Skydio X2

Skydio · licence Apache-2.0 · source: github.com/lvjonok/skydio_x2_description @ 9a6a057a0

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 67530af00de8a9c4 -->
<robot name="skydio_x2">
  <link name="world" />
  <joint name="floating_base_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="world" />
    <child link="x2" />
  </joint>
  <link name="x2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.025" radius="0.06" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.025" radius="0.06" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.1" 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>
  <link name="rotor1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.005" radius="0.13" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.25" />
      <inertia ixx="0.00085" ixy="0.0" ixz="0.0" iyy="0.00085" iyz="0.0" izz="0.00169" />
    </inertial>
  </link>
  <link name="rotor2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.005" radius="0.13" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.25" />
      <inertia ixx="0.00085" ixy="0.0" ixz="0.0" iyy="0.00085" iyz="0.0" izz="0.00169" />
    </inertial>
  </link>
  <link name="rotor3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.005" radius="0.13" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.25" />
      <inertia ixx="0.00085" ixy="0.0" ixz="0.0" iyy="0.00085" iyz="0.0" izz="0.00169" />
    </inertial>
  </link>
  <link name="rotor4">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.005" radius="0.13" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.25" />
      <inertia ixx="0.00085" ixy="0.0" ixz="0.0" iyy="0.00085" iyz="0.0" izz="0.00169" />
    </inertial>
  </link>
  <link name="center_of_mass_link">
    <inertial>
      <origin xyz="0.0 0.0 0.02" rpy="0.0 0.0 0.0" />
      <mass value="0.325" />
      <inertia ixx="0.00013" ixy="0.0" ixz="0.0" iyy="0.00169" iyz="0.0" izz="0.001768" />
    </inertial>
  </link>
  <joint name="center_of_mass_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="x2" />
    <child link="center_of_mass_link" />
  </joint>
  <joint name="prop0_joint" type="fixed">
    <origin xyz="-0.14 -0.18 0.05" rpy="0.0 0.0 0.0" />
    <parent link="x2" />
    <child link="rotor1" />
  </joint>
  <joint name="prop1_joint" type="fixed">
    <origin xyz="-0.14 0.18 0.05" rpy="0.0 0.0 0.0" />
    <parent link="x2" />
    <child link="rotor2" />
  </joint>
  <joint name="prop2_joint" type="fixed">
    <origin xyz="0.14 0.18 0.08" rpy="0.0 0.0 0.0" />
    <parent link="x2" />
    <child link="rotor3" />
  </joint>
  <joint name="prop3_joint" type="fixed">
    <origin xyz="0.14 -0.18 0.08" rpy="0.0 0.0 0.0" />
    <parent link="x2" />
    <child link="rotor4" />
  </joint>
</robot>

robot.xml

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 67530af00de8a9c4 -->
<mujoco model="skydio_x2">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <worldbody>
    <body name="x2">
      <inertial pos="0.0 0.0 0.1" mass="0.0" diaginertia="0 0 0" />
      <geom name="x2_vis_0" type="cylinder" size="0.06 0.0125" contype="0" conaffinity="0" group="2" />
      <geom name="x2_col_0" type="cylinder" size="0.06 0.0125" group="3" />
      <body name="center_of_mass_link">
        <inertial pos="0.0 0.0 0.02" mass="0.325" fullinertia="0.00013 0.00169 0.001768 0.0 0.0 0.0" />
      </body>
      <body name="rotor1" pos="-0.14 -0.18 0.05">
        <inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="0.00085 0.00085 0.00169 0.0 0.0 0.0" />
        <geom name="rotor1_vis_0" type="cylinder" size="0.13 0.0025" contype="0" conaffinity="0" group="2" />
      </body>
      <body name="rotor2" pos="-0.14 0.18 0.05">
        <inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="0.00085 0.00085 0.00169 0.0 0.0 0.0" />
        <geom name="rotor2_vis_0" type="cylinder" size="0.13 0.0025" contype="0" conaffinity="0" group="2" />
      </body>
      <body name="rotor3" pos="0.14 0.18 0.08">
        <inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="0.00085 0.00085 0.00169 0.0 0.0 0.0" />
        <geom name="rotor3_vis_0" type="cylinder" size="0.13 0.0025" contype="0" conaffinity="0" group="2" />
      </body>
      <body name="rotor4" pos="0.14 -0.18 0.08">
        <inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="0.00085 0.00085 0.00169 0.0 0.0 0.0" />
        <geom name="rotor4_vis_0" type="cylinder" size="0.13 0.0025" contype="0" conaffinity="0" group="2" />
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="x2" body2="center_of_mass_link" />
    <exclude body1="x2" body2="rotor1" />
    <exclude body1="x2" body2="rotor2" />
    <exclude body1="x2" body2="rotor3" />
    <exclude body1="x2" body2="rotor4" />
  </contact>
</mujoco>

Import report

Counts

Links	7
Joints	6
Moving joints	0
Visuals	5
Collisions	1
Materials	0

Meshes

Formats: none (primitive shapes).
Asset size: 0.0 MB.

Dropped on import

Tag	Count	Why
`@type`	1	joint type floating not representable; imported as fixed
`mujoco`	1	<mujoco> is not part of the URDF subset RobotDescription mirrors

Forward-kinematics check

Forward kinematics of 7 link frames at 20 random joint positions within limits, original URDF against robot.urdf, computed by pinocchio 3.8.0. Worst difference: 0.

MuJoCo

robot.xml compiles in MuJoCo with its meshes (nq = 0).

Source & licence

Repository	https://github.com/lvjonok/skydio_x2_description
Commit	`9a6a057a055babaf47119fac42c361fffc189128`
Original file	`urdf/skydio_x2.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.