Rizon10

Flexiv Robotics · licence Apache-2.0 · source: github.com/flexivrobotics/flexiv_description @ f33331a7f

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 3ef329e4a3080953 -->
<robot name="Rizon10">
  <material name="flexiv_black">
    <color rgba="0.22 0.22 0.22 1.0" />
  </material>
  <joint name="base_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="world" />
    <child link="base_link" />
  </joint>
  <joint name="joint1" type="revolute">
    <origin xyz="0.0 0.0 0.21" rpy="0.0 0.0 3.141592653589793" />
    <parent link="base_link" />
    <child link="link1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="261.0" velocity="1.7453" lower="-2.8798" upper="2.8798" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint2" type="revolute">
    <origin xyz="0.0 0.0675 0.24" rpy="0.0 0.0 0.0" />
    <parent link="link1" />
    <child link="link2" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="261.0" velocity="1.7453" lower="-2.7576" upper="2.7576" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint3" type="revolute">
    <origin xyz="0.0 0.0625 0.2275" rpy="0.0 0.0 0.0" />
    <parent link="link2" />
    <child link="link3" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="123.0" velocity="2.0944" lower="-2.8798" upper="2.8798" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint4" type="revolute">
    <origin xyz="0.0 -0.0625 0.2225" rpy="0.0 0.0 3.141592653589793" />
    <parent link="link3" />
    <child link="link4" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="123.0" velocity="2.0944" lower="-2.7925" upper="2.7925" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint5" type="revolute">
    <origin xyz="0.0 0.0575 0.205" rpy="0.0 0.0 3.141592653589793" />
    <parent link="link4" />
    <child link="link5" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="57.0" velocity="3.8397" lower="-3.0543" upper="3.0543" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint6" type="revolute">
    <origin xyz="0.0 0.03 0.19" rpy="0.0 0.0 0.0" />
    <parent link="link5" />
    <child link="link6" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="57.0" velocity="3.8397" lower="-1.4835" upper="4.6251" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint7" type="revolute">
    <origin xyz="-0.015 0.073 0.11" rpy="0.0 -1.5707963267948966 0.0" />
    <parent link="link6" />
    <child link="link7" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="57.0" velocity="3.8397" lower="-3.0543" upper="3.0543" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="link7_to_flange" type="fixed">
    <origin xyz="0.0 0.0 0.081" rpy="0.0 0.0 3.141592653589793" />
    <parent link="link7" />
    <child link="flange" />
  </joint>
  <link name="world" />
  <link name="base_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/visual/link0.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/collision/link0.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/visual/link1.obj" />
      </geometry>
    </visual>
    <visual>
      <origin xyz="0.0 0.0 -0.0025" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/visual/ring.obj" scale="0.079 0.079 0.002" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/collision/link1.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/visual/link2.obj" />
      </geometry>
    </visual>
    <visual>
      <origin xyz="0.0 -0.0025 0.0" rpy="1.5707963 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/visual/ring.obj" scale="0.079 0.079 0.002" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/collision/link2.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/visual/link3.obj" />
      </geometry>
    </visual>
    <visual>
      <origin xyz="0.0 0.0 -0.0025" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/visual/ring.obj" scale="0.062 0.062 0.002" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/collision/link3.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link4">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/visual/link4.obj" />
      </geometry>
    </visual>
    <visual>
      <origin xyz="0.0 -0.0025 0.0" rpy="1.5707963 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/visual/ring.obj" scale="0.062 0.062 0.002" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/collision/link4.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link5">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/visual/link5.obj" />
      </geometry>
    </visual>
    <visual>
      <origin xyz="0.0 0.0 -0.0025" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/visual/ring.obj" scale="0.051 0.051 0.002" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/collision/link5.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link6">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/visual/link6.obj" />
      </geometry>
    </visual>
    <visual>
      <origin xyz="0.0 -0.0025 0.0" rpy="1.5707963 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/visual/ring.obj" scale="0.051 0.051 0.002" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/collision/link6.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link7">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/visual/link7.obj" />
      </geometry>
    </visual>
    <visual>
      <origin xyz="0.0 0.0 -0.0025" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/visual/ring.obj" scale="0.051 0.051 0.002" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon10/collision/link7.stl" />
      </geometry>
    </collision>
  </link>
  <link name="flange" />
</robot>

robot.xml

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 3ef329e4a3080953 -->
<mujoco model="Rizon10">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="flexiv_black" rgba="0.22 0.22 0.22 1.0" />
    <mesh name="visual_link0" file="flexiv_description/meshes/Rizon10/visual/link0.obj" />
    <mesh name="collision_link0" file="flexiv_description/meshes/Rizon10/collision/link0.stl" />
    <mesh name="visual_link1" file="flexiv_description/meshes/Rizon10/visual/link1.obj" />
    <mesh name="ring_0p079_0p079_0p002" file="flexiv_description/meshes/Rizon10/visual/ring.obj" scale="0.079 0.079 0.002" />
    <mesh name="collision_link1" file="flexiv_description/meshes/Rizon10/collision/link1.stl" />
    <mesh name="visual_link2" file="flexiv_description/meshes/Rizon10/visual/link2.obj" />
    <mesh name="collision_link2" file="flexiv_description/meshes/Rizon10/collision/link2.stl" />
    <mesh name="visual_link3" file="flexiv_description/meshes/Rizon10/visual/link3.obj" />
    <mesh name="ring_0p062_0p062_0p002" file="flexiv_description/meshes/Rizon10/visual/ring.obj" scale="0.062 0.062 0.002" />
    <mesh name="collision_link3" file="flexiv_description/meshes/Rizon10/collision/link3.stl" />
    <mesh name="visual_link4" file="flexiv_description/meshes/Rizon10/visual/link4.obj" />
    <mesh name="collision_link4" file="flexiv_description/meshes/Rizon10/collision/link4.stl" />
    <mesh name="visual_link5" file="flexiv_description/meshes/Rizon10/visual/link5.obj" />
    <mesh name="ring_0p051_0p051_0p002" file="flexiv_description/meshes/Rizon10/visual/ring.obj" scale="0.051 0.051 0.002" />
    <mesh name="collision_link5" file="flexiv_description/meshes/Rizon10/collision/link5.stl" />
    <mesh name="visual_link6" file="flexiv_description/meshes/Rizon10/visual/link6.obj" />
    <mesh name="collision_link6" file="flexiv_description/meshes/Rizon10/collision/link6.stl" />
    <mesh name="visual_link7" file="flexiv_description/meshes/Rizon10/visual/link7.obj" />
    <mesh name="collision_link7" file="flexiv_description/meshes/Rizon10/collision/link7.stl" />
  </asset>
  <worldbody>
    <body name="base_link">
      <geom name="base_link_vis_0" type="mesh" mesh="visual_link0" contype="0" conaffinity="0" group="2" />
      <geom name="base_link_col_0" type="mesh" mesh="collision_link0" group="3" />
      <body name="link1" pos="0.0 0.0 0.21" quat="6.123233995736766e-17 0.0 0.0 1.0">
        <joint name="joint1" type="hinge" axis="0.0 0.0 1.0" range="-2.8798 2.8798" />
        <geom name="link1_vis_0" type="mesh" mesh="visual_link1" contype="0" conaffinity="0" group="2" />
        <geom name="link1_vis_1" type="mesh" mesh="ring_0p079_0p079_0p002" pos="0.0 0.0 -0.0025" contype="0" conaffinity="0" group="2" />
        <geom name="link1_col_0" type="mesh" mesh="collision_link1" group="3" />
        <body name="link2" pos="0.0 0.0675 0.24">
          <joint name="joint2" type="hinge" axis="0.0 1.0 0.0" range="-2.7576 2.7576" />
          <geom name="link2_vis_0" type="mesh" mesh="visual_link2" contype="0" conaffinity="0" group="2" />
          <geom name="link2_vis_1" type="mesh" mesh="ring_0p079_0p079_0p002" pos="0.0 -0.0025 0.0" quat="0.707106790659974 0.707106771713121 0.0 0.0" contype="0" conaffinity="0" group="2" />
          <geom name="link2_col_0" type="mesh" mesh="collision_link2" group="3" />
          <body name="link3" pos="0.0 0.0625 0.2275">
            <joint name="joint3" type="hinge" axis="0.0 0.0 1.0" range="-2.8798 2.8798" />
            <geom name="link3_vis_0" type="mesh" mesh="visual_link3" contype="0" conaffinity="0" group="2" />
            <geom name="link3_vis_1" type="mesh" mesh="ring_0p062_0p062_0p002" pos="0.0 0.0 -0.0025" contype="0" conaffinity="0" group="2" />
            <geom name="link3_col_0" type="mesh" mesh="collision_link3" group="3" />
            <body name="link4" pos="0.0 -0.0625 0.2225" quat="6.123233995736766e-17 0.0 0.0 1.0">
              <joint name="joint4" type="hinge" axis="0.0 1.0 0.0" range="-2.7925 2.7925" />
              <geom name="link4_vis_0" type="mesh" mesh="visual_link4" contype="0" conaffinity="0" group="2" />
              <geom name="link4_vis_1" type="mesh" mesh="ring_0p062_0p062_0p002" pos="0.0 -0.0025 0.0" quat="0.707106790659974 0.707106771713121 0.0 0.0" contype="0" conaffinity="0" group="2" />
              <geom name="link4_col_0" type="mesh" mesh="collision_link4" group="3" />
              <body name="link5" pos="0.0 0.0575 0.205" quat="6.123233995736766e-17 0.0 0.0 1.0">
                <joint name="joint5" type="hinge" axis="0.0 0.0 1.0" range="-3.0543 3.0543" />
                <geom name="link5_vis_0" type="mesh" mesh="visual_link5" contype="0" conaffinity="0" group="2" />
                <geom name="link5_vis_1" type="mesh" mesh="ring_0p051_0p051_0p002" pos="0.0 0.0 -0.0025" contype="0" conaffinity="0" group="2" />
                <geom name="link5_col_0" type="mesh" mesh="collision_link5" group="3" />
                <body name="link6" pos="0.0 0.03 0.19">
                  <joint name="joint6" type="hinge" axis="0.0 1.0 0.0" range="-1.4835 4.6251" />
                  <geom name="link6_vis_0" type="mesh" mesh="visual_link6" contype="0" conaffinity="0" group="2" />
                  <geom name="link6_vis_1" type="mesh" mesh="ring_0p051_0p051_0p002" pos="0.0 -0.0025 0.0" quat="0.707106790659974 0.707106771713121 0.0 0.0" contype="0" conaffinity="0" group="2" />
                  <geom name="link6_col_0" type="mesh" mesh="collision_link6" group="3" />
                  <body name="link7" pos="-0.015 0.073 0.11" quat="0.7071067811865476 0.0 -0.7071067811865475 0.0">
                    <joint name="joint7" type="hinge" axis="0.0 0.0 1.0" range="-3.0543 3.0543" />
                    <geom name="link7_vis_0" type="mesh" mesh="visual_link7" contype="0" conaffinity="0" group="2" />
                    <geom name="link7_vis_1" type="mesh" mesh="ring_0p051_0p051_0p002" pos="0.0 0.0 -0.0025" contype="0" conaffinity="0" group="2" />
                    <geom name="link7_col_0" type="mesh" mesh="collision_link7" group="3" />
                    <body name="flange" pos="0.0 0.0 0.081" quat="6.123233995736766e-17 0.0 0.0 1.0" />
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="link1" />
    <exclude body1="link1" body2="link2" />
    <exclude body1="link2" body2="link3" />
    <exclude body1="link3" body2="link4" />
    <exclude body1="link4" body2="link5" />
    <exclude body1="link5" body2="link6" />
    <exclude body1="link6" body2="link7" />
    <exclude body1="link7" body2="flange" />
  </contact>
</mujoco>

Import report

Counts

Links	10
Joints	9
Moving joints	7
Visuals	15
Collisions	8
Materials	1

Meshes

Formats: obj, stl.
Asset size: 3.5 MB.

Dropped on import

Tag	Count	Why
`@name`	23	visual names are not carried; the geometry is kept
`inertia`	8	<inertia> is not part of the URDF subset RobotDescription mirrors
`mass`	8	<mass> is not part of the URDF subset RobotDescription mirrors
`origin`	8	<origin> is not part of the URDF subset RobotDescription mirrors
`safety_controller`	7	soft limits (safety_controller) are not representable yet
`workspace`	1	<workspace> is not part of the URDF subset RobotDescription mirrors

Forward-kinematics check

Forward kinematics of 10 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 · 3.3e-16 rad.

MuJoCo

robot.xml did not compile in MuJoCo: Error: mass and inertia of moving bodies must be larger than mjMINVAL

Source & licence

Repository	https://github.com/flexivrobotics/flexiv_description
Commit	`f33331a7f75b9a25ec903674595ddfebbe1fb998`
Original file	`urdf/flexiv.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.