Two-arm cell (this page's example)

robotdescription.com · licence MIT · source: examples/two_arm_cell.py

What you are looking at is RobotDescription.to_urdf_string() for the example on the home page. It is authored in Python, so it was not imported with from_urdf.

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robot.urdf

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 763e8dddb5b7d42d -->
<robot name="cell">
  <link name="world" />
  <link name="left_base" />
  <link name="left_upper">
    <visual>
      <origin xyz="0.0 0.0 0.15" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.04 0.04 0.3" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0 0.0 0.15" />
      <mass value="0.5" />
      <inertia ixx="0.0038166666666666666" ixy="0.0" ixz="0.0" iyy="0.0038166666666666666" iyz="0.0" izz="0.00013333333333333334" />
    </inertial>
  </link>
  <link name="left_fore">
    <visual>
      <origin xyz="0.0 0.0 0.125" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.04 0.04 0.25" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0 0.0 0.125" />
      <mass value="0.5" />
      <inertia ixx="0.0026708333333333332" ixy="0.0" ixz="0.0" iyy="0.0026708333333333332" iyz="0.0" izz="0.00013333333333333334" />
    </inertial>
  </link>
  <joint name="left_shoulder" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="left_base" />
    <child link="left_upper" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="10.0" velocity="10.0" lower="-1.5" upper="1.5" />
    <dynamics damping="0.001" friction="0.01" />
  </joint>
  <joint name="left_elbow" type="revolute">
    <origin xyz="0.0 0.0 0.3" rpy="0.0 0.0 0.0" />
    <parent link="left_upper" />
    <child link="left_fore" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="10.0" velocity="10.0" lower="0.0" upper="2.5" />
    <dynamics damping="0.001" friction="0.01" />
  </joint>
  <joint name="left_mount" type="fixed">
    <origin xyz="-0.2 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="world" />
    <child link="left_base" />
  </joint>
  <link name="right_base" />
  <link name="right_upper">
    <visual>
      <origin xyz="0.0 0.0 0.15" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.04 0.04 0.3" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0 0.0 0.15" />
      <mass value="0.5" />
      <inertia ixx="0.0038166666666666666" ixy="0.0" ixz="0.0" iyy="0.0038166666666666666" iyz="0.0" izz="0.00013333333333333334" />
    </inertial>
  </link>
  <link name="right_fore">
    <visual>
      <origin xyz="0.0 0.0 0.125" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.04 0.04 0.25" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0 0.0 0.125" />
      <mass value="0.5" />
      <inertia ixx="0.0026708333333333332" ixy="0.0" ixz="0.0" iyy="0.0026708333333333332" iyz="0.0" izz="0.00013333333333333334" />
    </inertial>
  </link>
  <joint name="right_shoulder" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="right_base" />
    <child link="right_upper" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="10.0" velocity="10.0" lower="-1.5" upper="1.5" />
    <dynamics damping="0.001" friction="0.01" />
  </joint>
  <joint name="right_elbow" type="revolute">
    <origin xyz="0.0 0.0 0.3" rpy="0.0 0.0 0.0" />
    <parent link="right_upper" />
    <child link="right_fore" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="10.0" velocity="10.0" lower="0.0" upper="2.5" />
    <dynamics damping="0.001" friction="0.01" />
  </joint>
  <joint name="right_mount" type="fixed">
    <origin xyz="0.2 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="world" />
    <child link="right_base" />
  </joint>
</robot>

robot.xml

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 763e8dddb5b7d42d -->
<mujoco model="cell">
  <compiler angle="radian" autolimits="true" inertiafromgeom="false" balanceinertia="false" />
  <worldbody>
    <body name="left_base" pos="-0.2 0.0 0.0">
      <body name="left_upper">
        <joint name="left_shoulder" type="hinge" axis="0.0 1.0 0.0" range="-1.5 1.5" damping="0.001" frictionloss="0.01" />
        <inertial pos="0.0 0.0 0.15" mass="0.5" fullinertia="0.0038166666666666666 0.0038166666666666666 0.00013333333333333334 0.0 0.0 0.0" />
        <geom name="left_upper_vis_0" type="box" size="0.02 0.02 0.15" pos="0.0 0.0 0.15" contype="0" conaffinity="0" group="2" />
        <body name="left_fore" pos="0.0 0.0 0.3">
          <joint name="left_elbow" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.5" damping="0.001" frictionloss="0.01" />
          <inertial pos="0.0 0.0 0.125" mass="0.5" fullinertia="0.0026708333333333332 0.0026708333333333332 0.00013333333333333334 0.0 0.0 0.0" />
          <geom name="left_fore_vis_0" type="box" size="0.02 0.02 0.125" pos="0.0 0.0 0.125" contype="0" conaffinity="0" group="2" />
        </body>
      </body>
    </body>
    <body name="right_base" pos="0.2 0.0 0.0">
      <body name="right_upper">
        <joint name="right_shoulder" type="hinge" axis="0.0 1.0 0.0" range="-1.5 1.5" damping="0.001" frictionloss="0.01" />
        <inertial pos="0.0 0.0 0.15" mass="0.5" fullinertia="0.0038166666666666666 0.0038166666666666666 0.00013333333333333334 0.0 0.0 0.0" />
        <geom name="right_upper_vis_0" type="box" size="0.02 0.02 0.15" pos="0.0 0.0 0.15" contype="0" conaffinity="0" group="2" />
        <body name="right_fore" pos="0.0 0.0 0.3">
          <joint name="right_elbow" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.5" damping="0.001" frictionloss="0.01" />
          <inertial pos="0.0 0.0 0.125" mass="0.5" fullinertia="0.0026708333333333332 0.0026708333333333332 0.00013333333333333334 0.0 0.0 0.0" />
          <geom name="right_fore_vis_0" type="box" size="0.02 0.02 0.125" pos="0.0 0.0 0.125" contype="0" conaffinity="0" group="2" />
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="left_base" body2="left_upper" />
    <exclude body1="left_upper" body2="left_fore" />
    <exclude body1="right_base" body2="right_upper" />
    <exclude body1="right_upper" body2="right_fore" />
  </contact>
</mujoco>

Import report

Counts

Links	7
Joints	6
Moving joints	4
Visuals	4
Collisions	0
Materials	0

Meshes

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

Dropped on import

Nothing dropped: every tag in the original is carried.

Forward-kinematics check

Not checked: the oracle could not load the original URDF.

MuJoCo

robot.xml compiles in MuJoCo with its meshes (nq = 4).

Source & licence

Written in	`examples/two_arm_cell.py` (the home page example)
Licence	MIT
Files	robot.urdf · robot.xml