YAM

I2RT Robotics · licence MIT · source: github.com/robot-descriptions/i2rt @ 7809b5b17

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 c0df934fd4080e63 -->
<robot name="yam_v0">
  <material name="base_link_parts_material">
    <color rgba="1.0 0.6 0.0 1.0" />
  </material>
  <link name="base_link">
    <visual>
      <origin xyz="-7.22812e-05 2.52572e-05 0.0159932" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://assets/base_link_visual.stl" />
      </geometry>
      <material name="base_link_parts_material" />
    </visual>
    <collision>
      <origin xyz="-7.22812e-05 2.52572e-05 0.0159932" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://assets/base_link_collision.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-7.22812e-05 2.52572e-05 0.0159932" rpy="0.0 0.0 0.0" />
      <mass value="0.822546" />
      <inertia ixx="0.00169415" ixy="2.43507e-07" ixz="-1.31515e-07" iyy="0.00066093" iyz="-9.11171e-07" izz="0.00155626" />
    </inertial>
  </link>
  <material name="link_1_parts_material">
    <color rgba="1.0 0.6 0.0 1.0" />
  </material>
  <link name="link_1">
    <visual>
      <origin xyz="-0.00192861 -0.00795735 0.0208176" rpy="0.0 -0.0 -1.5708" />
      <geometry>
        <mesh filename="package://assets/link_1_visual.stl" />
      </geometry>
      <material name="link_1_parts_material" />
    </visual>
    <collision>
      <origin xyz="-0.00192861 -0.00795735 0.0208176" rpy="0.0 -0.0 -1.5708" />
      <geometry>
        <mesh filename="package://assets/link_1_collision.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00192861 -0.00795735 0.0208176" rpy="0.0 0.0 0.0" />
      <mass value="0.12415" />
      <inertia ixx="5.98038e-05" ixy="-4.5902e-06" ixz="7.411e-06" iyy="0.000169215" iyz="1.68342e-05" izz="0.000156182" />
    </inertial>
  </link>
  <material name="link_2_parts_material">
    <color rgba="1.0 0.6 0.0 1.0" />
  </material>
  <link name="link_2">
    <visual>
      <origin xyz="0.132008 2.10599e-06 0.000293073" rpy="1.5708 1.96007e-14 3.14159" />
      <geometry>
        <mesh filename="package://assets/link_2_visual.stl" />
      </geometry>
      <material name="link_2_parts_material" />
    </visual>
    <collision>
      <origin xyz="0.132008 2.10599e-06 0.000293073" rpy="1.5708 1.96007e-14 3.14159" />
      <geometry>
        <mesh filename="package://assets/link_2_collision.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.132008 2.10599e-06 0.000293073" rpy="0.0 0.0 0.0" />
      <mass value="1.24434" />
      <inertia ixx="0.000683304" ixy="1.99503e-09" ixz="3.68337e-09" iyy="0.0121902" iyz="3.20067e-09" izz="0.0121318" />
    </inertial>
  </link>
  <material name="link_3_parts_material">
    <color rgba="1.0 0.6 0.0 1.0" />
  </material>
  <link name="link_3">
    <visual>
      <origin xyz="-0.121816 -0.054846 -0.000111108" rpy="-1.5708 -1.96007e-14 -3.14159" />
      <geometry>
        <mesh filename="package://assets/link_3_visual.stl" />
      </geometry>
      <material name="link_3_parts_material" />
    </visual>
    <collision>
      <origin xyz="-0.121816 -0.054846 -0.000111108" rpy="-1.5708 -1.96007e-14 -3.14159" />
      <geometry>
        <mesh filename="package://assets/link_3_collision.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.121816 -0.054846 -0.000111108" rpy="0.0 0.0 0.0" />
      <mass value="0.853698" />
      <inertia ixx="0.000835003" ixy="-0.000536647" ixz="-1.03114e-05" iyy="0.00694973" iyz="-6.38588e-06" izz="0.00696195" />
    </inertial>
  </link>
  <material name="link_4_parts_material">
    <color rgba="1.0 0.6 0.0 1.0" />
  </material>
  <link name="link_4">
    <visual>
      <origin xyz="-0.0569778 -0.0527104 0.000154878" rpy="-1.5708 -1.34671e-13 -3.14159" />
      <geometry>
        <mesh filename="package://assets/link_4_visual.stl" />
      </geometry>
      <material name="link_4_parts_material" />
    </visual>
    <collision>
      <origin xyz="-0.0569778 -0.0527104 0.000154878" rpy="-1.5708 -1.34671e-13 -3.14159" />
      <geometry>
        <mesh filename="package://assets/link_4_collision.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0569778 -0.0527104 0.000154878" rpy="0.0 0.0 0.0" />
      <mass value="0.463511" />
      <inertia ixx="0.000582374" ixy="-0.000250406" ixz="-7.15749e-06" iyy="0.000491129" iyz="-3.22486e-06" izz="0.000744878" />
    </inertial>
  </link>
  <material name="link_5_parts_material">
    <color rgba="1.0 0.6 0.0 1.0" />
  </material>
  <link name="link_5">
    <visual>
      <origin xyz="3.64861e-05 0.00025665 0.0353526" rpy="-3.14159 5.80587e-15 1.5708" />
      <geometry>
        <mesh filename="package://assets/link_5_visual.stl" />
      </geometry>
      <material name="link_5_parts_material" />
    </visual>
    <collision>
      <origin xyz="3.64861e-05 0.00025665 0.0353526" rpy="-3.14159 5.80587e-15 1.5708" />
      <geometry>
        <mesh filename="package://assets/link_5_collision.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="3.64861e-05 0.00025665 0.0353526" rpy="0.0 0.0 0.0" />
      <mass value="0.350962" />
      <inertia ixx="0.000197798" ixy="-3.20004e-07" ixz="-2.01757e-07" iyy="0.000172615" iyz="-1.10998e-05" izz="0.000152291" />
    </inertial>
  </link>
  <material name="link_6_parts_material">
    <color rgba="1.0 0.6 0.0 1.0" />
  </material>
  <link name="link_6">
    <visual>
      <origin xyz="-5.10177e-05 -0.00269952 0.0481778" rpy="-1.5708 -1.5708 0.0" />
      <geometry>
        <mesh filename="package://assets/link_6_visual.stl" />
      </geometry>
      <material name="link_6_parts_material" />
    </visual>
    <collision>
      <origin xyz="-5.10177e-05 -0.00269952 0.0481778" rpy="-1.5708 -1.5708 0.0" />
      <geometry>
        <mesh filename="package://assets/link_6_collision.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-5.10177e-05 -0.00269952 0.0481778" rpy="0.0 0.0 0.0" />
      <mass value="0.60366" />
      <inertia ixx="0.000955866" ixy="1.47274e-05" ixz="-5.44088e-06" iyy="0.000761363" iyz="0.000106418" izz="0.000508596" />
    </inertial>
  </link>
  <joint name="joint6" type="revolute">
    <origin xyz="-4.0742e-16 0.0353 0.0395" rpy="-1.5708 3.81639e-16 4.68582e-15" />
    <parent link="link_5" />
    <child link="link_6" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="10.0" lower="-2.0944" upper="2.0944" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint5" type="revolute">
    <origin xyz="-0.0739968 -0.0395003 2.44738e-05" rpy="-1.5708 1.5708 0.0" />
    <parent link="link_4" />
    <child link="link_5" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="10.0" lower="-1.5708" upper="1.5708" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint4" type="revolute">
    <origin xyz="-0.245 -0.0600003 -1.9984e-15" rpy="-5.65471e-31 -1.1507e-13 2.94252e-43" />
    <parent link="link_3" />
    <child link="link_4" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="10.0" lower="-1.5708" upper="1.5708" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint3" type="revolute">
    <origin xyz="0.264 0.0 6.77626e-21" rpy="-3.14159 1.26218e-29 7.88861e-31" />
    <parent link="link_2" />
    <child link="link_3" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="10.0" lower="0.0" upper="3.13" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint2" type="revolute">
    <origin xyz="2.5e-05 -0.02 0.0409" rpy="1.5708 -1.98004e-28 1.5708" />
    <parent link="link_1" />
    <child link="link_2" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="10.0" lower="0.0" upper="3.65" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint1" type="revolute">
    <origin xyz="-3.55271e-18 -1.05495e-18 0.0631" rpy="0.0 -0.0 1.5708" />
    <parent link="base_link" />
    <child link="link_1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="10.0" lower="-2.61799" upper="3.13" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
</robot>

robot.xml

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content c0df934fd4080e63 -->
<mujoco model="yam_v0">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="base_link_parts_material" rgba="1.0 0.6 0.0 1.0" />
    <material name="link_1_parts_material" rgba="1.0 0.6 0.0 1.0" />
    <material name="link_2_parts_material" rgba="1.0 0.6 0.0 1.0" />
    <material name="link_3_parts_material" rgba="1.0 0.6 0.0 1.0" />
    <material name="link_4_parts_material" rgba="1.0 0.6 0.0 1.0" />
    <material name="link_5_parts_material" rgba="1.0 0.6 0.0 1.0" />
    <material name="link_6_parts_material" rgba="1.0 0.6 0.0 1.0" />
    <mesh name="base_link_visual" file="assets/base_link_visual.stl" />
    <mesh name="base_link_collision" file="assets/base_link_collision.stl" />
    <mesh name="link_1_visual" file="assets/link_1_visual.stl" />
    <mesh name="link_1_collision" file="assets/link_1_collision.stl" />
    <mesh name="link_2_visual" file="assets/link_2_visual.stl" />
    <mesh name="link_2_collision" file="assets/link_2_collision.stl" />
    <mesh name="link_3_visual" file="assets/link_3_visual.stl" />
    <mesh name="link_3_collision" file="assets/link_3_collision.stl" />
    <mesh name="link_4_visual" file="assets/link_4_visual.stl" />
    <mesh name="link_4_collision" file="assets/link_4_collision.stl" />
    <mesh name="link_5_visual" file="assets/link_5_visual.stl" />
    <mesh name="link_5_collision" file="assets/link_5_collision.stl" />
    <mesh name="link_6_visual" file="assets/link_6_visual.stl" />
    <mesh name="link_6_collision" file="assets/link_6_collision.stl" />
  </asset>
  <worldbody>
    <body name="base_link">
      <inertial pos="-7.22812e-05 2.52572e-05 0.0159932" mass="0.822546" fullinertia="0.00169415 0.00066093 0.00155626 2.43507e-07 -1.31515e-07 -9.11171e-07" />
      <geom name="base_link_vis_0" type="mesh" mesh="base_link_visual" pos="-7.22812e-05 2.52572e-05 0.0159932" contype="0" conaffinity="0" group="2" material="base_link_parts_material" />
      <geom name="base_link_col_0" type="mesh" mesh="base_link_collision" pos="-7.22812e-05 2.52572e-05 0.0159932" group="3" />
      <body name="link_1" pos="-3.55271e-18 -1.05495e-18 0.0631" quat="0.7071054825112363 0.0 0.0 0.7071080798594735">
        <joint name="joint1" type="hinge" axis="0.0 0.0 1.0" range="-2.61799 3.13" />
        <inertial pos="-0.00192861 -0.00795735 0.0208176" mass="0.12415" fullinertia="5.98038e-05 0.000169215 0.000156182 -4.5902e-06 7.411e-06 1.68342e-05" />
        <geom name="link_1_vis_0" type="mesh" mesh="link_1_visual" pos="-0.00192861 -0.00795735 0.0208176" quat="0.7071054825112363 0.0 -0.0 -0.7071080798594735" contype="0" conaffinity="0" group="2" material="link_1_parts_material" />
        <geom name="link_1_col_0" type="mesh" mesh="link_1_collision" pos="-0.00192861 -0.00795735 0.0208176" quat="0.7071054825112363 0.0 -0.0 -0.7071080798594735" group="3" />
        <body name="link_2" pos="2.5e-05 -0.02 0.0409" quat="0.4999981633974483 0.49999999999662686 0.5000018366025516 0.49999999999662686">
          <joint name="joint2" type="hinge" axis="0.0 0.0 1.0" range="0.0 3.65" />
          <inertial pos="0.132008 2.10599e-06 0.000293073" mass="1.24434" fullinertia="0.000683304 0.0121902 0.0121318 1.99503e-09 3.68337e-09 3.20067e-09" />
          <geom name="link_2_vis_0" type="mesh" mesh="link_2_visual" pos="0.132008 2.10599e-06 0.000293073" quat="9.381839525385194e-07 9.381873848271176e-07 0.7071080798588512 0.7071054825106139" contype="0" conaffinity="0" group="2" material="link_2_parts_material" />
          <geom name="link_2_col_0" type="mesh" mesh="link_2_collision" pos="0.132008 2.10599e-06 0.000293073" quat="9.381839525385194e-07 9.381873848271176e-07 0.7071080798588512 0.7071054825106139" group="3" />
          <body name="link_3" pos="0.264 0.0 6.77626e-21" quat="1.3267948966775328e-06 -0.9999999999991198 -3.944221267297394e-31 6.31090052332282e-30">
            <joint name="joint3" type="hinge" axis="0.0 0.0 1.0" range="0.0 3.13" />
            <inertial pos="-0.121816 -0.054846 -0.000111108" mass="0.853698" fullinertia="0.000835003 0.00694973 0.00696195 -0.000536647 -1.03114e-05 -6.38588e-06" />
            <geom name="link_3_vis_0" type="mesh" mesh="link_3_visual" pos="-0.121816 -0.054846 -0.000111108" quat="9.38183938678706e-07 -9.381873986868801e-07 0.7071080798588512 -0.7071054825106139" contype="0" conaffinity="0" group="2" material="link_3_parts_material" />
            <geom name="link_3_col_0" type="mesh" mesh="link_3_collision" pos="-0.121816 -0.054846 -0.000111108" quat="9.38183938678706e-07 -9.381873986868801e-07 0.7071080798588512 -0.7071054825106139" group="3" />
            <body name="link_4" pos="-0.245 -0.0600003 -1.9984e-15" quat="1.0 -2.827355e-31 -5.7535e-14 1.308588130075e-43">
              <joint name="joint4" type="hinge" axis="0.0 0.0 1.0" range="-1.5708 1.5708" />
              <inertial pos="-0.0569778 -0.0527104 0.000154878" mass="0.463511" fullinertia="0.000582374 0.000491129 0.000744878 -0.000250406 -7.15749e-06 -3.22486e-06" />
              <geom name="link_4_vis_0" type="mesh" mesh="link_4_visual" pos="-0.0569778 -0.0527104 0.000154878" quat="9.381838979951367e-07 -9.381874393703001e-07 0.7071080798588512 -0.7071054825106139" contype="0" conaffinity="0" group="2" material="link_4_parts_material" />
              <geom name="link_4_col_0" type="mesh" mesh="link_4_collision" pos="-0.0569778 -0.0527104 0.000154878" quat="9.381838979951367e-07 -9.381874393703001e-07 0.7071080798588512 -0.7071054825106139" group="3" />
              <body name="link_5" pos="-0.0739968 -0.0395003 2.44738e-05" quat="0.4999981633974483 -0.49999999999662686 0.49999999999662686 0.5000018366025516">
                <joint name="joint5" type="hinge" axis="0.0 0.0 1.0" range="-1.5708 1.5708" />
                <inertial pos="3.64861e-05 0.00025665 0.0353526" mass="0.350962" fullinertia="0.000197798 0.000172615 0.000152291 -3.20004e-07 -2.01757e-07 -1.10998e-05" />
                <geom name="link_5_vis_0" type="mesh" mesh="link_5_visual" pos="3.64861e-05 0.00025665 0.0353526" quat="9.381839435559239e-07 -0.7071054825106139 -0.7071080798588512 9.3818739380968e-07" contype="0" conaffinity="0" group="2" material="link_5_parts_material" />
                <geom name="link_5_col_0" type="mesh" mesh="link_5_collision" pos="3.64861e-05 0.00025665 0.0353526" quat="9.381839435559239e-07 -0.7071054825106139 -0.7071080798588512 9.3818739380968e-07" group="3" />
                <body name="link_6" pos="-4.0742e-16 0.0353 0.0395" quat="0.7071054825112363 -0.7071080798594735 -1.5217610767635063e-15 1.7916145162751454e-15">
                  <joint name="joint6" type="hinge" axis="0.0 0.0 1.0" range="-2.0944 2.0944" />
                  <inertial pos="-5.10177e-05 -0.00269952 0.0481778" mass="0.60366" fullinertia="0.000955866 0.000761363 0.000508596 1.47274e-05 -5.44088e-06 0.000106418" />
                  <geom name="link_6_vis_0" type="mesh" mesh="link_6_visual" pos="-5.10177e-05 -0.00269952 0.0481778" quat="0.4999981633974483 -0.49999999999662686 -0.49999999999662686 -0.5000018366025516" contype="0" conaffinity="0" group="2" material="link_6_parts_material" />
                  <geom name="link_6_col_0" type="mesh" mesh="link_6_collision" pos="-5.10177e-05 -0.00269952 0.0481778" quat="0.4999981633974483 -0.49999999999662686 -0.49999999999662686 -0.5000018366025516" group="3" />
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="link_5" body2="link_6" />
    <exclude body1="link_4" body2="link_5" />
    <exclude body1="link_3" body2="link_4" />
    <exclude body1="link_2" body2="link_3" />
    <exclude body1="link_1" body2="link_2" />
    <exclude body1="base_link" body2="link_1" />
  </contact>
</mujoco>

Import report

Counts

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

Meshes

Formats: stl.
Asset size: 6.8 MB.

Dropped on import

Nothing dropped: every tag in the original is carried.

Forward-kinematics check

Forward kinematics of 7 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 · 8.4e-16 rad.

MuJoCo

robot.xml compiles in MuJoCo with its meshes (nq = 6).

Source & licence

Repository	https://github.com/robot-descriptions/i2rt
Commit	`7809b5b17227162d265f922e2e10598c0e214322`
Original file	`i2rt/robot_models/yam/yam.urdf`
Licence	MIT · 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.