Stretch SE3
Hello Robot · licence Clear BSD · source: github.com/hello-robot/stretch_urdf @ 1b7cbbce8
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 79302b9fa390a4cd -->
<robot name="stretch">
<link name="base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/base_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/base_link_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.087526 -0.001626 0.081009" rpy="0.0 0.0 0.0" />
<mass value="17.384389" />
<inertia ixx="0.160002" ixy="0.006758" ixz="0.004621" iyy="0.138068" iyz="0.002208" izz="0.228992" />
</inertial>
</link>
<link name="link_right_wheel">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_right_wheel.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_right_wheel_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.02765" rpy="0.0 0.0 0.0" />
<mass value="0.20773" />
<inertia ixx="5.4e-05" ixy="0.0" ixz="0.0" iyy="5.4e-05" iyz="0.0" izz="5.1e-05" />
</inertial>
</link>
<joint name="joint_right_wheel" type="continuous">
<origin xyz="0.0 -0.17035 0.0508" rpy="-1.5708 1.2717e-16 4.8006e-17" />
<parent link="base_link" />
<child link="link_right_wheel" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="21.75" friction="10.48" />
</joint>
<link name="link_left_wheel">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_left_wheel.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_left_wheel_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 -0.02765" rpy="0.0 0.0 0.0" />
<mass value="0.20773" />
<inertia ixx="5.4e-05" ixy="0.0" ixz="0.0" iyy="5.4e-05" iyz="0.0" izz="5.1e-05" />
</inertial>
</link>
<joint name="joint_left_wheel" type="continuous">
<origin xyz="0.0 0.17035 0.0508" rpy="-1.5708 2.6317e-16 -8.2057e-19" />
<parent link="base_link" />
<child link="link_left_wheel" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="21.75" friction="10.48" />
</joint>
<link name="caster_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/omni_wheel_m.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.032" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="caster_joint" type="fixed">
<origin xyz="-0.245 0.0 0.032" rpy="-1.5707963267948966 0.0 0.0" />
<parent link="base_link" />
<child link="caster_link" />
</joint>
<link name="link_mast">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_mast.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_mast_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000337 0.722201 0.002652" rpy="0.0 0.0 0.0" />
<mass value="1.764017" />
<inertia ixx="0.291286" ixy="0.004149" ixz="-0.000174" iyy="0.001226" iyz="0.000354" izz="0.291429" />
</inertial>
</link>
<joint name="joint_mast" type="fixed">
<origin xyz="-0.067 0.135 0.0284" rpy="1.5708 0.0 4.8006e-17" />
<parent link="base_link" />
<child link="link_mast" />
</joint>
<link name="link_lift">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_lift.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_lift_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.020369 0.03438 0.02236" rpy="0.0 0.0 0.0" />
<mass value="1.987167" />
<inertia ixx="0.006518" ixy="-0.001539" ixz="0.000371" iyy="0.004464" iyz="0.000392" izz="0.008092" />
</inertial>
</link>
<joint name="joint_lift" type="prismatic">
<origin xyz="-0.037385 0.1666 0.0" rpy="-1.5708 1.5708 0.0" />
<parent link="link_mast" />
<child link="link_lift" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="1.0" lower="0.0" upper="1.1" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="link_arm_l4">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_arm_l4.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_arm_l4_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000168 -0.000254 -0.125235" rpy="0.0 0.0 0.0" />
<mass value="0.235626" />
<inertia ixx="0.001518" ixy="-1e-06" ixz="3e-06" iyy="0.001519" iyz="3e-06" izz="0.000176" />
</inertial>
</link>
<joint name="joint_arm_l4" type="fixed">
<origin xyz="-0.2547 0.0 0.0" rpy="1.5708 2.4721e-15 -1.5708" />
<parent link="link_lift" />
<child link="link_arm_l4" />
</joint>
<link name="link_arm_l3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_arm_l3.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_arm_l3_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-1e-06 -0.000146 -0.11908" rpy="0.0 0.0 0.0" />
<mass value="0.146817" />
<inertia ixx="0.001081" ixy="0.0" ixz="0.0" iyy="0.001081" iyz="-1e-06" izz="7.7e-05" />
</inertial>
</link>
<joint name="joint_arm_l3" type="prismatic">
<origin xyz="0.0 0.0 0.013" rpy="7.68831233799385e-30 2.36716479416092e-30 2.29652732251143e-17" />
<parent link="link_arm_l4" />
<child link="link_arm_l3" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="1.0" lower="0.0" upper="0.13" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="link_arm_l2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_arm_l2.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_arm_l2_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -7.1e-05 -0.115635" rpy="0.0 0.0 0.0" />
<mass value="0.130565" />
<inertia ixx="0.000943" ixy="0.0" ixz="0.0" iyy="0.000943" iyz="0.0" izz="5.7e-05" />
</inertial>
</link>
<joint name="joint_arm_l2" type="prismatic">
<origin xyz="0.0 0.0 0.013" rpy="0.0 1.57655765344625e-30 -1.66533453693773e-16" />
<parent link="link_arm_l3" />
<child link="link_arm_l2" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="1.0" lower="0.0" upper="0.13" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="link_arm_l1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_arm_l1.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_arm_l1_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-1e-06 -0.000121 -0.113457" rpy="0.0 0.0 0.0" />
<mass value="0.113658" />
<inertia ixx="0.0008" ixy="0.0" ixz="0.0" iyy="0.0008" iyz="0.0" izz="4e-05" />
</inertial>
</link>
<joint name="joint_arm_l1" type="prismatic">
<origin xyz="0.0 0.0 0.0129999999999981" rpy="-7.63746778746202e-30 -7.88860905221012e-31 1.11022302462516e-16" />
<parent link="link_arm_l2" />
<child link="link_arm_l1" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="1.0" lower="0.0" upper="0.13" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="link_arm_l0">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_arm_l0.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_arm_l0_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.033681 -0.000847 -0.031723" rpy="0.0 0.0 0.0" />
<mass value="0.427734" />
<inertia ixx="0.001689" ixy="-2.8e-05" ixz="0.000483" iyy="0.002107" iyz="-1.1e-05" izz="0.000571" />
</inertial>
</link>
<joint name="joint_arm_l0" type="prismatic">
<origin xyz="0.0 0.0 -0.0137499999991968" rpy="7.63746778746202e-30 -3.80121128864402e-15 2.62707547767438e-15" />
<parent link="link_arm_l1" />
<child link="link_arm_l0" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="1.0" lower="0.0" upper="0.13" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="link_wrist_yaw">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_wrist_yaw.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_wrist_yaw_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -3.9e-05 -0.016495" rpy="0.0 0.0 0.0" />
<mass value="0.054422" />
<inertia ixx="9e-06" ixy="0.0" ixz="0.0" iyy="9e-06" iyz="0.0" izz="7e-06" />
</inertial>
</link>
<joint name="joint_wrist_yaw" type="revolute">
<origin xyz="0.0830000000000654 -0.0307500000000129 0.0" rpy="-1.5707963267949 0.0 3.14159265358978" />
<parent link="link_arm_l0" />
<child link="link_wrist_yaw" />
<axis xyz="0.0 0.0 -1.0" />
<limit effort="100.0" velocity="1.0" lower="-1.75" upper="4.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="link_head">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_head.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_head_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.047462 0.04451 0.016376" rpy="0.0 0.0 0.0" />
<mass value="0.681871" />
<inertia ixx="0.001023" ixy="0.000641" ixz="6.6e-05" iyy="0.002097" iyz="6.5e-05" izz="0.00281" />
</inertial>
</link>
<joint name="joint_head" type="fixed">
<origin xyz="0.0 1.33 0.0" rpy="1.5707963267949 -1.5707963267949 3.1416" />
<parent link="link_mast" />
<child link="link_head" />
</joint>
<link name="link_head_pan">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_head_pan.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_head_pan_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000422 0.013934 -0.0161" rpy="0.0 0.0 0.0" />
<mass value="0.062462" />
<inertia ixx="4.1e-05" ixy="-1e-06" ixz="1e-06" iyy="3.2e-05" iyz="-1.5e-05" izz="2.2e-05" />
</inertial>
</link>
<joint name="joint_head_pan" type="revolute">
<origin xyz="0.135 0.0731000000000001 -0.00319621125547975" rpy="0.0 0.0 1.5707963267949" />
<parent link="link_head" />
<child link="link_head_pan" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="1.0" lower="-3.9" upper="1.5" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="link_head_tilt">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_head_tilt.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_head_tilt_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.003907 -0.02418 0.030154" rpy="0.0 0.0 0.0" />
<mass value="0.283548" />
<inertia ixx="0.000316" ixy="-6e-06" ixz="1e-06" iyy="0.000143" iyz="-2e-06" izz="0.00031" />
</inertial>
</link>
<joint name="joint_head_tilt" type="revolute">
<origin xyz="-0.00130000001785262 0.0277624999926072 -0.0533107920897029" rpy="1.5707963267949 3.36459255518345e-15 -8.42914893687103e-17" />
<parent link="link_head_pan" />
<child link="link_head_tilt" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="1.0" lower="-1.53" upper="0.79" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="link_aruco_right_base">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_aruco_right_base.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_aruco_right_base.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="1.3878e-17 0.0 -0.000125" rpy="0.0 0.0 0.0" />
<mass value="3.59999999990368e-06" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="joint_aruco_right_base" type="fixed">
<origin xyz="-0.0015028 -0.1304972 0.1597482" rpy="0.0 0.0 -1.5707963267949" />
<parent link="base_link" />
<child link="link_aruco_right_base" />
</joint>
<link name="link_aruco_left_base">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_aruco_left_base.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_aruco_left_base.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="2.7756e-17 0.0 -0.000125" rpy="0.0 0.0 0.0" />
<mass value="3.59999999990368e-06" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
</link>
<joint name="joint_aruco_left_base" type="fixed">
<origin xyz="-0.00500000000000014 0.1304972 0.1597482" rpy="0.0 0.0 -1.5707963267949" />
<parent link="base_link" />
<child link="link_aruco_left_base" />
</joint>
<link name="link_aruco_shoulder">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_aruco_shoulder.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_aruco_shoulder.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-2.77555756156289e-17 2.56739074444567e-16 -0.000125000000000042" 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>
<joint name="joint_aruco_shoulder" type="fixed">
<origin xyz="-0.0133768876375287 0.0558540528812078 0.0861368272417975" rpy="-1.53998860117704e-29 3.55962409571165e-15 0.0" />
<parent link="link_lift" />
<child link="link_aruco_shoulder" />
</joint>
<link name="link_aruco_top_wrist">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_aruco_top_wrist.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_aruco_top_wrist.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-1.3531e-15 -3.4972e-15 -0.000125" 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>
<joint name="joint_aruco_top_wrist" type="fixed">
<origin xyz="0.0472500000000019 0.0292850000000015 0.0" rpy="1.5707963267949 -8.03728587323464e-15 3.14159265358979" />
<parent link="link_arm_l0" />
<child link="link_aruco_top_wrist" />
</joint>
<link name="link_aruco_inner_wrist">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_aruco_inner_wrist.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_aruco_inner_wrist.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="8.32667268468867e-17 1.77635683940025e-15 -0.000125000000000264" 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>
<joint name="joint_aruco_inner_wrist" type="fixed">
<origin xyz="0.0472499999999947 -0.0119000000000034 -0.0272499999991938" rpy="3.14159265358979 4.23377442363088e-14 3.14159265358979" />
<parent link="link_arm_l0" />
<child link="link_aruco_inner_wrist" />
</joint>
<material name="aluminum">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
<material name="plastic">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<joint name="camera_joint" type="fixed">
<origin xyz="0.03 -0.0122 0.0182" rpy="0.0 0.0 0.0" />
<parent link="link_head_tilt" />
<child link="camera_bottom_screw_frame" />
</joint>
<link name="camera_bottom_screw_frame" />
<joint name="camera_link_joint" type="fixed">
<origin xyz="0.010600000000000002 0.0175 0.0125" rpy="0.0 0.0 0.0" />
<parent link="camera_bottom_screw_frame" />
<child link="camera_link" />
</joint>
<link name="camera_link">
<visual>
<origin xyz="0.0043 -0.0175 0.0" rpy="1.5707963267948966 0.0 1.5707963267948966" />
<geometry>
<mesh filename="./meshes/d435.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 -0.0175 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.02505 0.09 0.025" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.072" />
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.00049894" iyz="0.0" izz="0.003879257" />
</inertial>
</link>
<joint name="camera_depth_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="camera_link" />
<child link="camera_depth_frame" />
</joint>
<link name="camera_depth_frame" />
<joint name="camera_depth_optical_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
<parent link="camera_depth_frame" />
<child link="camera_depth_optical_frame" />
</joint>
<link name="camera_depth_optical_frame" />
<joint name="camera_infra1_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="camera_link" />
<child link="camera_infra1_frame" />
</joint>
<link name="camera_infra1_frame" />
<joint name="camera_infra1_optical_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
<parent link="camera_infra1_frame" />
<child link="camera_infra1_optical_frame" />
</joint>
<link name="camera_infra1_optical_frame" />
<joint name="camera_infra2_joint" type="fixed">
<origin xyz="0.0 -0.05 0.0" rpy="0.0 0.0 0.0" />
<parent link="camera_link" />
<child link="camera_infra2_frame" />
</joint>
<link name="camera_infra2_frame" />
<joint name="camera_infra2_optical_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
<parent link="camera_infra2_frame" />
<child link="camera_infra2_optical_frame" />
</joint>
<link name="camera_infra2_optical_frame" />
<joint name="camera_color_joint" type="fixed">
<origin xyz="0.0 0.015 0.0" rpy="0.0 0.0 0.0" />
<parent link="camera_link" />
<child link="camera_color_frame" />
</joint>
<link name="camera_color_frame" />
<joint name="camera_color_optical_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
<parent link="camera_color_frame" />
<child link="camera_color_optical_frame" />
</joint>
<link name="camera_color_optical_frame" />
<link name="camera_accel_frame" />
<link name="camera_accel_optical_frame" />
<link name="camera_gyro_frame" />
<link name="camera_gyro_optical_frame" />
<joint name="camera_accel_joint" type="fixed">
<origin xyz="-0.01174 -0.00552 0.0051" rpy="0.0 0.0 0.0" />
<parent link="camera_link" />
<child link="camera_accel_frame" />
</joint>
<joint name="camera_accel_optical_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
<parent link="camera_accel_frame" />
<child link="camera_accel_optical_frame" />
</joint>
<joint name="camera_gyro_joint" type="fixed">
<origin xyz="-0.01174 -0.00552 0.0051" rpy="0.0 0.0 0.0" />
<parent link="camera_link" />
<child link="camera_gyro_frame" />
</joint>
<joint name="camera_gyro_optical_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
<parent link="camera_gyro_frame" />
<child link="camera_gyro_optical_frame" />
</joint>
<material name="aluminum_d405">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
<material name="plastic_d405">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
<joint name="gripper_camera_joint" type="fixed">
<origin xyz="0.0 0.044142 0.042067" rpy="0.0 -1.3963 -1.5708" />
<parent link="link_gripper_s3_body" />
<child link="gripper_camera_bottom_screw_frame" />
</joint>
<link name="gripper_camera_bottom_screw_frame" />
<joint name="gripper_camera_link_joint" type="fixed">
<origin xyz="0.01085 0.009 0.021" rpy="0.0 0.0 0.0" />
<parent link="gripper_camera_bottom_screw_frame" />
<child link="gripper_camera_link" />
</joint>
<link name="gripper_camera_link">
<visual>
<origin xyz="0.0038 -0.009 0.0" rpy="1.5707963267948966 0.0 1.5707963267948966" />
<geometry>
<mesh filename="./meshes/d405.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="aluminum_d405" />
</visual>
<collision>
<origin xyz="-0.0078 -0.009 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.023 0.042 0.042" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.072" />
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.00049894" iyz="0.0" izz="0.003879257" />
</inertial>
</link>
<joint name="gripper_camera_depth_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="gripper_camera_link" />
<child link="gripper_camera_depth_frame" />
</joint>
<link name="gripper_camera_depth_frame" />
<joint name="gripper_camera_depth_optical_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
<parent link="gripper_camera_depth_frame" />
<child link="gripper_camera_depth_optical_frame" />
</joint>
<link name="gripper_camera_depth_optical_frame" />
<joint name="gripper_camera_infra1_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="gripper_camera_link" />
<child link="gripper_camera_infra1_frame" />
</joint>
<link name="gripper_camera_infra1_frame" />
<joint name="gripper_camera_infra1_optical_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
<parent link="gripper_camera_infra1_frame" />
<child link="gripper_camera_infra1_optical_frame" />
</joint>
<link name="gripper_camera_infra1_optical_frame" />
<joint name="gripper_camera_infra2_joint" type="fixed">
<origin xyz="0.0 -0.018 0.0" rpy="0.0 0.0 0.0" />
<parent link="gripper_camera_link" />
<child link="gripper_camera_infra2_frame" />
</joint>
<link name="gripper_camera_infra2_frame" />
<joint name="gripper_camera_infra2_optical_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
<parent link="gripper_camera_infra2_frame" />
<child link="gripper_camera_infra2_optical_frame" />
</joint>
<link name="gripper_camera_infra2_optical_frame" />
<joint name="gripper_camera_color_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="gripper_camera_link" />
<child link="gripper_camera_color_frame" />
</joint>
<link name="gripper_camera_color_frame" />
<joint name="gripper_camera_color_optical_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
<parent link="gripper_camera_color_frame" />
<child link="gripper_camera_color_optical_frame" />
</joint>
<link name="gripper_camera_color_optical_frame" />
<link name="laser">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/laser.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/laser_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.011979 -0.000523 -0.01998" rpy="0.0 0.0 0.0" />
<mass value="0.216007" />
<inertia ixx="9.5e-05" ixy="2e-06" ixz="-1.9e-05" iyy="0.000184" iyz="-1e-06" izz="0.000216" />
</inertial>
</link>
<joint name="joint_laser" type="fixed">
<origin xyz="0.004 0.0 0.1664" rpy="0.0 0.0 3.1416" />
<parent link="base_link" />
<child link="laser" />
</joint>
<link name="base_imu">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/base_imu.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/base_imu.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00300349280517617 0.00149777182047641 -0.00193103885249443" rpy="0.0 0.0 0.0" />
<mass value="0.00092" />
<inertia ixx="3e-08" ixy="0.0" ixz="0.0" iyy="5e-08" iyz="0.0" izz="8e-08" />
</inertial>
</link>
<joint name="joint_base_imu" type="fixed">
<origin xyz="-0.12838 0.0031592 0.1474" rpy="-3.1416 0.0 -1.5708" />
<parent link="base_link" />
<child link="base_imu" />
</joint>
<link name="respeaker_base">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/respeaker_base.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/respeaker_base.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.001594 -0.001282 -0.008098" rpy="0.0 0.0 0.0" />
<mass value="0.025175" />
<inertia ixx="1e-05" ixy="2e-06" ixz="1e-06" iyy="1.2e-05" iyz="0.0" izz="1.5e-05" />
</inertial>
</link>
<joint name="joint_respeaker" type="fixed">
<origin xyz="0.0 1.37236408874452 0.00303065898329655" rpy="-1.5707963267949 -0.698131700797725 4.93295812652799e-16" />
<parent link="link_mast" />
<child link="respeaker_base" />
</joint>
<link name="link_wrist_yaw_bottom">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_DW3_wrist_yaw_bottom.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_DW3_wrist_yaw_bottom_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0165399153795968 -0.0446328107020906 -0.0281087384763343" rpy="0.0 0.0 0.0" />
<mass value="0.144548635554334" />
<inertia ixx="4.56525957614798e-05" ixy="-1.08217417869179e-06" ixz="-1.44384040297111e-08" iyy="7.22875259104698e-05" iyz="3.40820143544021e-09" izz="8.76544308203217e-05" />
</inertial>
</link>
<joint name="joint_wrist_yaw_bottom" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-3.14159265358979 0.0 -1.5707963267949" />
<parent link="link_wrist_yaw" />
<child link="link_wrist_yaw_bottom" />
</joint>
<link name="link_wrist_pitch">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_DW3_wrist_pitch.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_DW3_wrist_pitch_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000711479645697954 -0.0147442681465562 0.0195140764319514" rpy="0.0 0.0 0.0" />
<mass value="0.116590512374845" />
<inertia ixx="5.76204624498191e-05" ixy="-7.78647509857216e-07" ixz="-2.86646997376633e-08" iyy="3.5844353951621e-05" iyz="1.06445058968725e-06" izz="6.36355321976534e-05" />
</inertial>
</link>
<joint name="joint_wrist_pitch" type="revolute">
<origin xyz="0.0 -0.019455 -0.0305" rpy="1.5708 0.0 3.1416" />
<parent link="link_wrist_yaw_bottom" />
<child link="link_wrist_pitch" />
<axis xyz="0.0 0.0 -1.0" />
<limit effort="100.0" velocity="1.0" lower="-1.57" upper="0.56" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="link_wrist_roll">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_DW3_wrist_roll.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_DW3_wrist_roll_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000282866582415386 0.000557472767112266 0.0196635450480892" rpy="0.0 0.0 0.0" />
<mass value="0.0221916689638078" />
<inertia ixx="2.20608319376175e-06" ixy="3.01742816614342e-09" ixz="-1.83537060988685e-08" iyy="2.91436292743443e-06" iyz="-4.5509705441618e-08" izz="4.83731409646016e-06" />
</inertial>
</link>
<joint name="joint_wrist_roll" type="revolute">
<origin xyz="-0.018859 -0.024 0.01955" rpy="3.1416 1.5708 0.0" />
<parent link="link_wrist_pitch" />
<child link="link_wrist_roll" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="1.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="link_wrist_quick_connect" />
<joint name="joint_wrist_quick_connect" type="fixed">
<origin xyz="0.0 0.0 0.0085" rpy="1.5708 0.0 -1.5708" />
<parent link="link_wrist_roll" />
<child link="link_wrist_quick_connect" />
</joint>
<link name="link_gripper_s3_body">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_SG3_gripper_body.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_SG3_gripper_body_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.000296364207693828 0.00742489472460528 0.0440194148825503" rpy="0.0 0.0 0.0" />
<mass value="0.288995995074102" />
<inertia ixx="0.000482695285602815" ixy="-3.02029982967392e-06" ixz="6.73858128561175e-07" iyy="0.000213430693267808" iyz="-1.95797907844847e-05" izz="0.000377638305434195" />
</inertial>
</link>
<joint name="joint_gripper_s3_body" type="fixed">
<origin xyz="0.0 0.0 0.0209999999993159" rpy="0.0 0.0 -3.14159265358975" />
<parent link="link_wrist_roll" />
<child link="link_gripper_s3_body" />
</joint>
<link name="link_gripper_finger_right">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_SG3_gripper_finger_right.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_SG3_gripper_finger_right_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.107294725536829 -0.00404012121215261 7.86433341395387e-05" rpy="0.0 0.0 0.0" />
<mass value="0.0483698337858479" />
<inertia ixx="3.0603544296956e-06" ixy="-8.13967524445937e-07" ixz="-6.04746355450675e-08" iyy="6.12306677697621e-05" iyz="-1.81592899124487e-08" izz="6.24670188075471e-05" />
</inertial>
</link>
<joint name="joint_gripper_finger_right" type="revolute">
<origin xyz="-0.0246929393014972 0.0 0.0371909405167257" rpy="-1.57079632679513 1.48789318732515 3.14159265358956" />
<parent link="link_gripper_s3_body" />
<child link="link_gripper_finger_right" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="link_gripper_fingertip_right">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_SG3_gripper_fingertip_right.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_SG3_gripper_fingertip_right_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="2.8647736627363e-08 -9.47712436305537e-09 0.00812577933915037" rpy="0.0 0.0 0.0" />
<mass value="0.00382162062525088" />
<inertia ixx="4.13411802118931e-07" ixy="3.48038363075757e-16" ixz="-5.14102948448996e-13" iyy="4.13411799815932e-07" iyz="1.76223254858882e-13" izz="7.08442016110623e-07" />
</inertial>
</link>
<joint name="joint_gripper_fingertip_right" type="fixed">
<origin xyz="-0.177784508377902 -0.0106721811879468 0.0" rpy="-1.5707963267949 0.0 0.261799387799172" />
<parent link="link_gripper_finger_right" />
<child link="link_gripper_fingertip_right" />
</joint>
<link name="link_aruco_fingertip_right">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_SG3_aruco_fingertip_right.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_SG3_aruco_fingertip_right.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 1.11022302462516e-16 -0.000133556861164369" rpy="0.0 0.0 0.0" />
<mass value="7.44175884388862e-05" />
<inertia ixx="1.89627721063282e-09" ixy="-7.92118400196357e-24" ixz="-5.31083688038992e-24" iyy="1.89627721063282e-09" iyz="3.1794754795007e-24" izz="3.79185381384273e-09" />
</inertial>
</link>
<joint name="joint_aruco_fingertip_right" type="fixed">
<origin xyz="-0.143934974292953 -0.00436381846065068 -8.58640479174944e-05" rpy="-1.76278254451426 0.0 -0.959931088596862" />
<parent link="link_gripper_finger_right" />
<child link="link_aruco_fingertip_right" />
</joint>
<link name="link_gripper_finger_left">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_SG3_gripper_finger_left.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_SG3_gripper_finger_left_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.107294715994863 -0.00404011929289155 7.86443400617731e-05" rpy="0.0 0.0 0.0" />
<mass value="0.0483698266031602" />
<inertia ixx="3.06035472000871e-06" ixy="8.13968102368407e-07" ixz="6.04787443258659e-08" iyy="6.12306675643124e-05" iyz="-1.81596824851191e-08" izz="6.24670194741309e-05" />
</inertial>
</link>
<joint name="joint_gripper_finger_left" type="revolute">
<origin xyz="0.0245029393015013 0.0 0.0371909405167127" rpy="-1.57079632679523 -1.48789318734672 -3.14159265358946" />
<parent link="link_gripper_s3_body" />
<child link="link_gripper_finger_left" />
<axis xyz="0.0 0.0 -1.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="link_gripper_fingertip_left">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_SG3_gripper_fingertip_left.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_SG3_gripper_fingertip_left_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-3.08483497635237e-08 -1.26956833934599e-09 0.0081257795407928" rpy="0.0 0.0 0.0" />
<mass value="0.00382162054362131" />
<inertia ixx="4.13411804417319e-07" ixy="2.60118266065524e-16" ixz="5.82035131405725e-13" iyy="4.13411805017951e-07" iyz="2.22196449834679e-14" izz="7.08442015318697e-07" />
</inertial>
</link>
<joint name="joint_gripper_fingertip_left" type="fixed">
<origin xyz="0.177784508377884 -0.0106721811879429 0.0" rpy="1.57079632679491 0.0 2.87979326579064" />
<parent link="link_gripper_finger_left" />
<child link="link_gripper_fingertip_left" />
</joint>
<link name="link_aruco_fingertip_left">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_SG3_aruco_fingertip_left.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_SG3_aruco_fingertip_left.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="1.66533453693773e-16 1.66533453693773e-16 -0.000133556861164119" rpy="0.0 0.0 0.0" />
<mass value="7.44175884388882e-05" />
<inertia ixx="1.89627721063294e-09" ixy="-5.82454725440012e-23" ixz="6.72490089805544e-24" iyy="1.89627721063281e-09" iyz="1.93870456067116e-24" izz="3.79185381384285e-09" />
</inertial>
</link>
<joint name="joint_aruco_fingertip_left" type="fixed">
<origin xyz="0.143934974292929 -0.00436381846064454 -8.58640479230455e-05" rpy="-1.76278254451424 0.0 0.959931088596885" />
<parent link="link_gripper_finger_left" />
<child link="link_aruco_fingertip_left" />
</joint>
<link name="link_aruco_d405">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_SG3_aruco_d405.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_SG3_aruco_d405.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-2.94593661126497e-06 6.87711987940043e-06 0.000123133477759885" rpy="0.0 0.0 0.0" />
<mass value="0.000393662237156561" />
<inertia ixx="5.28754465024473e-08" ixy="3.78334824255939e-13" ixz="1.41329092888338e-13" iyy="5.28872681828417e-08" iyz="-3.29924653052859e-13" izz="1.05758729446112e-07" />
</inertial>
</link>
<joint name="joint_aruco_d405" type="fixed">
<origin xyz="0.0 0.0671264013906604 0.0297716109784749" rpy="2.96705999342568 -0.000305721573415565 3.1398588194619" />
<parent link="link_gripper_s3_body" />
<child link="link_aruco_d405" />
</joint>
<link name="link_grasp_center" />
<joint name="joint_grasp_center" type="fixed">
<origin xyz="0.0 0.0 0.23" rpy="-1.5707963267949 -1.5707963267948 0.0" />
<parent link="link_gripper_s3_body" />
<child link="link_grasp_center" />
</joint>
<link name="link_head_nav_cam">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_SE3_head_nav_cam.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="./meshes/link_SE3_head_nav_cam_collision.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.000242485173502102 -6.9219046065605e-05 -0.0139988115298306" rpy="0.0 0.0 0.0" />
<mass value="0.028346169831483" />
<inertia ixx="4.03820640553667e-06" ixy="-4.29737468694014e-25" ixz="-3.42669828325649e-22" iyy="4.03772087509678e-06" iyz="-2.25687766186513e-21" izz="5.37818026653469e-06" />
</inertial>
</link>
<joint name="joint_head_nav_cam" type="fixed">
<origin xyz="0.0402000000000069 -0.0411729746231231 -0.0245785717313561" rpy="0.0 1.5707963267949 0.0" />
<parent link="link_head_tilt" />
<child link="link_head_nav_cam" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 79302b9fa390a4cd -->
<mujoco model="stretch">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="aluminum" rgba="0.5 0.5 0.5 1.0" />
<material name="plastic" rgba="0.1 0.1 0.1 1.0" />
<material name="aluminum_d405" rgba="0.5 0.5 0.5 1.0" />
<material name="plastic_d405" rgba="0.1 0.1 0.1 1.0" />
<mesh name="base_link" file="./meshes/base_link.STL" />
<mesh name="base_link_collision" file="./meshes/base_link_collision.STL" />
<mesh name="link_right_wheel" file="./meshes/link_right_wheel.STL" />
<mesh name="link_right_wheel_collision" file="./meshes/link_right_wheel_collision.STL" />
<mesh name="link_left_wheel" file="./meshes/link_left_wheel.STL" />
<mesh name="link_left_wheel_collision" file="./meshes/link_left_wheel_collision.STL" />
<mesh name="omni_wheel_m" file="./meshes/omni_wheel_m.STL" />
<mesh name="link_mast" file="./meshes/link_mast.STL" />
<mesh name="link_mast_collision" file="./meshes/link_mast_collision.STL" />
<mesh name="link_lift" file="./meshes/link_lift.STL" />
<mesh name="link_lift_collision" file="./meshes/link_lift_collision.STL" />
<mesh name="link_arm_l4" file="./meshes/link_arm_l4.STL" />
<mesh name="link_arm_l4_collision" file="./meshes/link_arm_l4_collision.STL" />
<mesh name="link_arm_l3" file="./meshes/link_arm_l3.STL" />
<mesh name="link_arm_l3_collision" file="./meshes/link_arm_l3_collision.STL" />
<mesh name="link_arm_l2" file="./meshes/link_arm_l2.STL" />
<mesh name="link_arm_l2_collision" file="./meshes/link_arm_l2_collision.STL" />
<mesh name="link_arm_l1" file="./meshes/link_arm_l1.STL" />
<mesh name="link_arm_l1_collision" file="./meshes/link_arm_l1_collision.STL" />
<mesh name="link_arm_l0" file="./meshes/link_arm_l0.STL" />
<mesh name="link_arm_l0_collision" file="./meshes/link_arm_l0_collision.STL" />
<mesh name="link_wrist_yaw" file="./meshes/link_wrist_yaw.STL" />
<mesh name="link_wrist_yaw_collision" file="./meshes/link_wrist_yaw_collision.STL" />
<mesh name="link_head" file="./meshes/link_head.STL" />
<mesh name="link_head_collision" file="./meshes/link_head_collision.STL" />
<mesh name="link_head_pan" file="./meshes/link_head_pan.STL" />
<mesh name="link_head_pan_collision" file="./meshes/link_head_pan_collision.STL" />
<mesh name="link_head_tilt" file="./meshes/link_head_tilt.STL" />
<mesh name="link_head_tilt_collision" file="./meshes/link_head_tilt_collision.STL" />
<mesh name="link_aruco_right_base" file="./meshes/link_aruco_right_base.STL" />
<mesh name="link_aruco_left_base" file="./meshes/link_aruco_left_base.STL" />
<mesh name="link_aruco_shoulder" file="./meshes/link_aruco_shoulder.STL" />
<mesh name="link_aruco_top_wrist" file="./meshes/link_aruco_top_wrist.STL" />
<mesh name="link_aruco_inner_wrist" file="./meshes/link_aruco_inner_wrist.STL" />
<mesh name="d435" file="./meshes/d435.dae" />
<mesh name="d405_0p001_0p001_0p001" file="./meshes/d405.stl" scale="0.001 0.001 0.001" />
<mesh name="laser" file="./meshes/laser.STL" />
<mesh name="laser_collision" file="./meshes/laser_collision.STL" />
<mesh name="base_imu" file="./meshes/base_imu.STL" />
<mesh name="respeaker_base" file="./meshes/respeaker_base.STL" />
<mesh name="link_DW3_wrist_yaw_bottom" file="./meshes/link_DW3_wrist_yaw_bottom.STL" />
<mesh name="link_DW3_wrist_yaw_bottom_collision" file="./meshes/link_DW3_wrist_yaw_bottom_collision.STL" />
<mesh name="link_DW3_wrist_pitch" file="./meshes/link_DW3_wrist_pitch.STL" />
<mesh name="link_DW3_wrist_pitch_collision" file="./meshes/link_DW3_wrist_pitch_collision.STL" />
<mesh name="link_DW3_wrist_roll" file="./meshes/link_DW3_wrist_roll.STL" />
<mesh name="link_DW3_wrist_roll_collision" file="./meshes/link_DW3_wrist_roll_collision.STL" />
<mesh name="link_SG3_gripper_body" file="./meshes/link_SG3_gripper_body.STL" />
<mesh name="link_SG3_gripper_body_collision" file="./meshes/link_SG3_gripper_body_collision.STL" />
<mesh name="link_SG3_gripper_finger_right" file="./meshes/link_SG3_gripper_finger_right.STL" />
<mesh name="link_SG3_gripper_finger_right_collision" file="./meshes/link_SG3_gripper_finger_right_collision.STL" />
<mesh name="link_SG3_gripper_fingertip_right" file="./meshes/link_SG3_gripper_fingertip_right.STL" />
<mesh name="link_SG3_gripper_fingertip_right_collision" file="./meshes/link_SG3_gripper_fingertip_right_collision.STL" />
<mesh name="link_SG3_aruco_fingertip_right" file="./meshes/link_SG3_aruco_fingertip_right.STL" />
<mesh name="link_SG3_gripper_finger_left" file="./meshes/link_SG3_gripper_finger_left.STL" />
<mesh name="link_SG3_gripper_finger_left_collision" file="./meshes/link_SG3_gripper_finger_left_collision.STL" />
<mesh name="link_SG3_gripper_fingertip_left" file="./meshes/link_SG3_gripper_fingertip_left.STL" />
<mesh name="link_SG3_gripper_fingertip_left_collision" file="./meshes/link_SG3_gripper_fingertip_left_collision.STL" />
<mesh name="link_SG3_aruco_fingertip_left" file="./meshes/link_SG3_aruco_fingertip_left.STL" />
<mesh name="link_SG3_aruco_d405" file="./meshes/link_SG3_aruco_d405.STL" />
<mesh name="link_SE3_head_nav_cam" file="./meshes/link_SE3_head_nav_cam.STL" />
<mesh name="link_SE3_head_nav_cam_collision" file="./meshes/link_SE3_head_nav_cam_collision.STL" />
</asset>
<worldbody>
<body name="base_link">
<inertial pos="-0.087526 -0.001626 0.081009" mass="17.384389" fullinertia="0.160002 0.138068 0.228992 0.006758 0.004621 0.002208" />
<geom name="base_link_vis_0" type="mesh" mesh="base_link" contype="0" conaffinity="0" group="2" />
<geom name="base_link_col_0" type="mesh" mesh="base_link_collision" group="3" />
<body name="link_right_wheel" pos="0.0 -0.17035 0.0508" quat="0.7071054825112363 -0.7071080798594735 2.798858686461002e-17 6.193412015458183e-17">
<joint name="joint_right_wheel" type="hinge" axis="0.0 0.0 1.0" limited="false" damping="21.75" frictionloss="10.48" />
<inertial pos="0.0 0.0 0.02765" mass="0.20773" fullinertia="5.4e-05 5.4e-05 5.1e-05 0.0 0.0 0.0" />
<geom name="link_right_wheel_vis_0" type="mesh" mesh="link_right_wheel" contype="0" conaffinity="0" group="2" />
<geom name="link_right_wheel_col_0" type="mesh" mesh="link_right_wheel_collision" group="3" />
</body>
<body name="link_left_wheel" pos="0.0 0.17035 0.0508" quat="0.7071054825112363 -0.7071080798594735 9.333459075478617e-17 9.27547019154167e-17">
<joint name="joint_left_wheel" type="hinge" axis="0.0 0.0 1.0" limited="false" damping="21.75" frictionloss="10.48" />
<inertial pos="0.0 0.0 -0.02765" mass="0.20773" fullinertia="5.4e-05 5.4e-05 5.1e-05 0.0 0.0 0.0" />
<geom name="link_left_wheel_vis_0" type="mesh" mesh="link_left_wheel" contype="0" conaffinity="0" group="2" />
<geom name="link_left_wheel_col_0" type="mesh" mesh="link_left_wheel_collision" group="3" />
</body>
<body name="caster_link" pos="-0.245 0.0 0.032" quat="0.7071067811865476 -0.7071067811865475 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<geom name="caster_link_vis_0" type="mesh" mesh="omni_wheel_m" contype="0" conaffinity="0" group="2" />
<geom name="caster_link_col_0" type="sphere" size="0.032" group="3" />
</body>
<body name="link_mast" pos="-0.067 0.135 0.0284" quat="0.7071054825112363 0.7071080798594735 1.6972715240866946e-17 1.6972652896717205e-17">
<inertial pos="0.000337 0.722201 0.002652" mass="1.764017" fullinertia="0.291286 0.001226 0.291429 0.004149 -0.000174 0.000354" />
<geom name="link_mast_vis_0" type="mesh" mesh="link_mast" contype="0" conaffinity="0" group="2" />
<geom name="link_mast_col_0" type="mesh" mesh="link_mast_collision" group="3" />
<body name="link_lift" pos="-0.037385 0.1666 0.0" quat="0.4999981633974483 -0.49999999999662686 0.49999999999662686 0.5000018366025516">
<joint name="joint_lift" type="slide" axis="0.0 0.0 1.0" range="0.0 1.1" />
<inertial pos="-0.020369 0.03438 0.02236" mass="1.987167" fullinertia="0.006518 0.004464 0.008092 -0.001539 0.000371 0.000392" />
<geom name="link_lift_vis_0" type="mesh" mesh="link_lift" contype="0" conaffinity="0" group="2" />
<geom name="link_lift_col_0" type="mesh" mesh="link_lift_collision" group="3" />
<body name="link_arm_l4" pos="-0.2547 0.0 0.0" quat="0.4999981633974477 0.4999999999966275 -0.5000018366025509 -0.4999999999966275">
<inertial pos="-0.000168 -0.000254 -0.125235" mass="0.235626" fullinertia="0.001518 0.001519 0.000176 -1e-06 3e-06 3e-06" />
<geom name="link_arm_l4_vis_0" type="mesh" mesh="link_arm_l4" contype="0" conaffinity="0" group="2" />
<geom name="link_arm_l4_col_0" type="mesh" mesh="link_arm_l4_collision" group="3" />
<body name="link_arm_l3" pos="0.0 0.0 0.013" quat="1.0 3.844156168996925e-30 1.18358239708046e-30 1.148263661255715e-17">
<joint name="joint_arm_l3" type="slide" axis="0.0 0.0 1.0" range="0.0 0.13" />
<inertial pos="-1e-06 -0.000146 -0.11908" mass="0.146817" fullinertia="0.001081 0.001081 7.7e-05 0.0 0.0 -1e-06" />
<geom name="link_arm_l3_vis_0" type="mesh" mesh="link_arm_l3" contype="0" conaffinity="0" group="2" />
<geom name="link_arm_l3_col_0" type="mesh" mesh="link_arm_l3_collision" group="3" />
<body name="link_arm_l2" pos="0.0 0.0 0.013" quat="1.0 6.563739774393862e-47 7.88278826723125e-31 -8.32667268468865e-17">
<joint name="joint_arm_l2" type="slide" axis="0.0 0.0 1.0" range="0.0 0.13" />
<inertial pos="0.0 -7.1e-05 -0.115635" mass="0.130565" fullinertia="0.000943 0.000943 5.7e-05 0.0 0.0 0.0" />
<geom name="link_arm_l2_vis_0" type="mesh" mesh="link_arm_l2" contype="0" conaffinity="0" group="2" />
<geom name="link_arm_l2_col_0" type="mesh" mesh="link_arm_l2_collision" group="3" />
<body name="link_arm_l1" pos="0.0 0.0 0.0129999999999981" quat="1.0 -3.81873389373101e-30 -3.944304526105062e-31 5.5511151231258e-17">
<joint name="joint_arm_l1" type="slide" axis="0.0 0.0 1.0" range="0.0 0.13" />
<inertial pos="-1e-06 -0.000121 -0.113457" mass="0.113658" fullinertia="0.0008 0.0008 4e-05 0.0 0.0 0.0" />
<geom name="link_arm_l1_vis_0" type="mesh" mesh="link_arm_l1" contype="0" conaffinity="0" group="2" />
<geom name="link_arm_l1_col_0" type="mesh" mesh="link_arm_l1_collision" group="3" />
<body name="link_arm_l0" pos="0.0 0.0 -0.0137499999991968" quat="1.0 6.315251134194944e-30 -1.90060564432201e-15 1.31353773883719e-15">
<joint name="joint_arm_l0" type="slide" axis="0.0 0.0 1.0" range="0.0 0.13" />
<inertial pos="0.033681 -0.000847 -0.031723" mass="0.427734" fullinertia="0.001689 0.002107 0.000571 -2.8e-05 0.000483 -1.1e-05" />
<geom name="link_arm_l0_vis_0" type="mesh" mesh="link_arm_l0" contype="0" conaffinity="0" group="2" />
<geom name="link_arm_l0_col_0" type="mesh" mesh="link_arm_l0_collision" group="3" />
<body name="link_wrist_yaw" pos="0.0830000000000654 -0.0307500000000129 0.0" quat="4.753575178863091e-15 -4.753575178863108e-15 -0.7071067811865488 0.7071067811865462">
<joint name="joint_wrist_yaw" type="hinge" axis="0.0 0.0 -1.0" range="-1.75 4.0" />
<inertial pos="0.0 -3.9e-05 -0.016495" mass="0.054422" fullinertia="9e-06 9e-06 7e-06 0.0 0.0 0.0" />
<geom name="link_wrist_yaw_vis_0" type="mesh" mesh="link_wrist_yaw" contype="0" conaffinity="0" group="2" />
<geom name="link_wrist_yaw_col_0" type="mesh" mesh="link_wrist_yaw_collision" group="3" />
<body name="link_wrist_yaw_bottom" quat="1.1423625238904151e-15 -0.7071067811865462 0.7071067811865488 -1.1423625238904192e-15">
<inertial pos="-0.0165399153795968 -0.0446328107020906 -0.0281087384763343" mass="0.144548635554334" fullinertia="4.56525957614798e-05 7.22875259104698e-05 8.76544308203217e-05 -1.08217417869179e-06 -1.44384040297111e-08 3.40820143544021e-09" />
<geom name="link_wrist_yaw_bottom_vis_0" type="mesh" mesh="link_DW3_wrist_yaw_bottom" contype="0" conaffinity="0" group="2" />
<geom name="link_wrist_yaw_bottom_col_0" type="mesh" mesh="link_DW3_wrist_yaw_bottom_collision" group="3" />
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<exclude body1="camera_link" body2="camera_color_frame" />
<exclude body1="camera_color_frame" body2="camera_color_optical_frame" />
<exclude body1="camera_link" body2="camera_accel_frame" />
<exclude body1="camera_accel_frame" body2="camera_accel_optical_frame" />
<exclude body1="camera_link" body2="camera_gyro_frame" />
<exclude body1="camera_gyro_frame" body2="camera_gyro_optical_frame" />
<exclude body1="link_gripper_s3_body" body2="gripper_camera_bottom_screw_frame" />
<exclude body1="gripper_camera_bottom_screw_frame" body2="gripper_camera_link" />
<exclude body1="gripper_camera_link" body2="gripper_camera_depth_frame" />
<exclude body1="gripper_camera_depth_frame" body2="gripper_camera_depth_optical_frame" />
<exclude body1="gripper_camera_link" body2="gripper_camera_infra1_frame" />
<exclude body1="gripper_camera_infra1_frame" body2="gripper_camera_infra1_optical_frame" />
<exclude body1="gripper_camera_link" body2="gripper_camera_infra2_frame" />
<exclude body1="gripper_camera_infra2_frame" body2="gripper_camera_infra2_optical_frame" />
<exclude body1="gripper_camera_link" body2="gripper_camera_color_frame" />
<exclude body1="gripper_camera_color_frame" body2="gripper_camera_color_optical_frame" />
<exclude body1="base_link" body2="laser" />
<exclude body1="base_link" body2="base_imu" />
<exclude body1="link_mast" body2="respeaker_base" />
<exclude body1="link_wrist_yaw" body2="link_wrist_yaw_bottom" />
<exclude body1="link_wrist_yaw_bottom" body2="link_wrist_pitch" />
<exclude body1="link_wrist_pitch" body2="link_wrist_roll" />
<exclude body1="link_wrist_roll" body2="link_wrist_quick_connect" />
<exclude body1="link_wrist_roll" body2="link_gripper_s3_body" />
<exclude body1="link_gripper_s3_body" body2="link_gripper_finger_right" />
<exclude body1="link_gripper_finger_right" body2="link_gripper_fingertip_right" />
<exclude body1="link_gripper_finger_right" body2="link_aruco_fingertip_right" />
<exclude body1="link_gripper_s3_body" body2="link_gripper_finger_left" />
<exclude body1="link_gripper_finger_left" body2="link_gripper_fingertip_left" />
<exclude body1="link_gripper_finger_left" body2="link_aruco_fingertip_left" />
<exclude body1="link_gripper_s3_body" body2="link_aruco_d405" />
<exclude body1="link_gripper_s3_body" body2="link_grasp_center" />
<exclude body1="link_head_tilt" body2="link_head_nav_cam" />
</contact>
</mujoco>
Import report
Counts
| Links | 61 |
|---|---|
| Joints | 60 |
| Moving joints | 14 |
| Visuals | 37 |
| Collisions | 37 |
| Materials | 4 |
Meshes
Formats: dae, stl.
Asset size: 27.3 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
@spring_reference | 2 | attribute 'spring_reference' is not part of the URDF subset RobotDescription mirrors |
@spring_stiffness | 2 | attribute 'spring_stiffness' is not part of the URDF subset RobotDescription mirrors |
axis | 21 | fixed joints carry no <axis>; URDF ignores it too |
limit | 2 | no <limit>; RobotDescription always writes one, so effort = velocity = 0 |
material | 35 | anonymous material (empty name) cannot be referenced; its colour is not kept |
surface | 1 | <surface> is not part of the URDF subset RobotDescription mirrors |
Forward-kinematics check
Forward kinematics of 61 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 · 1.3e-15 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 14).
Source & licence
| Repository | https://github.com/hello-robot/stretch_urdf |
|---|---|
| Commit | 1b7cbbce808c25465017ce0a53a4173fcf97b11c |
| Original file | stretch_urdf/SE3/xacro/stretch_description_SE3_eoa_wrist_dw3_tool_sg3_pro.xacro |
| Licence | Clear BSD · 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.