh name="visual_link2" file="example-robot-data/robots/panda_description/meshes/visual/link2.dae" />
<mesh name="collision_link2" file="example-robot-data/robots/panda_description/meshes/collision/link2.stl" />
<mesh name="visual_link3" file="example-robot-data/robots/panda_description/meshes/visual/link3.dae" />
<mesh name="collision_link3" file="example-robot-data/robots/panda_description/meshes/collision/link3.stl" />
<mesh name="visual_link4" file="example-robot-data/robots/panda_description/meshes/visual/link4.dae" />
<mesh name="collision_link4" file="example-robot-data/robots/panda_description/meshes/collision/link4.stl" />
<mesh name="visual_link5" file="example-robot-data/robots/panda_description/meshes/visual/link5.dae" />
<mesh name="collision_link5" file="example-robot-data/robots/panda_description/meshes/collision/link5.stl" />
<mesh name="visual_link6" file="example-robot-data/robots/panda_description/meshes/visual/link6.dae" />
<mesh name="collision_link6" file="example-robot-data/robots/panda_description/meshes/collision/link6.stl" />
<mesh name="visual_link7" file="example-robot-data/robots/panda_description/meshes/visual/link7.dae" />
<mesh name="collision_link7" file="example-robot-data/robots/panda_description/meshes/collision/link7.stl" />
<mesh name="visual_hand" file="example-robot-data/robots/panda_description/meshes/visual/hand.dae" />
<mesh name="collision_hand" file="example-robot-data/robots/panda_description/meshes/collision/hand.stl" />
<mesh name="finger" file="example-robot-data/robots/panda_description/meshes/visual/finger.dae" />
</asset>
<worldbody>
<body name="panda_link0">
<inertial pos="-0.041018 -0.00014 0.049974" mass="0.629769" fullinertia="0.00315 0.00388 0.004285 8.2904e-07 0.00015 8.2299e-06" />
<geom name="panda_link0_vis_0" type="mesh" mesh="visual_link0" contype="0" conaffinity="0" group="2" />
<geom name="panda_link0_col_0" type="mesh" mesh="collision_link0" group="3" />
<body name="panda_link1" pos="0.0 0.0 0.333">
<joint name="panda_joint1" type="hinge" axis="0.0 0.0 1.0" range="-2.8973 2.8973" damping="0.003" />
<inertial pos="0.003875 0.002081 -0.04762" mass="4.970684" fullinertia="0.70337 0.70661 0.009117 -0.000139 0.006772 0.019169" />
<geom name="panda_link1_vis_0" type="mesh" mesh="visual_link1" contype="0" conaffinity="0" group="2" />
<geom name="panda_link1_col_0" type="mesh" mesh="collision_link1" group="3" />
<body name="panda_link2" quat="0.7071067811865476 -0.7071067811865475 0.0 0.0">
<joint name="panda_joint2" type="hinge" axis="0.0 0.0 1.0" range="-1.7628 1.7628" damping="0.003" />
<inertial pos="-0.003141 -0.02872 0.003495" mass="0.646926" fullinertia="0.007962 0.02811 0.025995 -0.003925 0.010254 0.000704" />
<geom name="panda_link2_vis_0" type="mesh" mesh="visual_link2" contype="0" conaffinity="0" group="2" />
<geom name="panda_link2_col_0" type="mesh" mesh="collision_link2" group="3" />
<body name="panda_link3" pos="0.0 -0.316 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
<joint name="panda_joint3" type="hinge" axis="0.0 0.0 1.0" range="-2.8973 2.8973" damping="0.003" />
<inertial pos="0.027518 0.039252 -0.066502" mass="3.228604" fullinertia="0.037242 0.036155 0.01083 -0.004761 -0.011396 -0.012805" />
<geom name="panda_link3_vis_0" type="mesh" mesh="visual_link3" contype="0" conaffinity="0" group="2" />
<geom name="panda_link3_col_0" type="mesh" mesh="collision_link3" group="3" />
<body name="panda_link4" pos="0.0825 0.0 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
<joint name="panda_joint4" type="hinge" axis="0.0 0.0 1.0" range="-3.0718 -0.0698" damping="0.003" />
<inertial pos="-0.05317 0.104419 0.027454" mass="3.587895" fullinertia="0.025853 0.019552 0.028323 0.007796 -0.001332 0.008641" />
<geom name="panda_link4_vis_0" type="mesh" mesh="visual_link4" contype="0" conaffinity="0" group="2" />
<geom name="panda_link4_col_0" type="mesh" mesh="collision_link4" group="3" />
<body name="panda_link5" pos="-0.0825 0.384 0.0" quat="0.7071067811865476 -0.7071067811865475 0.0 0.0">
<joint name="panda_joint5" type="hinge" axis="0.0 0.0 1.0" range="-2.8973 2.8973" damping="0.003" />
<inertial pos="-0.011953 0.041065 -0.038437" mass="1.225946" fullinertia="0.035549 0.029474 0.008627 -0.002117 -0.004037 0.000229" />
<geom name="panda_link5_vis_0" type="mesh" mesh="visual_link5" contype="0" conaffinity="0" group="2" />
<geom name="panda_link5_col_0" type="mesh" mesh="collision_link5" group="3" />
<body name="panda_link6" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
<joint name="panda_joint6" type="hinge" axis="0.0 0.0 1.0" range="-0.0175 3.7525" damping="0.003" />
<inertial pos="0.060149 -0.014117 -0.010517" mass="1.666555" fullinertia="0.001964 0.004354 0.005433 0.000109 -0.001158 0.000341" />
<geom name="panda_link6_vis_0" type="mesh" mesh="visual_link6" contype="0" conaffinity="0" group="2" />
<geom name="panda_link6_col_0" type="mesh" mesh="collision_link6" group="3" />
<body name="panda_link7" pos="0.088 0.0 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
<joint name="panda_joint7" type="hinge" axis="0.0 0.0 1.0" range="-2.8973 2.8973" damping="0.003" />
<inertial pos="0.010517 -0.004252 0.061597" mass="0.735522" fullinertia="0.012516 0.010027 0.004815 -0.000428 -0.001196 -0.000741" />
<geom name="panda_link7_vis_0" type="mesh" mesh="visual_link7" contype="0" conaffinity="0" group="2" />
<geom name="panda_link7_col_0" type="mesh" mesh="collision_link7" group="3" />
<body name="panda_link8" pos="0.0 0.0 0.107">
<inertial pos="0.0 0.0 0.0" mass="0.0" diaginertia="0 0 0" />
<body name="panda_hand" quat="0.9238795325112867 0.0 0.0 -0.3826834323650898">
<inertial pos="-0.01 0.0 0.03" mass="0.73" fullinertia="0.001 0.0025 0.0017 0.0 0.0 0.0" />
<geom name="panda_hand_vis_0" type="mesh" mesh="visual_hand" contype="0" conaffinity="0" group="2" />
<geom name="panda_hand_col_0" type="mesh" mesh="collision_hand" group="3" />
<body name="panda_hand_tcp" pos="0.0 0.0 0.1034">
<inertial pos="0.0 0.0 0.0" mass="0.0" diaginertia="0 0 0" />
</body>
<body name="panda_leftfinger" pos="0.0 0.0 0.0584">
<joint name="panda_finger_joint1" type="slide" axis="0.0 1.0 0.0" range="0.0 0.04" damping="0.3" />
<inertial pos="0.0 0.0 0.0" mass="0.015" fullinertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07 0.0 0.0 0.0" />
<geom name="panda_leftfinger_vis_0" type="mesh" mesh="finger" contype="0" conaffinity="0" group="2" />
<geom name="panda_leftfinger_col_0" type="box" size="0.011 0.0075 0.01" pos="0.0 0.0185 0.011" group="3" />
<geom name="panda_leftfinger_col_1" type="box" size="0.011 0.0044 0.0019" pos="0.0 0.0068 0.0022" group="3" />
<geom name="panda_leftfinger_col_2" type="box" size="0.00875 0.0035 0.01175" pos="0.0 0.0159 0.02835" quat="0.9659258262890683 0.25881904510252074 0.0 0.0" group="3" />
<geom name="panda_leftfinger_col_3" type="box" size="0.00875 0.0076 0.00925" pos="0.0 0.00758 0.04525" group="3" />
</body>
<body name="panda_rightfinger" pos="0.0 0.0 0.0584">
<joint name="panda_finger_joint2" type="slide" axis="0.0 -1.0 0.0" range="0.0 0.04" damping="0.3" />
<inertial pos="0.0 0.0 0.0" mass="0.015" fullinertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07 0.0 0.0 0.0" />
<geom name="panda_rightfinger_vis_0" type="mesh" mesh="finger" quat="6.123233995736766e-17 0.0 0.0 1.0" contype="0" conaffinity="0" group="2" />
<geom name="panda_rightfinger_col_0" type="box" size="0.011 0.0075 0.01" pos="0.0 -0.0185 0.011" group="3" />
<geom name="panda_rightfinger_col_1" type="box" size="0.011 0.0044 0.0019" pos="0.0 -0.0068 0.0022" group="3" />
<geom name="panda_rightfinger_col_2" type="box" size="0.00875 0.0035 0.01175" pos="0.0 -0.0159 0.02835" quat="0.9659258262890683 -0.25881904510252074 0.0 0.0" group="3" />
<geom name="panda_rightfinger_col_3" type="box" size="0.00875 0.0076 0.00925" pos="0.0 -0.00758 0.04525" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="panda_link0" body2="panda_link1" />
<exclude body1="panda_link1" body2="panda_link2" />
<exclude body1="panda_link2" body2="panda_link3" />
<exclude body1="panda_link3" body2="panda_link4" />
<exclude body1="panda_link4" body2="panda_link5" />
<exclude body1="panda_link5" body2="panda_link6" />
<exclude body1="panda_link6" body2="panda_link7" />
<exclude body1="panda_link7" body2="panda_link8" />
<exclude body1="panda_link8" body2="panda_hand" />
<exclude body1="panda_hand" body2="panda_hand_tcp" />
<exclude body1="panda_hand" body2="panda_leftfinger" />
<exclude body1="panda_hand" body2="panda_rightfinger" />
</contact>
</mujoco>
Import report
Counts
| Links | 13 |
|---|---|
| Joints | 12 |
| Moving joints | 9 |
| Visuals | 11 |
| Collisions | 17 |
| Materials | 0 |
Meshes
Formats: dae, stl.
Asset size: 10.6 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
@D | 7 | attribute 'D' is not part of the URDF subset RobotDescription mirrors |
@K | 7 | attribute 'K' is not part of the URDF subset RobotDescription mirrors |
@mu_coulomb | 7 | attribute 'mu_coulomb' is not part of the URDF subset RobotDescription mirrors |
@mu_viscous | 7 | attribute 'mu_viscous' is not part of the URDF subset RobotDescription mirrors |
mimic | 1 | joint coupling (mimic) is not representable yet; the joint imports as independent |
safety_controller | 7 | soft limits (safety_controller) are not representable yet |
Forward-kinematics check
Forward kinematics of 13 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 · 3.6e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 9).
Source & licence
| Repository | https://github.com/Gepetto/example-robot-data |
|---|---|
| Commit | d0d9098d752014aec3725b07766962acf06c5418 |
| Original file | robots/panda_description/urdf/panda.urdf |
| Licence | Apache-2.0 · the upstream LICENSE file |
| Files | robot.urdf · robot.xml |
Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.