RBY1
Rainbow Robotics · licence MIT · source: github.com/uynitsuj/rby1_description @ e4c07203a
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 4d5f57f43c58371e -->
<robot name="RB_Y1_V1.0.1">
<link name="base">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/base.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.06157942 -0.00142271 0.13513861" rpy="0.0 0.0 0.0" />
<mass value="60.08042639" />
<inertia ixx="1.37742174" ixy="0.02521789" ixz="0.18565467" iyy="2.99386515" iyz="-0.00641869" izz="3.76085052" />
</inertial>
</link>
<link name="wheel_r">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/WHEEL.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 -0.00073938 0.0" rpy="0.0 0.0 0.0" />
<mass value="1.37783736" />
<inertia ixx="0.00426657" ixy="0.0" ixz="0.0" iyy="0.00811815" iyz="0.0" izz="0.00426657" />
</inertial>
</link>
<link name="wheel_l">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/WHEEL.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.00073938 0.0" rpy="0.0 0.0 0.0" />
<mass value="1.37783736" />
<inertia ixx="0.00426657" ixy="0.0" ixz="0.0" iyy="0.00811815" iyz="0.0" izz="0.00426657" />
</inertial>
</link>
<link name="link_torso_0">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/LINK_1.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.08848415 0.00021367 4.6e-07" rpy="0.0 0.0 0.0" />
<mass value="2.24282123" />
<inertia ixx="0.01413496" ixy="0.00092982" ixz="-1e-07" iyy="0.01005357" iyz="-8e-08" izz="0.01892525" />
</inertial>
</link>
<link name="link_torso_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/LINK_2.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00728955 -0.01728522 0.0691138" rpy="0.0 0.0 0.0" />
<mass value="9.72162676" />
<inertia ixx="0.1486264" ixy="-0.00142621" ixz="-0.00951385" iyy="0.13854733" iyz="-0.00975351" izz="0.02912982" />
</inertial>
</link>
<link name="link_torso_2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/LINK_3.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00653835 -0.01769536 0.05636582" rpy="0.0 0.0 0.0" />
<mass value="9.2169185" />
<inertia ixx="0.1216227" ixy="-0.0012791" ixz="-0.00831678" iyy="0.1158919" iyz="-0.00873271" izz="0.03094484" />
</inertial>
</link>
<link name="link_torso_3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/LINK_4.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.00574156 -0.01725975 5.61e-05" rpy="0.0 0.0 0.0" />
<mass value="4.18679196" />
<inertia ixx="0.0084987" ixy="0.00040861" ixz="-2.63e-06" iyy="0.00929513" iyz="-1.243e-05" izz="0.00955442" />
</inertial>
</link>
<link name="link_torso_4">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/LINK_5.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.09097095 5.085e-05 0.0260195" rpy="0.0 0.0 0.0" />
<mass value="4.45566276" />
<inertia ixx="0.01545991" ixy="1.883e-05" ixz="-0.00780349" iyy="0.02550888" iyz="7.15e-06" izz="0.01952563" />
</inertial>
</link>
<link name="link_torso_5">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/LINK_6.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.01338376 0.00025621 -0.03272487" rpy="0.0 0.0 0.0" />
<mass value="12.59012341" />
<inertia ixx="0.21375525" ixy="0.0005152" ixz="0.00880124" iyy="0.1656209" iyz="-0.00023995" izz="0.13308879" />
</inertial>
</link>
<link name="link_right_arm_0">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/LINK_7.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.00316662 0.03437181 -3e-07" rpy="0.0 0.0 0.0" />
<mass value="1.26164242" />
<inertia ixx="0.00230621" ixy="0.00039024" ixz="-2.56e-06" iyy="0.00426418" iyz="1.18e-06" izz="0.00432156" />
</inertial>
</link>
<link name="link_right_arm_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/LINK_8.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.00307855 -0.00124741 -0.01294324" rpy="0.0 0.0 0.0" />
<mass value="2.27287031" />
<inertia ixx="0.0038849" ixy="-1.477e-05" ixz="0.00011465" iyy="0.00447034" iyz="-0.00010023" izz="0.00288341" />
</inertial>
</link>
<link name="link_right_arm_2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/LINK_9.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00115434 -0.00196635 -0.16192524" rpy="0.0 0.0 0.0" />
<mass value="2.46909439" />
<inertia ixx="0.00980269" ixy="5.871e-05" ixz="0.00051888" iyy="0.0092456" iyz="-0.00045932" izz="0.00329867" />
</inertial>
</link>
<link name="link_right_arm_3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/LINK_10.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.01603135 -0.00692891 -0.04549811" rpy="0.0 0.0 0.0" />
<mass value="2.26099493" />
<inertia ixx="0.00822606" ixy="0.0002762" ixz="-0.0015657" iyy="0.0084487" iyz="0.00076157" izz="0.00236614" />
</inertial>
</link>
<link name="link_right_arm_4">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/LINK_11.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-1.1e-07 -0.02696036 0.0618211" rpy="0.0 0.0 0.0" />
<mass value="0.4250871" />
<inertia ixx="0.00082466" ixy="0.0" ixz="0.0" iyy="0.00075398" iyz="-0.00025338" izz="0.00039794" />
</inertial>
</link>
<link name="link_right_arm_5">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/LINK_12.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00318034 -0.00532264 -0.02809655" rpy="0.0 0.0 0.0" />
<mass value="1.59194395" />
<inertia ixx="0.00256054" ixy="-2.344e-05" ixz="-1.563e-05" iyy="0.00257233" iyz="0.00021608" izz="0.00156092" />
</inertial>
</link>
<link name="link_right_arm_6">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/LINK_13.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0006681 -0.00031708 -0.09636043" rpy="0.0 0.0 0.0" />
<mass value="0.21137279" />
<inertia ixx="0.00013511" ixy="-2.42e-06" ixz="-1.02e-06" iyy="0.00014453" iyz="9.4e-07" izz="0.00025431" />
</inertial>
</link>
<link name="link_left_arm_0">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/LINK_14.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.00316662 -0.03437151 2.42e-06" rpy="0.0 0.0 0.0" />
<mass value="1.26164242" />
<inertia ixx="0.00230624" ixy="-0.00039022" ixz="2.69e-06" iyy="0.00426418" iyz="1.08e-06" izz="0.00432159" />
</inertial>
</link>
<link name="link_left_arm_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/LINK_15.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.0018347 0.00040596 -0.01008733" rpy="0.0 0.0 0.0" />
<mass value="1.88138658" />
<inertia ixx="0.00295838" ixy="-1.176e-05" ixz="6.949e-05" iyy="0.00355208" iyz="4.467e-05" izz="0.00230558" />
</inertial>
</link>
<link name="link_left_arm_2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/LINK_16.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00066086 -0.00038583 -0.15742972" rpy="0.0 0.0 0.0" />
<mass value="2.35634437" />
<inertia ixx="0.00842712" ixy="2.47e-06" ixz="0.00036948" iyy="0.00802311" iyz="-6.55e-05" izz="0.00295678" />
</inertial>
</link>
<link name="link_left_arm_3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/LINK_17.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.01565298 0.00793126 -0.04997943" rpy="0.0 0.0 0.0" />
<mass value="2.00905891" />
<inertia ixx="0.00756474" ixy="-0.00026771" ixz="-0.00155419" iyy="0.00772758" iyz="-0.00084364" izz="0.00199754" />
</inertial>
</link>
<link name="link_left_arm_4">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/LINK_18.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="1.1e-07 0.02696036 0.0618211" rpy="0.0 0.0 0.0" />
<mass value="0.4250871" />
<inertia ixx="0.00082466" ixy="0.0" ixz="0.0" iyy="0.00075398" iyz="0.00025338" izz="0.00039794" />
</inertial>
</link>
<link name="link_left_arm_5">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/LINK_19.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00340082 0.00576824 -0.02507309" rpy="0.0 0.0 0.0" />
<mass value="1.44264795" />
<inertia ixx="0.00233577" ixy="3.048e-05" ixz="-1.191e-05" iyy="0.0023258" iyz="-0.00019491" izz="0.00138375" />
</inertial>
</link>
<link name="link_left_arm_6">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/LINK_20.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.0006681 0.00031708 -0.09636043" rpy="0.0 0.0 0.0" />
<mass value="0.21137279" />
<inertia ixx="0.00013511" ixy="-2.42e-06" ixz="1.02e-06" iyy="0.00014453" iyz="-9.4e-07" izz="0.00025431" />
</inertial>
</link>
<link name="FT_sensor_R">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/FT_SENSOR_R.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00010423 0.00108019 -0.01880676" rpy="0.0 0.0 0.0" />
<mass value="0.49078507" />
<inertia ixx="0.00028587" ixy="-1.46e-06" ixz="-2.6e-07" iyy="0.00030459" iyz="-7.72e-06" izz="0.00036377" />
</inertial>
</link>
<link name="FT_sensor_L">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/FT_SENSOR_L.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.00010423 -0.00108019 -0.01880676" rpy="0.0 0.0 0.0" />
<mass value="0.49078507" />
<inertia ixx="0.00028587" ixy="-1.46e-06" ixz="2.6e-07" iyy="0.00030459" iyz="7.72e-06" izz="0.00036377" />
</inertial>
</link>
<link name="ee_right">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/EE_BODY.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00212703 6.15e-06 -0.04287176" rpy="0.0 0.0 0.0" />
<mass value="0.46704998" />
<inertia ixx="0.00032067" ixy="2.383e-05" ixz="-7.85e-06" iyy="0.00059559" iyz="-7e-08" izz="0.00052732" />
</inertial>
</link>
<link name="ee_finger_r1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/EE_FINGER.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00278346 -3.29e-06 -0.02570112" rpy="0.0 0.0 0.0" />
<mass value="0.03326999" />
<inertia ixx="1.231e-05" ixy="0.0" ixz="-4.2e-07" iyy="1.066e-05" iyz="0.0" izz="2.24e-06" />
</inertial>
</link>
<link name="ee_finger_r2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/EE_FINGER.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00278346 -3.29e-06 -0.02570112" rpy="0.0 0.0 0.0" />
<mass value="0.03326999" />
<inertia ixx="1.231e-05" ixy="0.0" ixz="-4.2e-07" iyy="1.066e-05" iyz="0.0" izz="2.24e-06" />
</inertial>
</link>
<link name="ee_left">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/EE_BODY.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00212703 6.15e-06 -0.04287176" rpy="0.0 0.0 0.0" />
<mass value="0.46704998" />
<inertia ixx="0.00032067" ixy="2.383e-05" ixz="-7.85e-06" iyy="0.00059559" iyz="-7e-08" izz="0.00052732" />
</inertial>
</link>
<link name="ee_finger_l1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/EE_FINGER.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00278346 -3.29e-06 -0.02570112" rpy="0.0 0.0 0.0" />
<mass value="0.03326999" />
<inertia ixx="1.231e-05" ixy="0.0" ixz="-4.2e-07" iyy="1.066e-05" iyz="0.0" izz="2.24e-06" />
</inertial>
</link>
<link name="ee_finger_l2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/EE_FINGER.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00278346 -3.29e-06 -0.02570112" rpy="0.0 0.0 0.0" />
<mass value="0.03326999" />
<inertia ixx="1.231e-05" ixy="0.0" ixz="-4.2e-07" iyy="1.066e-05" iyz="0.0" izz="2.24e-06" />
</inertial>
</link>
<link name="link_head_0">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/PAN_TILT_1.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.00800549 0.0 -0.01100308" rpy="0.0 0.0 0.0" />
<mass value="0.0758211" />
<inertia ixx="3.307e-05" ixy="0.0" ixz="-2.9e-06" iyy="2.209e-05" iyz="0.0" izz="3.796e-05" />
</inertial>
</link>
<link name="link_head_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/PAN_TILT_2.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.01150679 -0.0011427 -0.00031579" rpy="0.0 0.0 0.0" />
<mass value="0.0745058" />
<inertia ixx="1.85e-05" ixy="-3.5e-07" ixz="2.03e-06" iyy="2.451e-05" iyz="-1e-07" izz="2.062e-05" />
</inertial>
</link>
<link name="link_head_2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/PAN_TILT_3.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.00081966 0.00099024 0.02283704" rpy="0.0 0.0 0.0" />
<mass value="0.03585374" />
<inertia ixx="2.046e-05" ixy="1e-08" ixz="-2.7e-07" iyy="1.044e-05" iyz="7.6e-07" izz="1.291e-05" />
</inertial>
</link>
<joint name="right_wheel" type="continuous">
<origin xyz="0.228 -0.265 0.1" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="wheel_r" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="100.0" velocity="15.707963268" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="left_wheel" type="continuous">
<origin xyz="0.228 0.265 0.1" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="wheel_l" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="100.0" velocity="15.707963268" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="torso_0" type="revolute">
<origin xyz="0.0 0.0 0.2805" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="link_torso_0" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="270.0" velocity="2.0943951" lower="-0.261799388" upper="0.261799388" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="torso_1" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="link_torso_0" />
<child link="link_torso_1" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="270.0" velocity="2.0943951" lower="-0.523598776" upper="1.570796327" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="torso_2" type="revolute">
<origin xyz="0.0 0.0 0.35" rpy="0.0 0.0 0.0" />
<parent link="link_torso_1" />
<child link="link_torso_2" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="270.0" velocity="2.0943951" lower="-2.617993878" upper="1.570796327" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="torso_3" type="revolute">
<origin xyz="0.0 0.0 0.35" rpy="0.0 0.0 0.0" />
<parent link="link_torso_2" />
<child link="link_torso_3" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="120.0" velocity="3.141592654" lower="-0.785398163" upper="1.570796327" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="torso_4" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="link_torso_3" />
<child link="link_torso_4" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="120.0" velocity="3.141592654" lower="-0.523598776" upper="0.523598776" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="torso_5" type="revolute">
<origin xyz="0.0 0.0 0.309426548461" rpy="0.0 0.0 0.0" />
<parent link="link_torso_4" />
<child link="link_torso_5" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="120.0" velocity="3.141592654" lower="-2.35619449" upper="2.35619449" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="right_arm_0" type="revolute">
<origin xyz="0.0 -0.22 0.080073451539" rpy="-0.34906585 0.0 0.0" />
<parent link="link_torso_5" />
<child link="link_right_arm_0" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="70.0" velocity="3.141592654" lower="-3.141592654" upper="3.141592654" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="right_arm_1" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.34906585 0.0 0.0" />
<parent link="link_right_arm_0" />
<child link="link_right_arm_1" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="70.0" velocity="3.141592654" lower="-3.141592654" upper="0.017453293" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="right_arm_2" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="link_right_arm_1" />
<child link="link_right_arm_2" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="70.0" velocity="3.141592654" lower="-3.141592654" upper="3.141592654" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="right_arm_3" type="revolute">
<origin xyz="0.031 0.0 -0.276" rpy="0.0 0.0 0.0" />
<parent link="link_right_arm_2" />
<child link="link_right_arm_3" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="40.0" velocity="3.141592654" lower="-2.617993878" upper="0.017453293" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="right_arm_4" type="revolute">
<origin xyz="-0.031 0.0 -0.256" rpy="0.0 0.0 0.0" />
<parent link="link_right_arm_3" />
<child link="link_right_arm_4" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.283185308" lower="-3.141592654" upper="3.141592654" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="right_arm_5" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="link_right_arm_4" />
<child link="link_right_arm_5" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="10.0" velocity="6.283185308" lower="-1.570796327" upper="1.919862177" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="right_arm_6" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="link_right_arm_5" />
<child link="link_right_arm_6" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="8.0" velocity="2.094395102" lower="-2.70526034" upper="2.70526034" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="left_arm_0" type="revolute">
<origin xyz="0.0 0.22 0.080073452" rpy="0.34906585 0.0 0.0" />
<parent link="link_torso_5" />
<child link="link_left_arm_0" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="70.0" velocity="3.141592654" lower="-3.141592654" upper="3.141592654" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="left_arm_1" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="-0.34906585 0.0 0.0" />
<parent link="link_left_arm_0" />
<child link="link_left_arm_1" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="70.0" velocity="3.141592654" lower="-0.017453293" upper="3.141592654" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="left_arm_2" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="link_left_arm_1" />
<child link="link_left_arm_2" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="70.0" velocity="3.141592654" lower="-3.141592654" upper="3.141592654" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="left_arm_3" type="revolute">
<origin xyz="0.031 0.0 -0.276" rpy="0.0 0.0 0.0" />
<parent link="link_left_arm_2" />
<child link="link_left_arm_3" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="40.0" velocity="3.141592654" lower="-2.617993878" upper="0.017453293" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="left_arm_4" type="revolute">
<origin xyz="-0.031 0.0 -0.256" rpy="0.0 0.0 0.0" />
<parent link="link_left_arm_3" />
<child link="link_left_arm_4" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="10.0" velocity="6.283185308" lower="-3.141592654" upper="3.141592654" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="left_arm_5" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="link_left_arm_4" />
<child link="link_left_arm_5" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="10.0" velocity="6.283185308" lower="-1.570796327" upper="1.919862177" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="left_arm_6" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="link_left_arm_5" />
<child link="link_left_arm_6" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="8.0" velocity="2.094395102" lower="-2.70526034" upper="2.70526034" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="tool_right" type="fixed">
<origin xyz="0.0 0.0 -0.1087" rpy="0.0 0.0 0.0" />
<parent link="link_right_arm_6" />
<child link="FT_sensor_R" />
</joint>
<joint name="FT_Sensor_END_right" type="fixed">
<origin xyz="0.0 0.0 -0.0461" rpy="0.0 0.0 0.0" />
<parent link="FT_sensor_R" />
<child link="ee_right" />
</joint>
<joint name="gripper_finger_r1" type="prismatic">
<origin xyz="0.003 0.0 -0.073" rpy="0.0 0.0 0.0" />
<parent link="ee_right" />
<child link="ee_finger_r1" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="1000.0" velocity="0.05" lower="-0.05" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="gripper_finger_r2" type="prismatic">
<origin xyz="-0.003 0.0 -0.073" rpy="0.0 0.0 3.1415926535" />
<parent link="ee_right" />
<child link="ee_finger_r2" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="1000.0" velocity="0.05" lower="0.0" upper="0.05" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="tool_left" type="fixed">
<origin xyz="0.0 0.0 -0.1087" rpy="0.0 0.0 0.0" />
<parent link="link_left_arm_6" />
<child link="FT_sensor_L" />
</joint>
<joint name="FT_Sensor_END_left" type="fixed">
<origin xyz="0.0 0.0 -0.0461" rpy="0.0 0.0 0.0" />
<parent link="FT_sensor_L" />
<child link="ee_left" />
</joint>
<joint name="gripper_finger_l1" type="prismatic">
<origin xyz="0.003 0.0 -0.073" rpy="0.0 0.0 0.0" />
<parent link="ee_left" />
<child link="ee_finger_l1" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="1000.0" velocity="0.05" lower="-0.05" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="gripper_finger_l2" type="prismatic">
<origin xyz="-0.003 0.0 -0.073" rpy="0.0 0.0 3.1415926535" />
<parent link="ee_left" />
<child link="ee_finger_l2" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="1000.0" velocity="0.05" lower="0.0" upper="0.05" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="head_base" type="fixed">
<origin xyz="0.022 0.0 0.120073451525" rpy="0.0 0.0 0.0" />
<parent link="link_torso_5" />
<child link="link_head_0" />
</joint>
<joint name="head_0" type="revolute">
<origin xyz="0.0 0.0 0.02" rpy="0.0 0.0 0.0" />
<parent link="link_head_0" />
<child link="link_head_1" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="1000.0" velocity="3.14" lower="-0.523" upper="0.523" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="head_1" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="link_head_1" />
<child link="link_head_2" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1000.0" velocity="3.14" lower="-0.35" upper="1.57" />
<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 4d5f57f43c58371e -->
<mujoco model="RB_Y1_V1.0.1">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="base" file="./meshes/base.dae" />
<mesh name="WHEEL" file="./meshes/WHEEL.dae" />
<mesh name="LINK_1" file="./meshes/LINK_1.dae" />
<mesh name="LINK_2" file="./meshes/LINK_2.dae" />
<mesh name="LINK_3" file="./meshes/LINK_3.dae" />
<mesh name="LINK_4" file="./meshes/LINK_4.dae" />
<mesh name="LINK_5" file="./meshes/LINK_5.dae" />
<mesh name="LINK_6" file="./meshes/LINK_6.dae" />
<mesh name="LINK_7" file="./meshes/LINK_7.dae" />
<mesh name="LINK_8" file="./meshes/LINK_8.dae" />
<mesh name="LINK_9" file="./meshes/LINK_9.dae" />
<mesh name="LINK_10" file="./meshes/LINK_10.dae" />
<mesh name="LINK_11" file="./meshes/LINK_11.dae" />
<mesh name="LINK_12" file="./meshes/LINK_12.dae" />
<mesh name="LINK_13" file="./meshes/LINK_13.dae" />
<mesh name="LINK_14" file="./meshes/LINK_14.dae" />
<mesh name="LINK_15" file="./meshes/LINK_15.dae" />
<mesh name="LINK_16" file="./meshes/LINK_16.dae" />
<mesh name="LINK_17" file="./meshes/LINK_17.dae" />
<mesh name="LINK_18" file="./meshes/LINK_18.dae" />
<mesh name="LINK_19" file="./meshes/LINK_19.dae" />
<mesh name="LINK_20" file="./meshes/LINK_20.dae" />
<mesh name="FT_SENSOR_R" file="./meshes/FT_SENSOR_R.dae" />
<mesh name="FT_SENSOR_L" file="./meshes/FT_SENSOR_L.dae" />
<mesh name="EE_BODY" file="./meshes/EE_BODY.dae" />
<mesh name="EE_FINGER" file="./meshes/EE_FINGER.dae" />
<mesh name="PAN_TILT_1" file="./meshes/PAN_TILT_1.dae" />
<mesh name="PAN_TILT_2" file="./meshes/PAN_TILT_2.dae" />
<mesh name="PAN_TILT_3" file="./meshes/PAN_TILT_3.dae" />
</asset>
<worldbody>
<body name="base">
<inertial pos="-0.06157942 -0.00142271 0.13513861" mass="60.08042639" fullinertia="1.37742174 2.99386515 3.76085052 0.02521789 0.18565467 -0.00641869" />
<geom name="base_vis_0" type="mesh" mesh="base" contype="0" conaffinity="0" group="2" />
<body name="wheel_r" pos="0.228 -0.265 0.1">
<joint name="right_wheel" type="hinge" axis="0.0 -1.0 0.0" limited="false" />
<inertial pos="0.0 -0.00073938 0.0" mass="1.37783736" fullinertia="0.00426657 0.00811815 0.00426657 0.0 0.0 0.0" />
<geom name="wheel_r_vis_0" type="mesh" mesh="WHEEL" contype="0" conaffinity="0" group="2" />
</body>
<body name="wheel_l" pos="0.228 0.265 0.1">
<joint name="left_wheel" type="hinge" axis="0.0 -1.0 0.0" limited="false" />
<inertial pos="0.0 0.00073938 0.0" mass="1.37783736" fullinertia="0.00426657 0.00811815 0.00426657 0.0 0.0 0.0" />
<geom name="wheel_l_vis_0" type="mesh" mesh="WHEEL" contype="0" conaffinity="0" group="2" />
</body>
<body name="link_torso_0" pos="0.0 0.0 0.2805">
<joint name="torso_0" type="hinge" axis="1.0 0.0 0.0" range="-0.261799388 0.261799388" />
<inertial pos="-0.08848415 0.00021367 4.6e-07" mass="2.24282123" fullinertia="0.01413496 0.01005357 0.01892525 0.00092982 -1e-07 -8e-08" />
<geom name="link_torso_0_vis_0" type="mesh" mesh="LINK_1" contype="0" conaffinity="0" group="2" />
<body name="link_torso_1">
<joint name="torso_1" type="hinge" axis="0.0 1.0 0.0" range="-0.523598776 1.570796327" />
<inertial pos="0.00728955 -0.01728522 0.0691138" mass="9.72162676" fullinertia="0.1486264 0.13854733 0.02912982 -0.00142621 -0.00951385 -0.00975351" />
<geom name="link_torso_1_vis_0" type="mesh" mesh="LINK_2" contype="0" conaffinity="0" group="2" />
<body name="link_torso_2" pos="0.0 0.0 0.35">
<joint name="torso_2" type="hinge" axis="0.0 1.0 0.0" range="-2.617993878 1.570796327" />
<inertial pos="0.00653835 -0.01769536 0.05636582" mass="9.2169185" fullinertia="0.1216227 0.1158919 0.03094484 -0.0012791 -0.00831678 -0.00873271" />
<geom name="link_torso_2_vis_0" type="mesh" mesh="LINK_3" contype="0" conaffinity="0" group="2" />
<body name="link_torso_3" pos="0.0 0.0 0.35">
<joint name="torso_3" type="hinge" axis="0.0 1.0 0.0" range="-0.785398163 1.570796327" />
<inertial pos="-0.00574156 -0.01725975 5.61e-05" mass="4.18679196" fullinertia="0.0084987 0.00929513 0.00955442 0.00040861 -2.63e-06 -1.243e-05" />
<geom name="link_torso_3_vis_0" type="mesh" mesh="LINK_4" contype="0" conaffinity="0" group="2" />
<body name="link_torso_4">
<joint name="torso_4" type="hinge" axis="1.0 0.0 0.0" range="-0.523598776 0.523598776" />
<inertial pos="-0.09097095 5.085e-05 0.0260195" mass="4.45566276" fullinertia="0.01545991 0.02550888 0.01952563 1.883e-05 -0.00780349 7.15e-06" />
<geom name="link_torso_4_vis_0" type="mesh" mesh="LINK_5" contype="0" conaffinity="0" group="2" />
<body name="link_torso_5" pos="0.0 0.0 0.309426548461">
<joint name="torso_5" type="hinge" axis="0.0 0.0 1.0" range="-2.35619449 2.35619449" />
<inertial pos="-0.01338376 0.00025621 -0.03272487" mass="12.59012341" fullinertia="0.21375525 0.1656209 0.13308879 0.0005152 0.00880124 -0.00023995" />
<geom name="link_torso_5_vis_0" type="mesh" mesh="LINK_6" contype="0" conaffinity="0" group="2" />
<body name="link_right_arm_0" pos="0.0 -0.22 0.080073451539" quat="0.9848077530468392 -0.17364817747052724 0.0 0.0">
<joint name="right_arm_0" type="hinge" axis="0.0 1.0 0.0" range="-3.141592654 3.141592654" />
<inertial pos="-0.00316662 0.03437181 -3e-07" mass="1.26164242" fullinertia="0.00230621 0.00426418 0.00432156 0.00039024 -2.56e-06 1.18e-06" />
<geom name="link_right_arm_0_vis_0" type="mesh" mesh="LINK_7" contype="0" conaffinity="0" group="2" />
<body name="link_right_arm_1" quat="0.9848077530468392 0.17364817747052724 0.0 0.0">
<joint name="right_arm_1" type="hinge" axis="1.0 0.0 0.0" range="-3.141592654 0.017453293" />
<inertial pos="-0.00307855 -0.00124741 -0.01294324" mass="2.27287031" fullinertia="0.0038849 0.00447034 0.00288341 -1.477e-05 0.00011465 -0.00010023" />
<geom name="link_right_arm_1_vis_0" type="mesh" mesh="LINK_8" contype="0" conaffinity="0" group="2" />
<body name="link_right_arm_2">
<joint name="right_arm_2" type="hinge" axis="0.0 0.0 1.0" range="-3.141592654 3.141592654" />
<inertial pos="0.00115434 -0.00196635 -0.16192524" mass="2.46909439" fullinertia="0.00980269 0.0092456 0.00329867 5.871e-05 0.00051888 -0.00045932" />
<geom name="link_right_arm_2_vis_0" type="mesh" mesh="LINK_9" contype="0" conaffinity="0" group="2" />
<body name="link_right_arm_3" pos="0.031 0.0 -0.276">
<joint name="right_arm_3" type="hinge" axis="0.0 1.0 0.0" range="-2.617993878 0.017453293" />
<inertial pos="-0.01603135 -0.00692891 -0.04549811" mass="2.26099493" fullinertia="0.00822606 0.0084487 0.00236614 0.0002762 -0.0015657 0.00076157" />
<geom name="link_right_arm_3_vis_0" type="mesh" mesh="LINK_10" contype="0" conaffinity="0" group="2" />
<body name="link_right_arm_4" pos="-0.031 0.0 -0.256">
<joint name="right_arm_4" type="hinge" axis="0.0 0.0 1.0" range="-3.141592654 3.141592654" />
<inertial pos="-1.1e-07 -0.02696036 0.0618211" mass="0.4250871" fullinertia="0.00082466 0.00075398 0.00039794 0.0 0.0 -0.00025338" />
<geom name="link_right_arm_4_vis_0" type="mesh" mesh="LINK_11" contype="0" conaffinity="0" group="2" />
<body name="link_right_arm_5">
<joint name="right_arm_5" type="hinge" axis="0.0 1.0 0.0" range="-1.570796327 1.919862177" />
<inertial pos="0.00318034 -0.00532264 -0.02809655" mass="1.59194395" fullinertia="0.00256054 0.00257233 0.00156092 -2.344e-05 -1.563e-05 0.00021608" />
<geom name="link_right_arm_5_vis_0" type="mesh" mesh="LINK_12" contype="0" conaffinity="0" group="2" />
<body name="link_right_arm_6">
<joint name="right_arm_6" type="hinge" axis="0.0 0.0 1.0" range="-2.70526034 2.70526034" />
<inertial pos="0.0006681 -0.00031708 -0.09636043" mass="0.21137279" fullinertia="0.00013511 0.00014453 0.00025431 -2.42e-06 -1.02e-06 9.4e-07" />
<geom name="link_right_arm_6_vis_0" type="mesh" mesh="LINK_13" contype="0" conaffinity="0" group="2" />
<body name="FT_sensor_R" pos="0.0 0.0 -0.1087">
<inertial pos="0.00010423 0.00108019 -0.01880676" mass="0.49078507" fullinertia="0.00028587 0.00030459 0.00036377 -1.46e-06 -2.6e-07 -7.72e-06" />
<geom name="FT_sensor_R_vis_0" type="mesh" mesh="FT_SENSOR_R" contype="0" conaffinity="0" group="2" />
<body name="ee_right" pos="0.0 0.0 -0.0461">
<inertial pos="0.00212703 6.15e-06 -0.04287176" mass="0.46704998" fullinertia="0.00032067 0.00059559 0.00052732 2.383e-05 -7.85e-06 -7e-08" />
<geom name="ee_right_vis_0" type="mesh" mesh="EE_BODY" contype="0" conaffinity="0" group="2" />
<body name="ee_finger_r1" pos="0.003 0.0 -0.073">
<joint name="gripper_finger_r1" type="slide" axis="-1.0 0.0 0.0" range="-0.05 0.0" />
<inertial pos="0.00278346 -3.29e-06 -0.02570112" mass="0.03326999" fullinertia="1.231e-05 1.066e-05 2.24e-06 0.0 -4.2e-07 0.0" />
<geom name="ee_finger_r1_vis_0" type="mesh" mesh="EE_FINGER" contype="0" conaffinity="0" group="2" />
</body>
<body name="ee_finger_r2" pos="-0.003 0.0 -0.073" quat="4.489659216976159e-11 0.0 0.0 1.0">
<joint name="gripper_finger_r2" type="slide" axis="1.0 0.0 0.0" range="0.0 0.05" />
<inertial pos="0.00278346 -3.29e-06 -0.02570112" mass="0.03326999" fullinertia="1.231e-05 1.066e-05 2.24e-06 0.0 -4.2e-07 0.0" />
<geom name="ee_finger_r2_vis_0" type="mesh" mesh="EE_FINGER" contype="0" conaffinity="0" group="2" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="link_left_arm_0" pos="0.0 0.22 0.080073452" quat="0.9848077530468392 0.17364817747052724 0.0 0.0">
<joint name="left_arm_0" type="hinge" axis="0.0 1.0 0.0" range="-3.141592654 3.141592654" />
<inertial pos="-0.00316662 -0.03437151 2.42e-06" mass="1.26164242" fullinertia="0.00230624 0.00426418 0.00432159 -0.00039022 2.69e-06 1.08e-06" />
<geom name="link_left_arm_0_vis_0" type="mesh" mesh="LINK_14" contype="0" conaffinity="0" group="2" />
<body name="link_left_arm_1" quat="0.9848077530468392 -0.17364817747052724 0.0 0.0">
<joint name="left_arm_1" type="hinge" axis="1.0 0.0 0.0" range="-0.017453293 3.141592654" />
<inertial pos="-0.0018347 0.00040596 -0.01008733" mass="1.88138658" fullinertia="0.00295838 0.00355208 0.00230558 -1.176e-05 6.949e-05 4.467e-05" />
<geom name="link_left_arm_1_vis_0" type="mesh" mesh="LINK_15" contype="0" conaffinity="0" group="2" />
<body name="link_left_arm_2">
<joint name="left_arm_2" type="hinge" axis="0.0 0.0 1.0" range="-3.141592654 3.141592654" />
<inertial pos="0.00066086 -0.00038583 -0.15742972" mass="2.35634437" fullinertia="0.00842712 0.00802311 0.00295678 2.47e-06 0.00036948 -6.55e-05" />
<geom name="link_left_arm_2_vis_0" type="mesh" mesh="LINK_16" contype="0" conaffinity="0" group="2" />
<body name="link_left_arm_3" pos="0.031 0.0 -0.276">
<joint name="left_arm_3" type="hinge" axis="0.0 1.0 0.0" range="-2.617993878 0.017453293" />
<inertial pos="-0.01565298 0.00793126 -0.04997943" mass="2.00905891" fullinertia="0.00756474 0.00772758 0.00199754 -0.00026771 -0.00155419 -0.00084364" />
<geom name="link_left_arm_3_vis_0" type="mesh" mesh="LINK_17" contype="0" conaffinity="0" group="2" />
<body name="link_left_arm_4" pos="-0.031 0.0 -0.256">
<joint name="left_arm_4" type="hinge" axis="0.0 0.0 1.0" range="-3.141592654 3.141592654" />
<inertial pos="1.1e-07 0.02696036 0.0618211" mass="0.4250871" fullinertia="0.00082466 0.00075398 0.00039794 0.0 0.0 0.00025338" />
<geom name="link_left_arm_4_vis_0" type="mesh" mesh="LINK_18" contype="0" conaffinity="0" group="2" />
<body name="link_left_arm_5">
<joint name="left_arm_5" type="hinge" axis="0.0 1.0 0.0" range="-1.570796327 1.919862177" />
<inertial pos="0.00340082 0.00576824 -0.02507309" mass="1.44264795" fullinertia="0.00233577 0.0023258 0.00138375 3.048e-05 -1.191e-05 -0.00019491" />
<geom name="link_left_arm_5_vis_0" type="mesh" mesh="LINK_19" contype="0" conaffinity="0" group="2" />
<body name="link_left_arm_6">
<joint name="left_arm_6" type="hinge" axis="0.0 0.0 1.0" range="-2.70526034 2.70526034" />
<inertial pos="-0.0006681 0.00031708 -0.09636043" mass="0.21137279" fullinertia="0.00013511 0.00014453 0.00025431 -2.42e-06 1.02e-06 -9.4e-07" />
<geom name="link_left_arm_6_vis_0" type="mesh" mesh="LINK_20" contype="0" conaffinity="0" group="2" />
<body name="FT_sensor_L" pos="0.0 0.0 -0.1087">
<inertial pos="-0.00010423 -0.00108019 -0.01880676" mass="0.49078507" fullinertia="0.00028587 0.00030459 0.00036377 -1.46e-06 2.6e-07 7.72e-06" />
<geom name="FT_sensor_L_vis_0" type="mesh" mesh="FT_SENSOR_L" contype="0" conaffinity="0" group="2" />
<body name="ee_left" pos="0.0 0.0 -0.0461">
<inertial pos="0.00212703 6.15e-06 -0.04287176" mass="0.46704998" fullinertia="0.00032067 0.00059559 0.00052732 2.383e-05 -7.85e-06 -7e-08" />
<geom name="ee_left_vis_0" type="mesh" mesh="EE_BODY" contype="0" conaffinity="0" group="2" />
<body name="ee_finger_l1" pos="0.003 0.0 -0.073">
<joint name="gripper_finger_l1" type="slide" axis="-1.0 0.0 0.0" range="-0.05 0.0" />
<inertial pos="0.00278346 -3.29e-06 -0.02570112" mass="0.03326999" fullinertia="1.231e-05 1.066e-05 2.24e-06 0.0 -4.2e-07 0.0" />
<geom name="ee_finger_l1_vis_0" type="mesh" mesh="EE_FINGER" contype="0" conaffinity="0" group="2" />
</body>
<body name="ee_finger_l2" pos="-0.003 0.0 -0.073" quat="4.489659216976159e-11 0.0 0.0 1.0">
<joint name="gripper_finger_l2" type="slide" axis="1.0 0.0 0.0" range="0.0 0.05" />
<inertial pos="0.00278346 -3.29e-06 -0.02570112" mass="0.03326999" fullinertia="1.231e-05 1.066e-05 2.24e-06 0.0 -4.2e-07 0.0" />
<geom name="ee_finger_l2_vis_0" type="mesh" mesh="EE_FINGER" contype="0" conaffinity="0" group="2" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="link_head_0" pos="0.022 0.0 0.120073451525">
<inertial pos="-0.00800549 0.0 -0.01100308" mass="0.0758211" fullinertia="3.307e-05 2.209e-05 3.796e-05 0.0 -2.9e-06 0.0" />
<geom name="link_head_0_vis_0" type="mesh" mesh="PAN_TILT_1" contype="0" conaffinity="0" group="2" />
<body name="link_head_1" pos="0.0 0.0 0.02">
<joint name="head_0" type="hinge" axis="0.0 0.0 1.0" range="-0.523 0.523" />
<inertial pos="-0.01150679 -0.0011427 -0.00031579" mass="0.0745058" fullinertia="1.85e-05 2.451e-05 2.062e-05 -3.5e-07 2.03e-06 -1e-07" />
<geom name="link_head_1_vis_0" type="mesh" mesh="PAN_TILT_2" contype="0" conaffinity="0" group="2" />
<body name="link_head_2">
<joint name="head_1" type="hinge" axis="0.0 1.0 0.0" range="-0.35 1.57" />
<inertial pos="-0.00081966 0.00099024 0.02283704" mass="0.03585374" fullinertia="2.046e-05 1.044e-05 1.291e-05 1e-08 -2.7e-07 7.6e-07" />
<geom name="link_head_2_vis_0" type="mesh" mesh="PAN_TILT_3" contype="0" conaffinity="0" group="2" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base" body2="wheel_r" />
<exclude body1="base" body2="wheel_l" />
<exclude body1="base" body2="link_torso_0" />
<exclude body1="link_torso_0" body2="link_torso_1" />
<exclude body1="link_torso_1" body2="link_torso_2" />
<exclude body1="link_torso_2" body2="link_torso_3" />
<exclude body1="link_torso_3" body2="link_torso_4" />
<exclude body1="link_torso_4" body2="link_torso_5" />
<exclude body1="link_torso_5" body2="link_right_arm_0" />
<exclude body1="link_right_arm_0" body2="link_right_arm_1" />
<exclude body1="link_right_arm_1" body2="link_right_arm_2" />
<exclude body1="link_right_arm_2" body2="link_right_arm_3" />
<exclude body1="link_right_arm_3" body2="link_right_arm_4" />
<exclude body1="link_right_arm_4" body2="link_right_arm_5" />
<exclude body1="link_right_arm_5" body2="link_right_arm_6" />
<exclude body1="link_torso_5" body2="link_left_arm_0" />
<exclude body1="link_left_arm_0" body2="link_left_arm_1" />
<exclude body1="link_left_arm_1" body2="link_left_arm_2" />
<exclude body1="link_left_arm_2" body2="link_left_arm_3" />
<exclude body1="link_left_arm_3" body2="link_left_arm_4" />
<exclude body1="link_left_arm_4" body2="link_left_arm_5" />
<exclude body1="link_left_arm_5" body2="link_left_arm_6" />
<exclude body1="link_right_arm_6" body2="FT_sensor_R" />
<exclude body1="FT_sensor_R" body2="ee_right" />
<exclude body1="ee_right" body2="ee_finger_r1" />
<exclude body1="ee_right" body2="ee_finger_r2" />
<exclude body1="link_left_arm_6" body2="FT_sensor_L" />
<exclude body1="FT_sensor_L" body2="ee_left" />
<exclude body1="ee_left" body2="ee_finger_l1" />
<exclude body1="ee_left" body2="ee_finger_l2" />
<exclude body1="link_torso_5" body2="link_head_0" />
<exclude body1="link_head_0" body2="link_head_1" />
<exclude body1="link_head_1" body2="link_head_2" />
</contact>
</mujoco>
Import report
Counts
| Links | 34 |
|---|---|
| Joints | 33 |
| Moving joints | 28 |
| Visuals | 34 |
| Collisions | 0 |
| Materials | 0 |
Meshes
Formats: dae.
Asset size: 48.1 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
@acceleration | 22 | attribute 'acceleration' is not part of the URDF subset RobotDescription mirrors |
@in_model_type | 4 | attribute 'in_model_type' is not part of the URDF subset RobotDescription mirrors |
axis | 5 | fixed joints carry no <axis>; URDF ignores it too |
mobile | 1 | <mobile> is not part of the URDF subset RobotDescription mirrors |
Forward-kinematics check
Forward kinematics of 34 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 · 4.8e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 28).
Source & licence
| Repository | https://github.com/uynitsuj/rby1_description |
|---|---|
| Commit | e4c07203aa0a0d1b6b3b39da105cb00a77e2bc72 |
| Original file | models/rby1a/urdf/model.urdf |
| Licence | MIT · 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.