RSK Omnidirectional
Robot Soccer Kit · licence MIT · source: github.com/Rhoban/onshape-to-robot-examples @ 911abb069
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 8b8b2b30a60e146b -->
<robot name="rsk_urdf">
<link name="base">
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<mass value="1e-09" />
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</inertial>
</link>
<material name="wheel2_material">
<color rgba="0.917647 0.917647 0.917647 1.0" />
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<material name="hex_nut_style_1_grade_a___b_m3x0_5__59e06dee1671df03e56ade283ea1f5ec_material">
<color rgba="0.603922 0.647059 0.686275 1.0" />
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robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 8b8b2b30a60e146b -->
<mujoco model="rsk_urdf">
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<exclude body1="base" body2="base_coupler" />
<exclude body1="base" body2="base_hex_socket_head_cap_screw_m3x0_50_x_6__acf8a907a0472c0ae6086bf20401fa07_2" />
<exclude body1="base" body2="base_blue1_white" />
<exclude body1="base" body2="base_hex_socket_head_cap_screw_m3x0_50_x_25_x_18__e477b94a6da3e3efbf1606183756b785_5" />
<exclude body1="base" body2="base_board" />
<exclude body1="base" body2="base_hex_socket_head_cap_screw_m3x0_50_x_25_x_18__e477b94a6da3e3efbf1606183756b785_6" />
<exclude body1="base" body2="base_coil" />
<exclude body1="base" body2="base_frame_2" />
<exclude body1="base" body2="base_n20" />
<exclude body1="base" body2="base_motorbox_top" />
<exclude body1="base" body2="base_motorbox_bottom" />
<exclude body1="base" body2="base_n20_2" />
<exclude body1="base" body2="base_motorbox_top_2" />
<exclude body1="base" body2="base_motorbox_bottom_2" />
<exclude body1="base" body2="base_m3_spacer__length_0_03_meter_2" />
<exclude body1="base" body2="base_m3_spacer__length_0_03_meter_3" />
<exclude body1="base" body2="base_m3_spacer__length_0_03_meter_4" />
<exclude body1="base" body2="base_m3_spacer__length_0_03_meter_5" />
<exclude body1="base" body2="base_m3_spacer__length_0_03_meter_6" />
<exclude body1="base" body2="base_m3_spacer__length_0_03_meter_7" />
<exclude body1="base" body2="base_m3_spacer__length_0_03_meter_8" />
<exclude body1="base" body2="base_m3_spacer__length_0_03_meter_9" />
<exclude body1="base" body2="base_m3_spacer__length_0_03_meter_10" />
<exclude body1="base" body2="base_m3_spacer__length_0_02_meter_2" />
<exclude body1="base" body2="base_m3_spacer__length_0_02_meter_3" />
<exclude body1="base" body2="base_m3_spacer__length_0_02_meter_4" />
<exclude body1="base" body2="base_m3_spacer__length_0_02_meter_5" />
<exclude body1="base" body2="base_m3_spacer__length_0_02_meter_6" />
<exclude body1="base" body2="base_m3_spacer__length_0_006_meter_2" />
<exclude body1="base" body2="base_m3_spacer__length_0_006_meter_3" />
<exclude body1="base" body2="base_m3_spacer__length_0_006_meter_4" />
<exclude body1="base" body2="base_m3_spacer__length_0_006_meter_5" />
<exclude body1="base" body2="base_m3_spacer__length_0_006_meter_6" />
<exclude body1="base" body2="base_n20_3" />
<exclude body1="base" body2="base_motorbox_top_3" />
<exclude body1="base" body2="base_motorbox_bottom_3" />
</contact>
</mujoco>
Import report
Counts
| Links | 114 |
|---|---|
| Joints | 113 |
| Moving joints | 64 |
| Visuals | 183 |
| Collisions | 60 |
| Materials | 183 |
Meshes
Formats: stl.
Asset size: 9.7 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
axis | 49 | fixed joints carry no <axis>; URDF ignores it too |
limit | 49 | fixed joints carry no <limit>; URDF ignores it too |
Forward-kinematics check
Forward kinematics of 114 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 · 9.0e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 64).
Source & licence
| Repository | https://github.com/Rhoban/onshape-to-robot-examples |
|---|---|
| Commit | 911abb069c781e4c717c10643b975f55f7a64fe8 |
| Original file | rsk_urdf/robot.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.