SO-ARM102
Robonine · licence CC-BY-4.0 · source: github.com/roboninecom/SO-ARM-102 @ a62866a6d
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 f09fc0c4676418e8 -->
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robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content f09fc0c4676418e8 -->
<mujoco model="so_arm_102_pre_for_urdf_v5">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
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<mesh name="link2_1_0p001_0p001_0p001" file="meshes/link2_1.stl" scale="0.001 0.001 0.001" />
<mesh name="link3_1_0p001_0p001_0p001" file="meshes/link3_1.stl" scale="0.001 0.001 0.001" />
<mesh name="link4_1_0p001_0p001_0p001" file="meshes/link4_1.stl" scale="0.001 0.001 0.001" />
<mesh name="link5_1_0p001_0p001_0p001" file="meshes/link5_1.stl" scale="0.001 0.001 0.001" />
<mesh name="clamp1_1_0p001_0p001_0p001" file="meshes/clamp1_1.stl" scale="0.001 0.001 0.001" />
<mesh name="clamp2_1_0p001_0p001_0p001" file="meshes/clamp2_1.stl" scale="0.001 0.001 0.001" />
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</body>
<body name="clamp2_1" pos="0.0640000007627 -0.0154979202778 0.0159979219163">
<joint name="clamp2" type="slide" axis="-4.9039873492e-08 1.0 4.73420869362e-08" range="-0.0415 3.46944695195e-17" />
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</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base_link" body2="link1_1" />
<exclude body1="link1_1" body2="link2_1" />
<exclude body1="link2_1" body2="link3_1" />
<exclude body1="link3_1" body2="link4_1" />
<exclude body1="link4_1" body2="link5_1" />
<exclude body1="link5_1" body2="clamp1_1" />
<exclude body1="link5_1" body2="clamp2_1" />
</contact>
</mujoco>
Import report
Counts
| Links | 8 |
|---|---|
| Joints | 7 |
| Moving joints | 7 |
| Visuals | 8 |
| Collisions | 848 |
| Materials | 1 |
Meshes
Formats: stl.
Asset size: 3.1 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
mimic | 1 | joint coupling (mimic) is not representable yet; the joint imports as independent |
Forward-kinematics check
Forward kinematics of 8 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 · 1.1e-15 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 7).
Source & licence
| Repository | https://github.com/roboninecom/SO-ARM-102 |
|---|---|
| Commit | a62866a6d65efa4be7fd421e318ce8e649ac806a |
| Original file | simulation/urdf/so_arm_102.urdf |
| Licence | CC-BY-4.0 · 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.