Stretch 4
Hello Robot · licence BSD-3-Clause-Clear · source: github.com/hello-robot/stretch4_urdf @ 7b35e66a3
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 102bac19df8e46be -->
<robot name="stretch">
<link name="base_footprint" />
<link name="base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/base_link.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/base_collision_link.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000438847979969877 -0.00177714773743115 0.096468369649182" rpy="0.0 0.0 0.0" />
<mass value="18.9261042191254" />
<inertia ixx="0.21499266597667" ixy="0.000833860434673384" ixz="-0.000588719185658632" iyy="0.223010418927279" iyz="-0.00155067412786978" izz="0.327845794874634" />
</inertial>
</link>
<joint name="base_ref" type="fixed">
<origin xyz="0.0 0.0 0.028" rpy="0.0 0.0 0.0" />
<parent link="base_footprint" />
<child link="base_link" />
</joint>
<link name="line_sensor_5_link">
<inertial>
<origin xyz="0.00114502070313138 0.0119761602719027 0.000126774756058469" rpy="0.0 0.0 0.0" />
<mass value="0.00213836003346436" />
<inertia ixx="2.88698160050487e-07" ixy="-7.07831726662329e-09" ixz="5.64135957062393e-10" iyy="6.64615782289848e-08" iyz="2.73972720709968e-10" izz="2.34959277592962e-07" />
</inertial>
</link>
<joint name="line_sensor_5_joint" type="fixed">
<origin xyz="0.0613832 0.178319 0.0527014" rpy="1.5708 0.453786 1.0472" />
<parent link="base_link" />
<child link="line_sensor_5_link" />
</joint>
<link name="line_sensor_5_optical_link" />
<joint name="line_sensor_5_optical_joint" type="fixed">
<origin xyz="0.00286 0.0 0.0" rpy="-1.5708 0.0 -1.5708" />
<parent link="line_sensor_5_link" />
<child link="line_sensor_5_optical_link" />
</joint>
<link name="line_sensor_4_link">
<inertial>
<origin xyz="0.00114502070313141 0.0119761602719027 0.000126774756058476" rpy="0.0 0.0 0.0" />
<mass value="0.00213836003346436" />
<inertia ixx="2.88698160050488e-07" ixy="-7.07831726662323e-09" ixz="5.64135957060038e-10" iyy="6.6461578228985e-08" iyz="2.73972720708377e-10" izz="2.34959277592962e-07" />
</inertial>
</link>
<joint name="line_sensor_4_joint" type="fixed">
<origin xyz="-0.0613832 0.178319 0.0527014" rpy="1.5708 0.453786 2.0944" />
<parent link="base_link" />
<child link="line_sensor_4_link" />
</joint>
<link name="line_sensor_4_optical_link" />
<joint name="line_sensor_4_optical_joint" type="fixed">
<origin xyz="0.00286 0.0 0.0" rpy="-1.5708 0.0 -1.5708" />
<parent link="line_sensor_4_link" />
<child link="line_sensor_4_optical_link" />
</joint>
<link name="line_sensor_3_link">
<inertial>
<origin xyz="0.00114502070313155 0.0119761602719025 0.000126774756058573" rpy="0.0 0.0 0.0" />
<mass value="0.00213836003346444" />
<inertia ixx="2.88698160050477e-07" ixy="-7.07831726660265e-09" ixz="5.64135957061257e-10" iyy="6.64615782289998e-08" iyz="2.73972720709266e-10" izz="2.34959277592965e-07" />
</inertial>
</link>
<joint name="line_sensor_3_joint" type="fixed">
<origin xyz="-0.18512 -0.036 0.0527014" rpy="1.5708 0.453786 -3.14159" />
<parent link="base_link" />
<child link="line_sensor_3_link" />
</joint>
<link name="line_sensor_3_optical_link" />
<joint name="line_sensor_3_optical_joint" type="fixed">
<origin xyz="0.00286 0.0 0.0" rpy="-1.5708 0.0 -1.5708" />
<parent link="line_sensor_3_link" />
<child link="line_sensor_3_optical_link" />
</joint>
<link name="line_sensor_2_link">
<inertial>
<origin xyz="0.00114502070313149 0.0119761602719027 0.000126774756058545" rpy="0.0 0.0 0.0" />
<mass value="0.00213836003346437" />
<inertia ixx="2.88698160050489e-07" ixy="-7.07831726662341e-09" ixz="5.64135957062458e-10" iyy="6.64615782289852e-08" iyz="2.73972720710036e-10" izz="2.34959277592963e-07" />
</inertial>
</link>
<joint name="line_sensor_2_joint" type="fixed">
<origin xyz="-0.123737 -0.142319 0.0527014" rpy="1.5708 0.453786 -2.0944" />
<parent link="base_link" />
<child link="line_sensor_2_link" />
</joint>
<link name="line_sensor_2_optical_link" />
<joint name="line_sensor_2_optical_joint" type="fixed">
<origin xyz="0.00286 0.0 0.0" rpy="-1.5708 0.0 -1.5708" />
<parent link="line_sensor_2_link" />
<child link="line_sensor_2_optical_link" />
</joint>
<link name="line_sensor_1_link">
<inertial>
<origin xyz="0.00114502070313141 0.0119761602719026 0.000126774756058601" rpy="0.0 0.0 0.0" />
<mass value="0.00213836003346436" />
<inertia ixx="2.88698160050487e-07" ixy="-7.07831726662332e-09" ixz="5.6413595706002e-10" iyy="6.64615782289848e-08" iyz="2.73972720708439e-10" izz="2.34959277592961e-07" />
</inertial>
</link>
<joint name="line_sensor_1_joint" type="fixed">
<origin xyz="0.123737 -0.142319 0.0527014" rpy="1.5708 0.453786 -1.0472" />
<parent link="base_link" />
<child link="line_sensor_1_link" />
</joint>
<link name="line_sensor_1_optical_link" />
<joint name="line_sensor_1_optical_joint" type="fixed">
<origin xyz="0.00286 0.0 0.0" rpy="-1.5708 0.0 -1.5708" />
<parent link="line_sensor_1_link" />
<child link="line_sensor_1_optical_link" />
</joint>
<link name="line_sensor_0_link">
<inertial>
<origin xyz="0.00114502070313233 0.0119761602719029 0.000126774756058746" rpy="0.0 0.0 0.0" />
<mass value="0.00213836003346444" />
<inertia ixx="2.88698160050477e-07" ixy="-7.07831726660256e-09" ixz="5.6413595706126e-10" iyy="6.64615782290001e-08" iyz="2.73972720709193e-10" izz="2.34959277592965e-07" />
</inertial>
</link>
<joint name="line_sensor_0_joint" type="fixed">
<origin xyz="0.18512 -0.036 0.0527014" rpy="1.5708 0.453786 0.0" />
<parent link="base_link" />
<child link="line_sensor_0_link" />
</joint>
<link name="line_sensor_0_optical_link" />
<joint name="line_sensor_0_optical_joint" type="fixed">
<origin xyz="0.00286 0.0 0.0" rpy="-1.5708 0.0 -1.5708" />
<parent link="line_sensor_0_link" />
<child link="line_sensor_0_optical_link" />
</joint>
<link name="head_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/head_link.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/head_collision_link.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0514013580104842 0.0986460644909709 -0.0250866227521696" rpy="0.0 0.0 0.0" />
<mass value="5.12944639372071" />
<inertia ixx="0.0380731695781352" ixy="0.000202619198715346" ixz="0.000237956614656072" iyy="0.0304351984631137" iyz="5.6169841247061e-05" izz="0.0637978570860214" />
</inertial>
</link>
<joint name="head_joint" type="fixed">
<origin xyz="-0.093 -0.098 1.559" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="head_link" />
</joint>
<link name="lidar_right_link">
<inertial>
<origin xyz="-3.20916615947908e-07 0.000175557811368021 -0.0150548418051187" rpy="0.0 0.0 0.0" />
<mass value="0.240802480448075" />
<inertia ixx="9.8041898749052e-05" ixy="4.48636958766777e-09" ixz="-3.11098715595503e-10" iyy="9.67162435587801e-05" iyz="1.39381302162429e-06" izz="0.000105657113395344" />
</inertial>
</link>
<joint name="lidar_right_joint" type="fixed">
<origin xyz="0.131744 -0.0264137 -0.058328" rpy="-3.05466 0.7816 2.39203" />
<parent link="head_link" />
<child link="lidar_right_link" />
</joint>
<link name="lidar_left_link">
<inertial>
<origin xyz="-3.87815889180132e-07 0.000175565758143037 -0.0150548416196863" rpy="0.0 0.0 0.0" />
<mass value="0.240802531963034" />
<inertia ixx="9.80418920755826e-05" ixy="4.46941117355771e-09" ixz="-3.09741336789929e-10" iyy="9.67162544690224e-05" iyz="1.39381215337495e-06" izz="0.000105657115998718" />
</inertial>
</link>
<joint name="lidar_left_joint" type="fixed">
<origin xyz="0.131744 0.222414 -0.058328" rpy="-3.05466 -0.7816 0.749563" />
<parent link="head_link" />
<child link="lidar_left_link" />
</joint>
<link name="camera_right_link">
<inertial>
<origin xyz="0.00778828 -0.00203277 0.0" rpy="0.0 1.5708 0.0" />
<mass value="0.00595703520376034" />
<inertia ixx="2.89408475364948e-07" ixy="-1.90971790692802e-22" ixz="-1.7205356741103e-22" iyy="2.54439535060776e-07" iyz="-2.64830205174192e-08" izz="3.91108473125467e-07" />
</inertial>
</link>
<joint name="camera_right_joint" type="fixed">
<origin xyz="0.171841 0.023 -0.0157567" rpy="0.0 0.820305 0.0" />
<parent link="head_link" />
<child link="camera_right_link" />
</joint>
<link name="camera_right_optical_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 3.14159" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
</link>
<joint name="camera_right_optical_joint" type="fixed">
<origin xyz="0.0212 0.0 0.0" rpy="1.5708 0.0 1.5708" />
<parent link="camera_right_link" />
<child link="camera_right_optical_link" />
</joint>
<link name="camera_left_link">
<inertial>
<origin xyz="0.00778828 -0.00203277 0.0" rpy="0.0 1.5708 0.0" />
<mass value="0.00595703520376035" />
<inertia ixx="2.89408475364948e-07" ixy="6.77523478313298e-22" ixz="2.77932685817817e-22" iyy="2.54439535060776e-07" iyz="-2.64830205174189e-08" izz="3.91108473125467e-07" />
</inertial>
</link>
<joint name="camera_left_joint" type="fixed">
<origin xyz="0.171841 0.173 -0.0157567" rpy="3.14159 0.820305 0.0" />
<parent link="head_link" />
<child link="camera_left_link" />
</joint>
<link name="camera_left_optical_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
</link>
<joint name="camera_left_optical_joint" type="fixed">
<origin xyz="0.0212 0.0 0.0" rpy="1.5708 0.0 1.5708" />
<parent link="camera_left_link" />
<child link="camera_left_optical_link" />
</joint>
<link name="camera_center_link">
<inertial>
<origin xyz="0.000929405 -0.00250168 0.0" rpy="0.0 1.5708 0.0" />
<mass value="0.00266363902430246" />
<inertia ixx="1.23503897332185e-07" ixy="1.13386744265892e-23" ixz="-2.64697796016969e-23" iyy="1.05396694902143e-07" iyz="-6.23002529451325e-09" izz="2.021440741744e-07" />
</inertial>
</link>
<joint name="camera_center_joint" type="fixed">
<origin xyz="0.177246 0.098 -0.0239069" rpy="-3.14159 0.610865 0.0" />
<parent link="head_link" />
<child link="camera_center_link" />
</joint>
<link name="camera_center_optical_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.14159" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
</link>
<joint name="camera_center_optical_joint" type="fixed">
<origin xyz="0.0017 0.0 0.0" rpy="-1.5708 0.0 -1.5708" />
<parent link="camera_center_link" />
<child link="camera_center_optical_link" />
</joint>
<link name="mast_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/mast_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/mast_collision_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="2.77555756156289e-17 -0.00165282700965368 0.815" rpy="0.0 0.0 0.0" />
<mass value="10.8924861076487" />
<inertia ixx="1.96276319417158" ixy="-4.7689696841649e-18" ixz="-1.24526930733894e-16" iyy="1.96594229514087" iyz="-1.74684759963468e-18" izz="0.00577661764276332" />
</inertial>
</link>
<joint name="mast_joint" type="fixed">
<origin xyz="-0.093 -0.098 0.004" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="mast_link" />
</joint>
<link name="lift_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/lift_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/lift_collision_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0148722581318624 0.0596072894254191 0.00542773918494432" rpy="0.0 0.0 0.0" />
<mass value="2.95349364666659" />
<inertia ixx="0.0117399464230091" ixy="0.000875437380496019" ixz="0.000164784888522662" iyy="0.0102748963241433" iyz="-0.00101918054718661" izz="0.0139841484528854" />
</inertial>
</link>
<joint name="lift_joint" type="prismatic">
<origin xyz="0.0 -0.0014 0.241" rpy="0.0 0.0 0.0" />
<parent link="mast_link" />
<child link="lift_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="1.2" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="arm_l0_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5708 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/arm_l4_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5708 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/arm_l4_collision_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0146277 -0.0397927 0.0182873" rpy="0.0 1.5708 0.0" />
<mass value="2.95349364666659" />
<inertia ixx="0.0139841484528854" ixy="0.00101918054718661" ixz="-0.000164784888522663" iyy="0.0102748963241433" iyz="0.000875437380496019" izz="0.0117399464230091" />
</inertial>
</link>
<joint name="arm_l0_joint" type="fixed">
<origin xyz="-0.0295 0.0994 -0.0128595" rpy="0.0 0.0 0.0" />
<parent link="lift_link" />
<child link="arm_l0_link" />
</joint>
<link name="arm_l1_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5708 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/arm_l3_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5708 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/arm_l3_collision_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.125319 0.0 0.00214616" rpy="0.0 1.5708 0.0" />
<mass value="0.211728696447344" />
<inertia ixx="0.000759408092665036" ixy="1.36043398852015e-21" ixz="-1.46222263151623e-10" iyy="0.000730798627565317" iyz="1.73119674800423e-19" izz="0.000227675228746485" />
</inertial>
</link>
<joint name="arm_l1_joint" type="prismatic">
<origin xyz="0.0055 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="arm_l0_link" />
<child link="arm_l1_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="0.13" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="arm_l2_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5708 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/arm_l2_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5708 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/arm_l2_collision_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.126545 0.0 0.00212533" rpy="0.0 1.5708 0.0" />
<mass value="0.197181391808907" />
<inertia ixx="0.000701571828521803" ixy="1.70789035181299e-21" ixz="-1.56735722682992e-10" iyy="0.000676905139492615" iyz="1.0639178603614e-19" izz="0.000180704361161813" />
</inertial>
</link>
<joint name="arm_l2_joint" type="prismatic">
<origin xyz="0.0135 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="arm_l1_link" />
<child link="arm_l2_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="0.13" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="arm_l3_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5708 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/arm_l1_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5708 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/arm_l1_collision_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.127806 0.0 0.00210076" rpy="0.0 1.5708 0.0" />
<mass value="0.182379618165529" />
<inertia ixx="0.000644687237937216" ixy="1.17464040780326e-20" ixz="-1.68878152441466e-10" iyy="0.00062371110107317" iyz="2.14435350061523e-19" izz="0.000140464382352664" />
</inertial>
</link>
<joint name="arm_l3_joint" type="prismatic">
<origin xyz="0.0135 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="arm_l2_link" />
<child link="arm_l3_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="0.13" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="arm_l4_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5708 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/arm_l0_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.5708 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/arm_l0_collision_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.105 0.0 0.00206007" rpy="0.0 1.5708 0.0" />
<mass value="0.131482025176648" />
<inertia ixx="0.000527876279377435" ixy="1.07501867241791e-20" ixz="5.34785620504719e-20" iyy="0.00051464101554282" iyz="1.66616699804972e-19" izz="7.61244098718923e-05" />
</inertial>
</link>
<joint name="arm_l4_joint" type="prismatic">
<origin xyz="0.01375 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="arm_l3_link" />
<child link="arm_l4_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="0.13" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="wrist_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.14159 0.0 3.14159" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/wrist_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="3.14159 0.0 3.14159" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/wrist_collision_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00943224 0.0 0.035067" rpy="3.14159 0.0 3.14159" />
<mass value="0.228848612237181" />
<inertia ixx="0.000122470482540944" ixy="1.07472717306581e-10" ixz="1.16790939209657e-05" iyy="0.0001715213303575" iyz="9.50304167762594e-11" izz="0.000141511317394913" />
</inertial>
</link>
<joint name="wrist_joint" type="fixed">
<origin xyz="0.24715 0.0 -0.03672" rpy="0.0 0.0 0.0" />
<parent link="arm_l4_link" />
<child link="wrist_link" />
</joint>
<link name="wrist_yaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.14159 0.0 3.14159" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/wrist_yaw_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="3.14159 0.0 3.14159" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/wrist_yaw_collision_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.00772612 -0.0363543" rpy="3.14159 0.0 3.14159" />
<mass value="0.217322026723881" />
<inertia ixx="0.000154147840230305" ixy="-7.53840930670252e-11" ixz="-2.58411913184479e-10" iyy="0.000122233038608625" iyz="1.61976028021007e-05" izz="0.000116712065914663" />
</inertial>
</link>
<joint name="wrist_yaw_joint" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="wrist_link" />
<child link="wrist_yaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" lower="-1.135" upper="4.276" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="wrist_pitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5708 -1.5708 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/wrist_pitch_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5708 -1.5708 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/wrist_pitch_collision_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00772612 -0.0363543 0.0" rpy="1.5708 -1.5708 0.0" />
<mass value="0.217322026723367" />
<inertia ixx="0.000154147840215896" ixy="-7.5383617586512e-11" ixz="-2.58413186795489e-10" iyy="0.000122233038608041" iyz="1.61976028014723e-05" izz="0.0001167120659007" />
</inertial>
</link>
<joint name="wrist_pitch_joint" type="revolute">
<origin xyz="0.0 -0.04222 -0.0452" rpy="0.0 0.0 0.0" />
<parent link="wrist_yaw_link" />
<child link="wrist_pitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="0.0" velocity="0.0" lower="-4.276" upper="1.135" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="wrist_roll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5708 0.0 1.5708" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/wrist_roll_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5708 0.0 1.5708" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/wrist_roll_collision_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0125796 0.0013906 0.0122312" rpy="1.5708 0.0 1.5708" />
<mass value="0.0875518779599177" />
<inertia ixx="5.3109684066939e-05" ixy="2.53579489922103e-10" ixz="1.09648627070864e-11" iyy="2.50172844184434e-05" iyz="3.93918627087477e-06" izz="7.36573009473638e-05" />
</inertial>
</link>
<joint name="wrist_roll_joint" type="revolute">
<origin xyz="0.04222 -0.0452 0.0" rpy="0.0 0.0 0.0" />
<parent link="wrist_pitch_link" />
<child link="wrist_roll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.0" velocity="0.0" lower="-1.135" upper="4.276" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="gripper_camera_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5708 0.0 -1.5708" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/gripper_camera_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5708 0.0 -1.5708" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/gripper_camera_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00250349 0.0120203 0.0" rpy="1.5708 0.0 -1.5708" />
<mass value="0.0447759731526001" />
<inertia ixx="1.60232107304684e-05" ixy="-8.65767518586304e-22" ixz="2.63946367478605e-08" iyy="6.92267971098109e-06" iyz="-6.09577361235966e-22" izz="1.36247235159961e-05" />
</inertial>
</link>
<joint name="gripper_camera_joint" type="fixed">
<origin xyz="0.0192 0.0 0.057" rpy="1.5708 -1.5708 0.0" />
<parent link="wrist_roll_link" />
<child link="gripper_camera_link" />
</joint>
<link name="gripper_stereo_camera_color_optical_frame">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5708 0.0 1.5708" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
</link>
<joint name="gripper_stereo_camera_color_optical_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="3.14159 0.0 0.0" />
<parent link="gripper_camera_link" />
<child link="gripper_stereo_camera_color_optical_frame" />
</joint>
<link name="gripper_right_camera_color_optical_frame">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5708 0.0 1.5708" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
</link>
<joint name="gripper_right_camera_color_optical_joint" type="fixed">
<origin xyz="0.0 0.0 0.01" rpy="3.14159 0.0 0.0" />
<parent link="gripper_camera_link" />
<child link="gripper_right_camera_color_optical_frame" />
</joint>
<link name="gripper_left_camera_color_optical_frame">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5708 0.0 1.5708" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
</link>
<joint name="gripper_left_camera_color_optical_joint" type="fixed">
<origin xyz="0.0 0.0 -0.01" rpy="3.14159 0.0 0.0" />
<parent link="gripper_camera_link" />
<child link="gripper_left_camera_color_optical_frame" />
</joint>
<link name="tool_attachment_site_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-3.14159 -1.5708 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/tool_attachment_site_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-3.14159 -1.5708 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/tool_attachment_site_collision_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00602038 0.0013906 0.0122312" rpy="-3.14159 -1.5708 0.0" />
<mass value="0.0875518779599177" />
<inertia ixx="2.50172844184434e-05" ixy="-2.53579489915028e-10" ixz="3.93918627087478e-06" iyy="5.3109684066939e-05" iyz="-1.09648626723268e-11" izz="7.36573009473638e-05" />
</inertial>
</link>
<joint name="tool_attachment_site_joint" type="fixed">
<origin xyz="0.0186 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="wrist_roll_link" />
<child link="tool_attachment_site_link" />
</joint>
<link name="wrist_aruco_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.14159 0.0 3.14159" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/wrist_aruco_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="3.14159 0.0 3.14159" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/wrist_aruco_collision_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="8.97014e-06 2.99076e-06 0.000263517" rpy="3.14159 0.0 3.14159" />
<mass value="0.000520487721584508" />
<inertia ixx="3.834908442783e-08" ixy="-1.2363034580464e-14" ixz="1.34704395412487e-12" iyy="3.83685013633507e-08" iyz="-4.49121495198322e-13" izz="7.66888919510146e-08" />
</inertial>
</link>
<joint name="wrist_aruco_joint" type="fixed">
<origin xyz="-0.00867 0.0 0.0680605" rpy="3.14159 0.0 3.14159" />
<parent link="wrist_link" />
<child link="wrist_aruco_link" />
</joint>
<link name="wrist_reflector_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.14159 0.0 3.14159" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/wrist_reflector_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="3.14159 0.0 3.14159" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/wrist_reflector_collision_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00377532 0.0 -0.00351761" rpy="3.14159 0.0 3.14159" />
<mass value="0.00171618092746856" />
<inertia ixx="1.51127728759546e-07" ixy="1.29437516224772e-17" ixz="-1.24862425165547e-09" iyy="1.64146246077095e-08" iyz="-2.00458433241248e-17" izz="1.47242352409892e-07" />
</inertial>
</link>
<joint name="wrist_reflector_joint" type="fixed">
<origin xyz="0.00665 0.0 0.0677605" rpy="3.14159 0.0 3.14159" />
<parent link="wrist_link" />
<child link="wrist_reflector_link" />
</joint>
<link name="wheel_2_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.14159 0.0 3.14159" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/wheel_2_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="3.14159 0.0 3.14159" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/wheel_2_collision_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="1.25477e-05 5.22307e-06 -0.000275018" rpy="3.14159 0.0 3.14159" />
<mass value="6.0682081887272" />
<inertia ixx="0.0154034644119385" ixy="2.22604627484521e-06" ixz="5.21108774702266e-09" iyy="0.0154080256643557" iyz="-5.27262855356387e-09" izz="0.029708346400951" />
</inertial>
</link>
<joint name="wheel_2_joint" type="continuous">
<origin xyz="0.0 -0.174 0.072" rpy="-1.5708 0.0 0.0" />
<parent link="base_link" />
<child link="wheel_2_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="wheel_1_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.14159 0.0 3.14159" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/wheel_1_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="3.14159 0.0 3.14159" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/wheel_1_collision_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="1.25478e-05 5.22294e-06 -0.000275017" rpy="3.14159 0.0 3.14159" />
<mass value="6.06820810020003" />
<inertia ixx="0.0154034651258546" ixy="2.2260425830226e-06" ixz="5.22035462687677e-09" iyy="0.0154080256614686" iyz="-5.28562094398893e-09" izz="0.0297083471319844" />
</inertial>
</link>
<joint name="wheel_1_joint" type="continuous">
<origin xyz="-0.150688 0.087 0.072" rpy="-1.5708 0.0 -2.0944" />
<parent link="base_link" />
<child link="wheel_1_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="wheel_0_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.14159 0.0 3.14159" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/wheel_0_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="3.14159 0.0 3.14159" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_francis/meshes/wheel_0_collision_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="1.25475e-05 5.22292e-06 -0.000275017" rpy="3.14159 0.0 3.14159" />
<mass value="6.06820808425982" />
<inertia ixx="0.0154034651445229" ixy="2.22601000971658e-06" ixz="5.20622353301233e-09" iyy="0.0154080256540422" iyz="-5.28522507546835e-09" izz="0.0297083471441777" />
</inertial>
</link>
<joint name="wheel_0_joint" type="continuous">
<origin xyz="0.150688 0.087 0.072" rpy="-1.5708 0.0 2.0944" />
<parent link="base_link" />
<child link="wheel_0_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="quick_connect_interface_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_tools/eoa_wrist_dw4_tool_sg4/meshes/quick_connect_interface_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_tools/eoa_wrist_dw4_tool_sg4/meshes/quick_connect_interface_collision_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-1.05071693751233e-05 -0.0452064086553896 -0.00459461227530804" rpy="0.0 0.0 0.0" />
<mass value="0.0917733059735497" />
<inertia ixx="9.02973239206348e-05" ixy="4.55365506810343e-08" ixz="-2.04823536578236e-08" iyy="3.46670209595715e-05" iyz="2.98792001890469e-06" izz="0.00010426981698513" />
</inertial>
</link>
<link name="gripper_finger_right_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_tools/eoa_wrist_dw4_tool_sg4/meshes/gripper_finger_right_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_tools/eoa_wrist_dw4_tool_sg4/meshes/gripper_finger_right_collision_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0197363517714474 -3.17208639429114e-06 -0.102874799750029" rpy="0.0 0.0 0.0" />
<mass value="0.0196451967584484" />
<inertia ixx="5.78135538944561e-05" ixy="-4.00009790917173e-09" ixz="-6.95117285144869e-06" iyy="6.49200844454336e-05" iyz="-7.11107056414385e-10" izz="7.66306923997872e-06" />
</inertial>
</link>
<joint name="gripper_finger_right_joint" type="revolute">
<origin xyz="-0.0222607 -0.0373909 0.0" rpy="1.5708 0.0 3.14159" />
<parent link="quick_connect_interface_link" />
<child link="gripper_finger_right_link" />
<axis xyz="0.0 -1.0 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="0.5" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="gripper_fingertip_right_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5708 2.06804e-06 1.29154" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_tools/eoa_wrist_dw4_tool_sg4/meshes/gripper_fingertip_right_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5708 2.06804e-06 1.29154" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_tools/eoa_wrist_dw4_tool_sg4/meshes/gripper_fingertip_right_collision_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0042378 0.00826614 -0.000262101" rpy="1.5708 2.06804e-06 1.29154" />
<mass value="0.0147998807271023" />
<inertia ixx="9.64023307586724e-07" ixy="6.62027533975613e-08" ixz="1.81440826789025e-08" iyy="2.14573722000318e-06" iyz="2.09664529875143e-09" izz="2.7078314429087e-06" />
</inertial>
</link>
<joint name="gripper_fingertip_right_joint" type="fixed">
<origin xyz="-0.022168 0.0 -0.191008" rpy="1.5708 -2.65359e-06 3.14159" />
<parent link="gripper_finger_right_link" />
<child link="gripper_fingertip_right_link" />
</joint>
<link name="aruco_fingertip_right_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-1.55974e-06 0.0 -2.10735e-06" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_tools/eoa_wrist_dw4_tool_sg4/meshes/aruco_fingertip_right_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="-1.55974e-06 0.0 -2.10735e-06" />
<geometry>
<mesh filename="package://stretch4_urdf/SE4_tools/eoa_wrist_dw4_tool_sg4/meshes/aruco_fingertip_right_collision_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-3.30451e-06 -9.90776e-06 -0.000211788" rpy="-1.55974e-06 0.0 -2.10735e-06" />
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<link name="gripper_finger_left_link">
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<mesh filename="package://stretch4_urdf/SE4_tools/eoa_wrist_dw4_tool_sg4/meshes/gripper_finger_left_link.STL" />
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</link>
<joint name="gripper_finger_left_joint" type="revolute">
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<parent link="quick_connect_interface_link" />
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<link name="gripper_fingertip_left_link">
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</link>
<joint name="gripper_fingertip_left_joint" type="fixed">
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<parent link="gripper_finger_left_link" />
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<link name="aruco_fingertip_left_link">
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<collision>
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<geometry>
<mesh filename="package://stretch4_urdf/SE4_tools/eoa_wrist_dw4_tool_sg4/meshes/aruco_fingertip_left_collision_link.STL" />
</geometry>
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</link>
<joint name="aruco_fingertip_left_joint" type="fixed">
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<parent link="gripper_fingertip_left_link" />
<child link="aruco_fingertip_left_link" />
</joint>
<link name="grasp_center_link">
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<geometry>
<mesh filename="package://stretch4_urdf/SE4_tools/eoa_wrist_dw4_tool_sg4/meshes/grasp_center_link.STL" />
</geometry>
</visual>
<collision>
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</link>
<joint name="grasp_center_joint" type="fixed">
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<parent link="quick_connect_interface_link" />
<child link="grasp_center_link" />
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<joint name="tool_connection_joint" type="fixed">
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<parent link="tool_attachment_site_link" />
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<link name="laser" />
<joint name="laser_joint" type="fixed">
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<parent link="base_link" />
<child link="laser" />
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robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 102bac19df8e46be -->
<mujoco model="stretch">
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<mesh name="lift_link" file="stretch4_urdf/SE4_francis/meshes/lift_link.STL" />
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<mesh name="arm_l3_link" file="stretch4_urdf/SE4_francis/meshes/arm_l3_link.STL" />
<mesh name="arm_l3_collision_link" file="stretch4_urdf/SE4_francis/meshes/arm_l3_collision_link.STL" />
<mesh name="arm_l2_link" file="stretch4_urdf/SE4_francis/meshes/arm_l2_link.STL" />
<mesh name="arm_l2_collision_link" file="stretch4_urdf/SE4_francis/meshes/arm_l2_collision_link.STL" />
<mesh name="arm_l1_link" file="stretch4_urdf/SE4_francis/meshes/arm_l1_link.STL" />
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<mesh name="arm_l0_link" file="stretch4_urdf/SE4_francis/meshes/arm_l0_link.STL" />
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<body name="wrist_aruco_link" pos="-0.00867 0.0 0.0680605" quat="1.760384697849545e-12 1.326794896676365e-06 0.9999999999982396 1.326794896676365e-06">
<inertial pos="8.97014e-06 2.99076e-06 0.000263517" mass="0.000520487721584508" fullinertia="3.8349084427895735e-08 3.836850136117124e-08 7.668889195312833e-08 1.2410984654465311e-14 1.347044908871506e-12 3.474313233482419e-13" />
<geom name="wrist_aruco_link_vis_0" type="mesh" mesh="wrist_aruco_link" quat="1.760384697849545e-12 1.326794896676365e-06 0.9999999999982396 1.326794896676365e-06" contype="0" conaffinity="0" group="2" />
<geom name="wrist_aruco_link_col_0" type="mesh" mesh="wrist_aruco_collision_link" quat="1.760384697849545e-12 1.326794896676365e-06 0.9999999999982396 1.326794896676365e-06" group="3" />
</body>
<body name="wrist_reflector_link" pos="0.00665 0.0 0.0677605" quat="1.760384697849545e-12 1.326794896676365e-06 0.9999999999982396 1.326794896676365e-06">
<inertial pos="-0.00377532 0.0 -0.00351761" mass="0.00171618092746856" fullinertia="1.5112772875861496e-07 1.6414624609561696e-08 1.4724235240897088e-07 -3.541729253862171e-13 -1.2486242525678876e-09 -3.4382974076771825e-13" />
<geom name="wrist_reflector_link_vis_0" type="mesh" mesh="wrist_reflector_link" quat="1.760384697849545e-12 1.326794896676365e-06 0.9999999999982396 1.326794896676365e-06" contype="0" conaffinity="0" group="2" />
<geom name="wrist_reflector_link_col_0" type="mesh" mesh="wrist_reflector_collision_link" quat="1.760384697849545e-12 1.326794896676365e-06 0.9999999999982396 1.326794896676365e-06" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="wheel_2_link" pos="0.0 -0.174 0.072" quat="0.7071054825112363 -0.7071080798594735 0.0 0.0">
<joint name="wheel_2_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="1.25477e-05 5.22307e-06 -0.000275018" mass="6.0682081887272" fullinertia="0.015403464400124507 0.015408025676242412 0.029708346400878285 -2.2260341849410602e-06 5.205094028441645e-09 -3.26745704069759e-08" />
<geom name="wheel_2_link_vis_0" type="mesh" mesh="wheel_2_link" quat="1.760384697849545e-12 1.326794896676365e-06 0.9999999999982396 1.326794896676365e-06" contype="0" conaffinity="0" group="2" />
<geom name="wheel_2_link_col_0" type="mesh" mesh="wheel_2_collision_link" quat="1.760384697849545e-12 1.326794896676365e-06 0.9999999999982396 1.326794896676365e-06" group="3" />
</body>
<body name="wheel_1_link" pos="-0.150688 0.087 0.072" quat="0.35355124167760826 -0.35355254034621864 0.6123744261620394 -0.6123721767893033">
<joint name="wheel_1_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="1.25478e-05 5.22294e-06 -0.000275017" mass="6.06820810020003" fullinertia="0.015403465114040626 0.015408025673355223 0.029708347131911752 -2.2260304950451428e-06 5.2143609525635804e-09 -3.266157998866553e-08" />
<geom name="wheel_1_link_vis_0" type="mesh" mesh="wheel_1_link" quat="1.760384697849545e-12 1.326794896676365e-06 0.9999999999982396 1.326794896676365e-06" contype="0" conaffinity="0" group="2" />
<geom name="wheel_1_link_col_0" type="mesh" mesh="wheel_1_collision_link" quat="1.760384697849545e-12 1.326794896676365e-06 0.9999999999982396 1.326794896676365e-06" group="3" />
</body>
<body name="wheel_0_link" pos="0.150688 0.087 0.072" quat="0.35355124167760826 -0.35355254034621864 -0.6123744261620394 0.6123721767893033">
<joint name="wheel_0_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="1.25475e-05 5.22292e-06 -0.000275017" mass="6.06820808425982" fullinertia="0.0154034651327091 0.015408025665928651 0.029708347144105054 -2.2259979217708698e-06 5.200229944084821e-09 -3.266197587175085e-08" />
<geom name="wheel_0_link_vis_0" type="mesh" mesh="wheel_0_link" quat="1.760384697849545e-12 1.326794896676365e-06 0.9999999999982396 1.326794896676365e-06" contype="0" conaffinity="0" group="2" />
<geom name="wheel_0_link_col_0" type="mesh" mesh="wheel_0_collision_link" quat="1.760384697849545e-12 1.326794896676365e-06 0.9999999999982396 1.326794896676365e-06" group="3" />
</body>
<body name="laser" />
</body>
</body>
</worldbody>
<contact>
<exclude body1="base_footprint" body2="base_link" />
<exclude body1="base_link" body2="line_sensor_5_link" />
<exclude body1="line_sensor_5_link" body2="line_sensor_5_optical_link" />
<exclude body1="base_link" body2="line_sensor_4_link" />
<exclude body1="line_sensor_4_link" body2="line_sensor_4_optical_link" />
<exclude body1="base_link" body2="line_sensor_3_link" />
<exclude body1="line_sensor_3_link" body2="line_sensor_3_optical_link" />
<exclude body1="base_link" body2="line_sensor_2_link" />
<exclude body1="line_sensor_2_link" body2="line_sensor_2_optical_link" />
<exclude body1="base_link" body2="line_sensor_1_link" />
<exclude body1="line_sensor_1_link" body2="line_sensor_1_optical_link" />
<exclude body1="base_link" body2="line_sensor_0_link" />
<exclude body1="line_sensor_0_link" body2="line_sensor_0_optical_link" />
<exclude body1="base_link" body2="head_link" />
<exclude body1="head_link" body2="lidar_right_link" />
<exclude body1="head_link" body2="lidar_left_link" />
<exclude body1="head_link" body2="camera_right_link" />
<exclude body1="camera_right_link" body2="camera_right_optical_link" />
<exclude body1="head_link" body2="camera_left_link" />
<exclude body1="camera_left_link" body2="camera_left_optical_link" />
<exclude body1="head_link" body2="camera_center_link" />
<exclude body1="camera_center_link" body2="camera_center_optical_link" />
<exclude body1="base_link" body2="mast_link" />
<exclude body1="mast_link" body2="lift_link" />
<exclude body1="lift_link" body2="arm_l0_link" />
<exclude body1="arm_l0_link" body2="arm_l1_link" />
<exclude body1="arm_l1_link" body2="arm_l2_link" />
<exclude body1="arm_l2_link" body2="arm_l3_link" />
<exclude body1="arm_l3_link" body2="arm_l4_link" />
<exclude body1="arm_l4_link" body2="wrist_link" />
<exclude body1="wrist_link" body2="wrist_yaw_link" />
<exclude body1="wrist_yaw_link" body2="wrist_pitch_link" />
<exclude body1="wrist_pitch_link" body2="wrist_roll_link" />
<exclude body1="wrist_roll_link" body2="gripper_camera_link" />
<exclude body1="gripper_camera_link" body2="gripper_stereo_camera_color_optical_frame" />
<exclude body1="gripper_camera_link" body2="gripper_right_camera_color_optical_frame" />
<exclude body1="gripper_camera_link" body2="gripper_left_camera_color_optical_frame" />
<exclude body1="wrist_roll_link" body2="tool_attachment_site_link" />
<exclude body1="wrist_link" body2="wrist_aruco_link" />
<exclude body1="wrist_link" body2="wrist_reflector_link" />
<exclude body1="base_link" body2="wheel_2_link" />
<exclude body1="base_link" body2="wheel_1_link" />
<exclude body1="base_link" body2="wheel_0_link" />
<exclude body1="quick_connect_interface_link" body2="gripper_finger_right_link" />
<exclude body1="gripper_finger_right_link" body2="gripper_fingertip_right_link" />
<exclude body1="gripper_fingertip_right_link" body2="aruco_fingertip_right_link" />
<exclude body1="quick_connect_interface_link" body2="gripper_finger_left_link" />
<exclude body1="gripper_finger_left_link" body2="gripper_fingertip_left_link" />
<exclude body1="gripper_fingertip_left_link" body2="aruco_fingertip_left_link" />
<exclude body1="quick_connect_interface_link" body2="grasp_center_link" />
<exclude body1="tool_attachment_site_link" body2="quick_connect_interface_link" />
<exclude body1="base_link" body2="laser" />
</contact>
</mujoco>
Import report
Counts
| Links | 53 |
|---|---|
| Joints | 52 |
| Moving joints | 13 |
| Visuals | 34 |
| Collisions | 28 |
| Materials | 0 |
Meshes
Formats: obj, stl.
Asset size: 10.4 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
@name | 28 | collision names are not carried; the geometry is kept |
axis | 39 | fixed joints carry no <axis>; URDF ignores it too |
limit | 3 | no <limit>; RobotDescription always writes one, so effort = velocity = 0 |
material | 34 | anonymous material (empty name) cannot be referenced; its colour is not kept |
Forward-kinematics check
Forward kinematics of 53 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 · 1.5e-15 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 13).
Source & licence
| Repository | https://github.com/hello-robot/stretch4_urdf |
|---|---|
| Commit | 7b35e66a3d7e3863c7188e46e98c196dcdab2609 |
| Original file | stretch4_urdf/SE4.xacro |
| Licence | BSD-3-Clause-Clear · 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.