Robotiq 2F-85 v4

Robotiq · licence BSD-2-Clause · source: github.com/nickswalker/robotiq-2f-85 @ 319f7b945

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 a43ef96da0222e33 -->
<robot name="robotiq_arg2f_85_model">
  <link name="base_link" />
  <joint name="base_link-robotiq_arg2f_base_link" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="robotiq_arg2f_base_link" />
  </joint>
  <link name="robotiq_arg2f_base_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/base_link.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/base_link.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="8.625e-08 -4.6583e-06 0.03145" rpy="0.0 0.0 0.0" />
      <mass value="0.7" />
      <inertia ixx="0.00020005" ixy="-4.2442e-10" ixz="-2.9069e-10" iyy="0.00017832" iyz="-3.4402e-08" izz="0.00013478" />
    </inertial>
  </link>
  <link name="robotiq_arg2f_tcp" />
  <joint name="robotiq_arg2f_tcp_joint" type="fixed">
    <origin xyz="0.0 0.0 0.174" rpy="0.0 0.0 0.0" />
    <parent link="robotiq_arg2f_base_link" />
    <child link="robotiq_arg2f_tcp" />
  </joint>
  <link name="left_outer_knuckle">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/outer_knuckle.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/outer_knuckle.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331" rpy="0.0 0.0 0.0" />
      <mass value="0.00853198276973456" />
      <inertia ixx="2.89328108496468e-06" ixy="-1.57935047237397e-19" ixz="-1.93980378593255e-19" iyy="1.86719750325683e-06" iyz="-1.21858577871576e-06" izz="1.21905238907251e-06" />
    </inertial>
  </link>
  <link name="left_bar">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/bar.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/bar.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385" rpy="0.0 0.0 0.0" />
      <mass value="0.022614240507152" />
      <inertia ixx="1.52518312458174e-05" ixy="9.76583423954399e-10" ixz="-5.43838577022588e-10" iyy="6.17694243867776e-06" iyz="6.78636130740228e-06" izz="1.16494917907219e-05" />
    </inertial>
  </link>
  <link name="left_distal_phalanx">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/distal_phalanx.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/distal_phalanx.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257" rpy="0.0 0.0 0.0" />
      <mass value="0.0104003125914103" />
      <inertia ixx="2.71909453810972e-06" ixy="1.35402465472579e-21" ixz="-7.1817349065269e-22" iyy="7.69100314106116e-07" iyz="6.74715432769696e-07" izz="2.30315190420171e-06" />
    </inertial>
  </link>
  <link name="left_proximal_phalanx">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/proximal_phalanx.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/proximal_phalanx.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166" rpy="0.0 0.0 0.0" />
      <mass value="0.0271177346495152" />
      <inertia ixx="2.61910379223783e-05" ixy="-2.43616858946494e-07" ixz="-6.37789906117123e-09" iyy="2.8270243746167e-06" iyz="-5.37200748039765e-07" izz="2.83695868220296e-05" />
    </inertial>
  </link>
  <joint name="left_bar_joint" type="fixed">
    <origin xyz="0.0 0.0315 -0.0041" rpy="0.0 0.0 0.0" />
    <parent link="left_outer_knuckle" />
    <child link="left_bar" />
  </joint>
  <joint name="left_proximal_phalanx_joint" type="revolute">
    <origin xyz="0.0 -0.0127 0.06142" rpy="0.125 0.0 3.141592653589793" />
    <parent link="robotiq_arg2f_base_link" />
    <child link="left_proximal_phalanx" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1000.0" velocity="0.5" lower="0.0" upper="0.8757" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="left_distal_phalanx_joint" type="revolute">
    <origin xyz="0.0 0.0061 0.0471" rpy="0.0 0.0 0.0" />
    <parent link="left_bar" />
    <child link="left_distal_phalanx" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1000.0" velocity="0.5" lower="-0.8757" upper="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="finger_joint" type="revolute">
    <origin xyz="0.0 -0.0306011 0.054904" rpy="0.0 0.0 3.141592653589793" />
    <parent link="robotiq_arg2f_base_link" />
    <child link="left_outer_knuckle" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1000.0" velocity="0.5" lower="0.0" upper="0.8" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="right_bar_joint" type="fixed">
    <origin xyz="0.0 0.0315 -0.0041" rpy="0.0 0.0 0.0" />
    <parent link="right_outer_knuckle" />
    <child link="right_bar" />
  </joint>
  <joint name="right_proximal_phalanx_joint" type="revolute">
    <origin xyz="0.0 0.0127 0.06142" rpy="0.125 0.0 0.0" />
    <parent link="robotiq_arg2f_base_link" />
    <child link="right_proximal_phalanx" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1000.0" velocity="0.5" lower="0.0" upper="0.8757" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="right_distal_phalanx_joint" type="revolute">
    <origin xyz="0.0 0.0061 0.0471" rpy="0.0 0.0 0.0" />
    <parent link="right_bar" />
    <child link="right_distal_phalanx" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1000.0" velocity="0.5" lower="-0.8757" upper="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="right_outer_knuckle">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/outer_knuckle.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/outer_knuckle.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331" rpy="0.0 0.0 0.0" />
      <mass value="0.00853198276973456" />
      <inertia ixx="2.89328108496468e-06" ixy="-1.57935047237397e-19" ixz="-1.93980378593255e-19" iyy="1.86719750325683e-06" iyz="-1.21858577871576e-06" izz="1.21905238907251e-06" />
    </inertial>
  </link>
  <link name="right_bar">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/bar.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/bar.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385" rpy="0.0 0.0 0.0" />
      <mass value="0.022614240507152" />
      <inertia ixx="1.52518312458174e-05" ixy="9.76583423954399e-10" ixz="-5.43838577022588e-10" iyy="6.17694243867776e-06" iyz="6.78636130740228e-06" izz="1.16494917907219e-05" />
    </inertial>
  </link>
  <link name="right_distal_phalanx">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/distal_phalanx.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/distal_phalanx.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257" rpy="0.0 0.0 0.0" />
      <mass value="0.0104003125914103" />
      <inertia ixx="2.71909453810972e-06" ixy="1.35402465472579e-21" ixz="-7.1817349065269e-22" iyy="7.69100314106116e-07" iyz="6.74715432769696e-07" izz="2.30315190420171e-06" />
    </inertial>
  </link>
  <link name="right_proximal_phalanx">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/proximal_phalanx.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/proximal_phalanx.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166" rpy="0.0 0.0 0.0" />
      <mass value="0.0271177346495152" />
      <inertia ixx="2.61910379223783e-05" ixy="-2.43616858946494e-07" ixz="-6.37789906117123e-09" iyy="2.8270243746167e-06" iyz="-5.37200748039765e-07" izz="2.83695868220296e-05" />
    </inertial>
  </link>
  <joint name="right_finger_joint" type="revolute">
    <origin xyz="0.0 0.0306011 0.054904" rpy="0.0 0.0 0.0" />
    <parent link="robotiq_arg2f_base_link" />
    <child link="right_outer_knuckle" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1000.0" velocity="0.5" lower="0.0" upper="0.81" />
    <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 a43ef96da0222e33 -->
<mujoco model="robotiq_arg2f_85_model">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="visual_base_link" file="robotiq_2f_85_gripper_visualization/meshes/visual/base_link.dae" />
    <mesh name="collision_base_link" file="robotiq_2f_85_gripper_visualization/meshes/collision/base_link.stl" />
    <mesh name="visual_outer_knuckle" file="robotiq_2f_85_gripper_visualization/meshes/visual/outer_knuckle.stl" />
    <mesh name="collision_outer_knuckle" file="robotiq_2f_85_gripper_visualization/meshes/collision/outer_knuckle.stl" />
    <mesh name="visual_bar" file="robotiq_2f_85_gripper_visualization/meshes/visual/bar.stl" />
    <mesh name="collision_bar" file="robotiq_2f_85_gripper_visualization/meshes/collision/bar.stl" />
    <mesh name="visual_distal_phalanx" file="robotiq_2f_85_gripper_visualization/meshes/visual/distal_phalanx.stl" />
    <mesh name="collision_distal_phalanx" file="robotiq_2f_85_gripper_visualization/meshes/collision/distal_phalanx.stl" />
    <mesh name="visual_proximal_phalanx" file="robotiq_2f_85_gripper_visualization/meshes/visual/proximal_phalanx.stl" />
    <mesh name="collision_proximal_phalanx" file="robotiq_2f_85_gripper_visualization/meshes/collision/proximal_phalanx.stl" />
  </asset>
  <worldbody>
    <body name="base_link">
      <body name="robotiq_arg2f_base_link">
        <inertial pos="8.625e-08 -4.6583e-06 0.03145" mass="0.7" fullinertia="0.00020005 0.00017832 0.00013478 -4.2442e-10 -2.9069e-10 -3.4402e-08" />
        <geom name="robotiq_arg2f_base_link_vis_0" type="mesh" mesh="visual_base_link" contype="0" conaffinity="0" group="2" />
        <geom name="robotiq_arg2f_base_link_col_0" type="mesh" mesh="collision_base_link" group="3" />
        <body name="robotiq_arg2f_tcp" pos="0.0 0.0 0.174" />
        <body name="left_proximal_phalanx" pos="0.0 -0.0127 0.06142" quat="6.111278446879301e-17 3.824530183629904e-18 0.0624593178423802 0.9980475107000991">
          <joint name="left_proximal_phalanx_joint" type="hinge" axis="1.0 0.0 0.0" range="0.0 0.8757" />
          <inertial pos="0.000123011831763771 0.0507850843201817 0.00103968640075166" mass="0.0271177346495152" fullinertia="2.61910379223783e-05 2.8270243746167e-06 2.83695868220296e-05 -2.43616858946494e-07 -6.37789906117123e-09 -5.37200748039765e-07" />
          <geom name="left_proximal_phalanx_vis_0" type="mesh" mesh="visual_proximal_phalanx" contype="0" conaffinity="0" group="2" />
          <geom name="left_proximal_phalanx_col_0" type="mesh" mesh="collision_proximal_phalanx" group="3" />
        </body>
        <body name="left_outer_knuckle" pos="0.0 -0.0306011 0.054904" quat="6.123233995736766e-17 0.0 0.0 1.0">
          <joint name="finger_joint" type="hinge" axis="1.0 0.0 0.0" range="0.0 0.8" />
          <inertial pos="-0.000200000000003065 0.0199435877845359 0.0292245259211331" mass="0.00853198276973456" fullinertia="2.89328108496468e-06 1.86719750325683e-06 1.21905238907251e-06 -1.57935047237397e-19 -1.93980378593255e-19 -1.21858577871576e-06" />
          <geom name="left_outer_knuckle_vis_0" type="mesh" mesh="visual_outer_knuckle" contype="0" conaffinity="0" group="2" />
          <geom name="left_outer_knuckle_col_0" type="mesh" mesh="collision_outer_knuckle" group="3" />
          <body name="left_bar" pos="0.0 0.0315 -0.0041">
            <inertial pos="0.00030115855001899 0.0373907951953854 -0.0208027427000385" mass="0.022614240507152" fullinertia="1.52518312458174e-05 6.17694243867776e-06 1.16494917907219e-05 9.76583423954399e-10 -5.43838577022588e-10 6.78636130740228e-06" />
            <geom name="left_bar_vis_0" type="mesh" mesh="visual_bar" contype="0" conaffinity="0" group="2" />
            <geom name="left_bar_col_0" type="mesh" mesh="collision_bar" group="3" />
            <body name="left_distal_phalanx" pos="0.0 0.0061 0.0471">
              <joint name="left_distal_phalanx_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.8757 0.0" />
              <inertial pos="0.000299999999999317 0.0160078233491243 -0.0136945669206257" mass="0.0104003125914103" fullinertia="2.71909453810972e-06 7.69100314106116e-07 2.30315190420171e-06 1.35402465472579e-21 -7.1817349065269e-22 6.74715432769696e-07" />
              <geom name="left_distal_phalanx_vis_0" type="mesh" mesh="visual_distal_phalanx" contype="0" conaffinity="0" group="2" />
              <geom name="left_distal_phalanx_col_0" type="mesh" mesh="collision_distal_phalanx" group="3" />
            </body>
          </body>
        </body>
        <body name="right_proximal_phalanx" pos="0.0 0.0127 0.06142" quat="0.9980475107000991 0.0624593178423802 0.0 0.0">
          <joint name="right_proximal_phalanx_joint" type="hinge" axis="1.0 0.0 0.0" range="0.0 0.8757" />
          <inertial pos="0.000123011831763771 0.0507850843201817 0.00103968640075166" mass="0.0271177346495152" fullinertia="2.61910379223783e-05 2.8270243746167e-06 2.83695868220296e-05 -2.43616858946494e-07 -6.37789906117123e-09 -5.37200748039765e-07" />
          <geom name="right_proximal_phalanx_vis_0" type="mesh" mesh="visual_proximal_phalanx" contype="0" conaffinity="0" group="2" />
          <geom name="right_proximal_phalanx_col_0" type="mesh" mesh="collision_proximal_phalanx" group="3" />
        </body>
        <body name="right_outer_knuckle" pos="0.0 0.0306011 0.054904">
          <joint name="right_finger_joint" type="hinge" axis="1.0 0.0 0.0" range="0.0 0.81" />
          <inertial pos="-0.000200000000003065 0.0199435877845359 0.0292245259211331" mass="0.00853198276973456" fullinertia="2.89328108496468e-06 1.86719750325683e-06 1.21905238907251e-06 -1.57935047237397e-19 -1.93980378593255e-19 -1.21858577871576e-06" />
          <geom name="right_outer_knuckle_vis_0" type="mesh" mesh="visual_outer_knuckle" contype="0" conaffinity="0" group="2" />
          <geom name="right_outer_knuckle_col_0" type="mesh" mesh="collision_outer_knuckle" group="3" />
          <body name="right_bar" pos="0.0 0.0315 -0.0041">
            <inertial pos="0.00030115855001899 0.0373907951953854 -0.0208027427000385" mass="0.022614240507152" fullinertia="1.52518312458174e-05 6.17694243867776e-06 1.16494917907219e-05 9.76583423954399e-10 -5.43838577022588e-10 6.78636130740228e-06" />
            <geom name="right_bar_vis_0" type="mesh" mesh="visual_bar" contype="0" conaffinity="0" group="2" />
            <geom name="right_bar_col_0" type="mesh" mesh="collision_bar" group="3" />
            <body name="right_distal_phalanx" pos="0.0 0.0061 0.0471">
              <joint name="right_distal_phalanx_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.8757 0.0" />
              <inertial pos="0.000299999999999317 0.0160078233491243 -0.0136945669206257" mass="0.0104003125914103" fullinertia="2.71909453810972e-06 7.69100314106116e-07 2.30315190420171e-06 1.35402465472579e-21 -7.1817349065269e-22 6.74715432769696e-07" />
              <geom name="right_distal_phalanx_vis_0" type="mesh" mesh="visual_distal_phalanx" contype="0" conaffinity="0" group="2" />
              <geom name="right_distal_phalanx_col_0" type="mesh" mesh="collision_distal_phalanx" group="3" />
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="robotiq_arg2f_base_link" />
    <exclude body1="robotiq_arg2f_base_link" body2="robotiq_arg2f_tcp" />
    <exclude body1="left_outer_knuckle" body2="left_bar" />
    <exclude body1="robotiq_arg2f_base_link" body2="left_proximal_phalanx" />
    <exclude body1="left_bar" body2="left_distal_phalanx" />
    <exclude body1="robotiq_arg2f_base_link" body2="left_outer_knuckle" />
    <exclude body1="right_outer_knuckle" body2="right_bar" />
    <exclude body1="robotiq_arg2f_base_link" body2="right_proximal_phalanx" />
    <exclude body1="right_bar" body2="right_distal_phalanx" />
    <exclude body1="robotiq_arg2f_base_link" body2="right_outer_knuckle" />
  </contact>
</mujoco>

Import report

Counts

Links	11
Joints	10
Moving joints	6
Visuals	9
Collisions	9
Materials	0

Meshes

Formats: dae, stl.
Asset size: 7.6 MB.

Dropped on import

Tag	Count	Why
`axis`	2	fixed joints carry no <axis>; URDF ignores it too
`material`	9	anonymous material (empty name) cannot be referenced; its colour is not kept
`mimic`	5	joint coupling (mimic) is not representable yet; the joint imports as independent
`transmission`	1	ROS transmissions (actuator-to-joint wiring) have no RobotDescription field yet

Forward-kinematics check

Forward kinematics of 11 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 · 4.1e-16 rad.

MuJoCo

robot.xml compiles in MuJoCo with its meshes (nq = 6).

Source & licence

Repository	https://github.com/nickswalker/robotiq-2f-85
Commit	`319f7b94587c97f09e732a7b2ed7babbe0250b9e`
Original file	`robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85.xacro`
Licence	BSD-2-Clause · 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.