TriFingerEdu
None · licence MIT · source: github.com/facebookresearch/differentiable-robot-model @ d7bd1b3b8
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 aefb72f032262e76 -->
<robot name="trifingeredu">
<link name="base_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="1.0" />
<inertia ixx="4.16666666667e-06" ixy="0.0" ixz="0.0" iyy="4.16666666667e-06" iyz="0.0" izz="4.16666666667e-06" />
</inertial>
</link>
<link name="trifinger_base_link" />
<joint name="base_to_trifinger_base_joint" type="fixed">
<origin xyz="0.0 0.0 0.34" rpy="0.0 0.0 -1.57079632679" />
<parent link="base_link" />
<child link="trifinger_base_link" />
</joint>
<material name="fingeredu_0_material">
<color rgba="0.6 0.0 0.0 1.0" />
</material>
<material name="fingeredu_120_material">
<color rgba="0.0 0.6 0.0 1.0" />
</material>
<material name="fingeredu_240_material">
<color rgba="0.0 0.0 0.6 1.0" />
</material>
<link name="finger_base_link_0">
<visual>
<origin xyz="-0.17995 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/base_back.stl" />
</geometry>
<material name="fingeredu_0_material" />
</visual>
<visual>
<origin xyz="0.0255 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/base_front.stl" />
</geometry>
<material name="fingeredu_0_material" />
</visual>
<visual>
<origin xyz="0.0255 0.02 0.08" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/base_side_left.stl" />
</geometry>
<material name="fingeredu_0_material" />
</visual>
<visual>
<origin xyz="0.0255 0.0 0.08" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/base_top.stl" />
</geometry>
<material name="fingeredu_0_material" />
</visual>
<inertial>
<origin xyz="-0.1 0.0 0.4" rpy="0.0 0.0 0.0" />
<mass value="1.0" />
<inertia ixx="0.0608333333333" ixy="0.0" ixz="0.0" iyy="0.0566666666667" iyz="0.0" izz="0.0108333333333" />
</inertial>
</link>
<link name="finger_upper_link_0">
<visual>
<origin xyz="0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/upper_link.stl" />
</geometry>
<material name="fingeredu_0_material" />
</visual>
<collision>
<origin xyz="0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/upper_link.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.079 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.14854" />
<inertia ixx="3e-05" ixy="5e-05" ixz="0.0" iyy="0.00041" iyz="0.0" izz="0.00041" />
</inertial>
</link>
<link name="finger_middle_link_0">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/middle_link.stl" />
</geometry>
<material name="fingeredu_0_material" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/middle_link.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.019 -0.079" rpy="0.0 0.0 0.0" />
<mass value="0.14854" />
<inertia ixx="0.00041" ixy="0.0" ixz="0.0" iyy="0.00041" iyz="5e-05" izz="3e-05" />
</inertial>
</link>
<link name="finger_lower_link_0">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/lower_link.stl" />
</geometry>
<material name="fingeredu_0_material" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/lower_link.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.009 -0.089" rpy="0.0 0.0 0.0" />
<mass value="0.0307" />
<inertia ixx="0.00012" ixy="0.0" ixz="0.0" iyy="0.00012" iyz="0.0" izz="0.0" />
</inertial>
</link>
<link name="finger_tip_link_0">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="1.66666666667e-07" ixy="0.0" ixz="0.0" iyy="1.66666666667e-07" iyz="0.0" izz="1.66666666667e-07" />
</inertial>
</link>
<joint name="finger_lower_to_tip_joint_0" type="fixed">
<origin xyz="0.0 -0.008 -0.16" rpy="0.0 0.0 0.0" />
<parent link="finger_lower_link_0" />
<child link="finger_tip_link_0" />
</joint>
<joint name="finger_base_to_upper_joint_0" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="finger_base_link_0" />
<child link="finger_upper_link_0" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="1000.0" velocity="1000.0" lower="-1.57079632679" upper="1.57079632679" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="finger_upper_to_middle_joint_0" type="revolute">
<origin xyz="0.0 -0.014 0.0" rpy="0.0 0.0 0.0" />
<parent link="finger_upper_link_0" />
<child link="finger_middle_link_0" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1000.0" velocity="1000.0" lower="-1.57079632679" upper="1.57079632679" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="finger_middle_to_lower_joint_0" type="revolute">
<origin xyz="0.0 -0.03745 -0.16" rpy="0.0 0.0 0.0" />
<parent link="finger_middle_link_0" />
<child link="finger_lower_link_0" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1000.0" velocity="1000.0" lower="-3.14159265359" upper="3.14159265359" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="finger_base_link_120">
<visual>
<origin xyz="-0.17995 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/base_back.stl" />
</geometry>
<material name="fingeredu_120_material" />
</visual>
<visual>
<origin xyz="0.0255 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/base_front.stl" />
</geometry>
<material name="fingeredu_120_material" />
</visual>
<visual>
<origin xyz="0.0255 0.02 0.08" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/base_side_left.stl" />
</geometry>
<material name="fingeredu_120_material" />
</visual>
<visual>
<origin xyz="0.0255 0.0 0.08" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/base_top.stl" />
</geometry>
<material name="fingeredu_120_material" />
</visual>
<inertial>
<origin xyz="-0.1 0.0 0.4" rpy="0.0 0.0 0.0" />
<mass value="1.0" />
<inertia ixx="0.0608333333333" ixy="0.0" ixz="0.0" iyy="0.0566666666667" iyz="0.0" izz="0.0108333333333" />
</inertial>
</link>
<link name="finger_upper_link_120">
<visual>
<origin xyz="0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/upper_link.stl" />
</geometry>
<material name="fingeredu_120_material" />
</visual>
<collision>
<origin xyz="0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/upper_link.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.079 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.14854" />
<inertia ixx="3e-05" ixy="5e-05" ixz="0.0" iyy="0.00041" iyz="0.0" izz="0.00041" />
</inertial>
</link>
<link name="finger_middle_link_120">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/middle_link.stl" />
</geometry>
<material name="fingeredu_120_material" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/middle_link.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.019 -0.079" rpy="0.0 0.0 0.0" />
<mass value="0.14854" />
<inertia ixx="0.00041" ixy="0.0" ixz="0.0" iyy="0.00041" iyz="5e-05" izz="3e-05" />
</inertial>
</link>
<link name="finger_lower_link_120">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/lower_link.stl" />
</geometry>
<material name="fingeredu_120_material" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/lower_link.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.009 -0.089" rpy="0.0 0.0 0.0" />
<mass value="0.0307" />
<inertia ixx="0.00012" ixy="0.0" ixz="0.0" iyy="0.00012" iyz="0.0" izz="0.0" />
</inertial>
</link>
<link name="finger_tip_link_120">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="1.66666666667e-07" ixy="0.0" ixz="0.0" iyy="1.66666666667e-07" iyz="0.0" izz="1.66666666667e-07" />
</inertial>
</link>
<joint name="finger_lower_to_tip_joint_120" type="fixed">
<origin xyz="0.0 -0.008 -0.16" rpy="0.0 0.0 0.0" />
<parent link="finger_lower_link_120" />
<child link="finger_tip_link_120" />
</joint>
<joint name="finger_base_to_upper_joint_120" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="finger_base_link_120" />
<child link="finger_upper_link_120" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="1000.0" velocity="1000.0" lower="-1.57079632679" upper="1.57079632679" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="finger_upper_to_middle_joint_120" type="revolute">
<origin xyz="0.0 -0.014 0.0" rpy="0.0 0.0 0.0" />
<parent link="finger_upper_link_120" />
<child link="finger_middle_link_120" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1000.0" velocity="1000.0" lower="-1.57079632679" upper="1.57079632679" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="finger_middle_to_lower_joint_120" type="revolute">
<origin xyz="0.0 -0.03745 -0.16" rpy="0.0 0.0 0.0" />
<parent link="finger_middle_link_120" />
<child link="finger_lower_link_120" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1000.0" velocity="1000.0" lower="-3.14159265359" upper="3.14159265359" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="finger_base_link_240">
<visual>
<origin xyz="-0.17995 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/base_back.stl" />
</geometry>
<material name="fingeredu_240_material" />
</visual>
<visual>
<origin xyz="0.0255 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/base_front.stl" />
</geometry>
<material name="fingeredu_240_material" />
</visual>
<visual>
<origin xyz="0.0255 0.02 0.08" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/base_side_left.stl" />
</geometry>
<material name="fingeredu_240_material" />
</visual>
<visual>
<origin xyz="0.0255 0.0 0.08" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/base_top.stl" />
</geometry>
<material name="fingeredu_240_material" />
</visual>
<inertial>
<origin xyz="-0.1 0.0 0.4" rpy="0.0 0.0 0.0" />
<mass value="1.0" />
<inertia ixx="0.0608333333333" ixy="0.0" ixz="0.0" iyy="0.0566666666667" iyz="0.0" izz="0.0108333333333" />
</inertial>
</link>
<link name="finger_upper_link_240">
<visual>
<origin xyz="0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/upper_link.stl" />
</geometry>
<material name="fingeredu_240_material" />
</visual>
<collision>
<origin xyz="0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/upper_link.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.079 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.14854" />
<inertia ixx="3e-05" ixy="5e-05" ixz="0.0" iyy="0.00041" iyz="0.0" izz="0.00041" />
</inertial>
</link>
<link name="finger_middle_link_240">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/middle_link.stl" />
</geometry>
<material name="fingeredu_240_material" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/middle_link.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.019 -0.079" rpy="0.0 0.0 0.0" />
<mass value="0.14854" />
<inertia ixx="0.00041" ixy="0.0" ixz="0.0" iyy="0.00041" iyz="5e-05" izz="3e-05" />
</inertial>
</link>
<link name="finger_lower_link_240">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/lower_link.stl" />
</geometry>
<material name="fingeredu_240_material" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://trifinger_edu_description/meshes/stl/edu/lower_link.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.009 -0.089" rpy="0.0 0.0 0.0" />
<mass value="0.0307" />
<inertia ixx="0.00012" ixy="0.0" ixz="0.0" iyy="0.00012" iyz="0.0" izz="0.0" />
</inertial>
</link>
<link name="finger_tip_link_240">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="1.66666666667e-07" ixy="0.0" ixz="0.0" iyy="1.66666666667e-07" iyz="0.0" izz="1.66666666667e-07" />
</inertial>
</link>
<joint name="finger_lower_to_tip_joint_240" type="fixed">
<origin xyz="0.0 -0.008 -0.16" rpy="0.0 0.0 0.0" />
<parent link="finger_lower_link_240" />
<child link="finger_tip_link_240" />
</joint>
<joint name="finger_base_to_upper_joint_240" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="finger_base_link_240" />
<child link="finger_upper_link_240" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="1000.0" velocity="1000.0" lower="-1.57079632679" upper="1.57079632679" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="finger_upper_to_middle_joint_240" type="revolute">
<origin xyz="0.0 -0.014 0.0" rpy="0.0 0.0 0.0" />
<parent link="finger_upper_link_240" />
<child link="finger_middle_link_240" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1000.0" velocity="1000.0" lower="-1.57079632679" upper="1.57079632679" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="finger_middle_to_lower_joint_240" type="revolute">
<origin xyz="0.0 -0.03745 -0.16" rpy="0.0 0.0 0.0" />
<parent link="finger_middle_link_240" />
<child link="finger_lower_link_240" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1000.0" velocity="1000.0" lower="-3.14159265359" upper="3.14159265359" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="base_to_finger_0" type="fixed">
<origin xyz="-0.0455 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="trifinger_base_link" />
<child link="finger_base_link_0" />
</joint>
<joint name="base_to_finger_120" type="fixed">
<origin xyz="0.02275 0.0394041558722 0.0" rpy="0.0 0.0 -2.09439510239" />
<parent link="trifinger_base_link" />
<child link="finger_base_link_120" />
</joint>
<joint name="base_to_finger_240" type="fixed">
<origin xyz="0.02275 -0.0394041558722 0.0" rpy="0.0 0.0 -4.18879020479" />
<parent link="trifinger_base_link" />
<child link="finger_base_link_240" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content aefb72f032262e76 -->
<mujoco model="trifingeredu">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="fingeredu_0_material" rgba="0.6 0.0 0.0 1.0" />
<material name="fingeredu_120_material" rgba="0.0 0.6 0.0 1.0" />
<material name="fingeredu_240_material" rgba="0.0 0.0 0.6 1.0" />
<mesh name="base_back" file="trifinger_edu_description/meshes/stl/edu/base_back.stl" />
<mesh name="base_front" file="trifinger_edu_description/meshes/stl/edu/base_front.stl" />
<mesh name="base_side_left" file="trifinger_edu_description/meshes/stl/edu/base_side_left.stl" />
<mesh name="base_top" file="trifinger_edu_description/meshes/stl/edu/base_top.stl" />
<mesh name="upper_link" file="trifinger_edu_description/meshes/stl/edu/upper_link.stl" />
<mesh name="middle_link" file="trifinger_edu_description/meshes/stl/edu/middle_link.stl" />
<mesh name="lower_link" file="trifinger_edu_description/meshes/stl/edu/lower_link.stl" />
</asset>
<worldbody>
<body name="base_link">
<inertial pos="0.0 0.0 0.0" mass="1.0" fullinertia="4.16666666667e-06 4.16666666667e-06 4.16666666667e-06 0.0 0.0 0.0" />
<body name="trifinger_base_link" pos="0.0 0.0 0.34" quat="0.7071067811882787 0.0 0.0 -0.7071067811848163">
<body name="finger_base_link_0" pos="-0.0455 0.0 0.0">
<inertial pos="-0.1 0.0 0.4" mass="1.0" fullinertia="0.0608333333333 0.0566666666667 0.0108333333333 0.0 0.0 0.0" />
<geom name="finger_base_link_0_vis_0" type="mesh" mesh="base_back" pos="-0.17995 0.0 0.0" contype="0" conaffinity="0" group="2" material="fingeredu_0_material" />
<geom name="finger_base_link_0_vis_1" type="mesh" mesh="base_front" pos="0.0255 0.0 0.0" contype="0" conaffinity="0" group="2" material="fingeredu_0_material" />
<geom name="finger_base_link_0_vis_2" type="mesh" mesh="base_side_left" pos="0.0255 0.02 0.08" contype="0" conaffinity="0" group="2" material="fingeredu_0_material" />
<geom name="finger_base_link_0_vis_3" type="mesh" mesh="base_top" pos="0.0255 0.0 0.08" contype="0" conaffinity="0" group="2" material="fingeredu_0_material" />
<body name="finger_upper_link_0">
<joint name="finger_base_to_upper_joint_0" type="hinge" axis="-1.0 0.0 0.0" range="-1.57079632679 1.57079632679" />
<inertial pos="-0.079 0.0 0.0" mass="0.14854" fullinertia="3e-05 0.00041 0.00041 5e-05 0.0 0.0" />
<geom name="finger_upper_link_0_vis_0" type="mesh" mesh="upper_link" pos="0.0195 0.0 0.0" contype="0" conaffinity="0" group="2" material="fingeredu_0_material" />
<geom name="finger_upper_link_0_col_0" type="mesh" mesh="upper_link" pos="0.0195 0.0 0.0" group="3" />
<body name="finger_middle_link_0" pos="0.0 -0.014 0.0">
<joint name="finger_upper_to_middle_joint_0" type="hinge" axis="0.0 1.0 0.0" range="-1.57079632679 1.57079632679" />
<inertial pos="0.0 -0.019 -0.079" mass="0.14854" fullinertia="0.00041 0.00041 3e-05 0.0 0.0 5e-05" />
<geom name="finger_middle_link_0_vis_0" type="mesh" mesh="middle_link" contype="0" conaffinity="0" group="2" material="fingeredu_0_material" />
<geom name="finger_middle_link_0_col_0" type="mesh" mesh="middle_link" group="3" />
<body name="finger_lower_link_0" pos="0.0 -0.03745 -0.16">
<joint name="finger_middle_to_lower_joint_0" type="hinge" axis="0.0 1.0 0.0" range="-3.14159265359 3.14159265359" />
<inertial pos="0.0 -0.009 -0.089" mass="0.0307" fullinertia="0.00012 0.00012 0.0 0.0 0.0 0.0" />
<geom name="finger_lower_link_0_vis_0" type="mesh" mesh="lower_link" contype="0" conaffinity="0" group="2" material="fingeredu_0_material" />
<geom name="finger_lower_link_0_col_0" type="mesh" mesh="lower_link" group="3" />
<body name="finger_tip_link_0" pos="0.0 -0.008 -0.16">
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="1.66666666667e-07 1.66666666667e-07 1.66666666667e-07 0.0 0.0 0.0" />
</body>
</body>
</body>
</body>
</body>
<body name="finger_base_link_120" pos="0.02275 0.0394041558722 0.0" quat="0.5000000000013837 0.0 0.0 -0.8660254037836398">
<inertial pos="-0.1 0.0 0.4" mass="1.0" fullinertia="0.0608333333333 0.0566666666667 0.0108333333333 0.0 0.0 0.0" />
<geom name="finger_base_link_120_vis_0" type="mesh" mesh="base_back" pos="-0.17995 0.0 0.0" contype="0" conaffinity="0" group="2" material="fingeredu_120_material" />
<geom name="finger_base_link_120_vis_1" type="mesh" mesh="base_front" pos="0.0255 0.0 0.0" contype="0" conaffinity="0" group="2" material="fingeredu_120_material" />
<geom name="finger_base_link_120_vis_2" type="mesh" mesh="base_side_left" pos="0.0255 0.02 0.08" contype="0" conaffinity="0" group="2" material="fingeredu_120_material" />
<geom name="finger_base_link_120_vis_3" type="mesh" mesh="base_top" pos="0.0255 0.0 0.08" contype="0" conaffinity="0" group="2" material="fingeredu_120_material" />
<body name="finger_upper_link_120">
<joint name="finger_base_to_upper_joint_120" type="hinge" axis="-1.0 0.0 0.0" range="-1.57079632679 1.57079632679" />
<inertial pos="-0.079 0.0 0.0" mass="0.14854" fullinertia="3e-05 0.00041 0.00041 5e-05 0.0 0.0" />
<geom name="finger_upper_link_120_vis_0" type="mesh" mesh="upper_link" pos="0.0195 0.0 0.0" contype="0" conaffinity="0" group="2" material="fingeredu_120_material" />
<geom name="finger_upper_link_120_col_0" type="mesh" mesh="upper_link" pos="0.0195 0.0 0.0" group="3" />
<body name="finger_middle_link_120" pos="0.0 -0.014 0.0">
<joint name="finger_upper_to_middle_joint_120" type="hinge" axis="0.0 1.0 0.0" range="-1.57079632679 1.57079632679" />
<inertial pos="0.0 -0.019 -0.079" mass="0.14854" fullinertia="0.00041 0.00041 3e-05 0.0 0.0 5e-05" />
<geom name="finger_middle_link_120_vis_0" type="mesh" mesh="middle_link" contype="0" conaffinity="0" group="2" material="fingeredu_120_material" />
<geom name="finger_middle_link_120_col_0" type="mesh" mesh="middle_link" group="3" />
<body name="finger_lower_link_120" pos="0.0 -0.03745 -0.16">
<joint name="finger_middle_to_lower_joint_120" type="hinge" axis="0.0 1.0 0.0" range="-3.14159265359 3.14159265359" />
<inertial pos="0.0 -0.009 -0.089" mass="0.0307" fullinertia="0.00012 0.00012 0.0 0.0 0.0 0.0" />
<geom name="finger_lower_link_120_vis_0" type="mesh" mesh="lower_link" contype="0" conaffinity="0" group="2" material="fingeredu_120_material" />
<geom name="finger_lower_link_120_col_0" type="mesh" mesh="lower_link" group="3" />
<body name="finger_tip_link_120" pos="0.0 -0.008 -0.16">
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="1.66666666667e-07 1.66666666667e-07 1.66666666667e-07 0.0 0.0 0.0" />
</body>
</body>
</body>
</body>
</body>
<body name="finger_base_link_240" pos="0.02275 -0.0394041558722 0.0" quat="-0.5000000000015627 0.0 -0.0 -0.8660254037835363">
<inertial pos="-0.1 0.0 0.4" mass="1.0" fullinertia="0.0608333333333 0.0566666666667 0.0108333333333 0.0 0.0 0.0" />
<geom name="finger_base_link_240_vis_0" type="mesh" mesh="base_back" pos="-0.17995 0.0 0.0" contype="0" conaffinity="0" group="2" material="fingeredu_240_material" />
<geom name="finger_base_link_240_vis_1" type="mesh" mesh="base_front" pos="0.0255 0.0 0.0" contype="0" conaffinity="0" group="2" material="fingeredu_240_material" />
<geom name="finger_base_link_240_vis_2" type="mesh" mesh="base_side_left" pos="0.0255 0.02 0.08" contype="0" conaffinity="0" group="2" material="fingeredu_240_material" />
<geom name="finger_base_link_240_vis_3" type="mesh" mesh="base_top" pos="0.0255 0.0 0.08" contype="0" conaffinity="0" group="2" material="fingeredu_240_material" />
<body name="finger_upper_link_240">
<joint name="finger_base_to_upper_joint_240" type="hinge" axis="-1.0 0.0 0.0" range="-1.57079632679 1.57079632679" />
<inertial pos="-0.079 0.0 0.0" mass="0.14854" fullinertia="3e-05 0.00041 0.00041 5e-05 0.0 0.0" />
<geom name="finger_upper_link_240_vis_0" type="mesh" mesh="upper_link" pos="0.0195 0.0 0.0" contype="0" conaffinity="0" group="2" material="fingeredu_240_material" />
<geom name="finger_upper_link_240_col_0" type="mesh" mesh="upper_link" pos="0.0195 0.0 0.0" group="3" />
<body name="finger_middle_link_240" pos="0.0 -0.014 0.0">
<joint name="finger_upper_to_middle_joint_240" type="hinge" axis="0.0 1.0 0.0" range="-1.57079632679 1.57079632679" />
<inertial pos="0.0 -0.019 -0.079" mass="0.14854" fullinertia="0.00041 0.00041 3e-05 0.0 0.0 5e-05" />
<geom name="finger_middle_link_240_vis_0" type="mesh" mesh="middle_link" contype="0" conaffinity="0" group="2" material="fingeredu_240_material" />
<geom name="finger_middle_link_240_col_0" type="mesh" mesh="middle_link" group="3" />
<body name="finger_lower_link_240" pos="0.0 -0.03745 -0.16">
<joint name="finger_middle_to_lower_joint_240" type="hinge" axis="0.0 1.0 0.0" range="-3.14159265359 3.14159265359" />
<inertial pos="0.0 -0.009 -0.089" mass="0.0307" fullinertia="0.00012 0.00012 0.0 0.0 0.0 0.0" />
<geom name="finger_lower_link_240_vis_0" type="mesh" mesh="lower_link" contype="0" conaffinity="0" group="2" material="fingeredu_240_material" />
<geom name="finger_lower_link_240_col_0" type="mesh" mesh="lower_link" group="3" />
<body name="finger_tip_link_240" pos="0.0 -0.008 -0.16">
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="1.66666666667e-07 1.66666666667e-07 1.66666666667e-07 0.0 0.0 0.0" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base_link" body2="trifinger_base_link" />
<exclude body1="finger_lower_link_0" body2="finger_tip_link_0" />
<exclude body1="finger_base_link_0" body2="finger_upper_link_0" />
<exclude body1="finger_upper_link_0" body2="finger_middle_link_0" />
<exclude body1="finger_middle_link_0" body2="finger_lower_link_0" />
<exclude body1="finger_lower_link_120" body2="finger_tip_link_120" />
<exclude body1="finger_base_link_120" body2="finger_upper_link_120" />
<exclude body1="finger_upper_link_120" body2="finger_middle_link_120" />
<exclude body1="finger_middle_link_120" body2="finger_lower_link_120" />
<exclude body1="finger_lower_link_240" body2="finger_tip_link_240" />
<exclude body1="finger_base_link_240" body2="finger_upper_link_240" />
<exclude body1="finger_upper_link_240" body2="finger_middle_link_240" />
<exclude body1="finger_middle_link_240" body2="finger_lower_link_240" />
<exclude body1="trifinger_base_link" body2="finger_base_link_0" />
<exclude body1="trifinger_base_link" body2="finger_base_link_120" />
<exclude body1="trifinger_base_link" body2="finger_base_link_240" />
</contact>
</mujoco>
Import report
Counts
| Links | 17 |
|---|---|
| Joints | 16 |
| Moving joints | 9 |
| Visuals | 21 |
| Collisions | 9 |
| Materials | 3 |
Meshes
Formats: stl.
Asset size: 0.5 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
@concave | 3 | attribute 'concave' is not part of the URDF subset RobotDescription mirrors |
Forward-kinematics check
Forward kinematics of 17 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 · 4.1e-16 rad.
MuJoCo
robot.xml did not compile in MuJoCo: Error: error 'inertia must have positive eigenvalues' in fullinertia
Source & licence
Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.