YuMi
ABB · licence BSD · source: github.com/ankurhanda/robot-assets @ 12f1a3c89
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 7dc267132c2f830c -->
<robot name="yumi">
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
<material name="Blue">
<color rgba="0.0 0.0 0.8 1.0" />
</material>
<material name="Green">
<color rgba="0.0 0.8 0.0 1.0" />
</material>
<material name="Grey">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
<material name="Light_Grey">
<color rgba="0.8 0.8 0.8 1.0" />
</material>
<material name="Ivory">
<color rgba="1.0 1.0 0.94 1.0" />
</material>
<material name="Orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0" />
</material>
<material name="Brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0" />
</material>
<material name="Red">
<color rgba="0.8 0.0 0.0 1.0" />
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0" />
</material>
<link name="yumi_base_link" />
<joint name="yumi_base_link_to_body" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="yumi_base_link" />
<child link="yumi_body" />
</joint>
<link name="yumi_body">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/body.stl" />
</geometry>
<material name="Light_Grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/coarse/body.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="15.0" />
<inertia ixx="0.5" ixy="0.0" ixz="0.0" iyy="0.6" iyz="0.0" izz="0.3" />
</inertial>
</link>
<joint name="yumi_joint_1_r" type="revolute">
<origin xyz="0.05355 -0.0725 0.41492" rpy="-0.9795 -0.5682 -2.3155" />
<parent link="yumi_body" />
<child link="yumi_link_1_r" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="300.0" velocity="3.14159265359" lower="-2.94087978961" upper="2.94087978961" />
<dynamics damping="0.5" friction="0.0" />
</joint>
<link name="yumi_link_1_r">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/link_1.stl" />
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/coarse/link_1.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.03 0.12" rpy="0.0 0.0 0.0" />
<mass value="2.0" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
</link>
<joint name="yumi_joint_2_r" type="revolute">
<origin xyz="0.03 0.0 0.1" rpy="1.57079632679 0.0 0.0" />
<parent link="yumi_link_1_r" />
<child link="yumi_link_2_r" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="300.0" velocity="3.14159265359" lower="-2.50454747661" upper="0.759218224618" />
<dynamics damping="0.5" friction="0.0" />
</joint>
<link name="yumi_link_2_r">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/link_2.stl" />
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/coarse/link_2.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.0" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
</link>
<joint name="yumi_joint_7_r" type="revolute">
<origin xyz="-0.03 0.17283 0.0" rpy="-1.57079632679 0.0 0.0" />
<parent link="yumi_link_2_r" />
<child link="yumi_link_3_r" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="300.0" velocity="3.14159265359" lower="-2.94087978961" upper="2.94087978961" />
<dynamics damping="0.5" friction="0.0" />
</joint>
<link name="yumi_link_3_r">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/link_3.stl" />
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/coarse/link_3.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.0" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
</link>
<joint name="yumi_joint_3_r" type="revolute">
<origin xyz="-0.04188 0.0 0.07873" rpy="1.57079632679 -1.57079632679 0.0" />
<parent link="yumi_link_3_r" />
<child link="yumi_link_4_r" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="300.0" velocity="3.14159265359" lower="-2.15548162621" upper="1.3962634016" />
<dynamics damping="0.5" friction="0.0" />
</joint>
<link name="yumi_link_4_r">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/link_4.stl" />
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/coarse/link_4.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.0" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
</link>
<joint name="yumi_joint_4_r" type="revolute">
<origin xyz="0.0405 0.16461 0.0" rpy="-1.57079632679 0.0 0.0" />
<parent link="yumi_link_4_r" />
<child link="yumi_link_5_r" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="300.0" velocity="6.98131700798" lower="-5.06145483078" upper="5.06145483078" />
<dynamics damping="0.5" friction="0.0" />
</joint>
<link name="yumi_link_5_r">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/link_5.stl" />
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/coarse/link_5.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.0" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
</link>
<joint name="yumi_joint_5_r" type="revolute">
<origin xyz="-0.027 0.0 0.10039" rpy="1.57079632679 0.0 0.0" />
<parent link="yumi_link_5_r" />
<child link="yumi_link_6_r" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="300.0" velocity="6.98131700798" lower="-1.53588974176" upper="2.40855436775" />
<dynamics damping="0.5" friction="0.0" />
</joint>
<link name="yumi_link_6_r">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/link_6.stl" />
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/coarse/link_6.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.0" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
</link>
<joint name="yumi_joint_6_r" type="revolute">
<origin xyz="0.027 0.029 0.0" rpy="-1.57079632679 0.0 0.0" />
<parent link="yumi_link_6_r" />
<child link="yumi_link_7_r" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="300.0" velocity="6.98131700798" lower="-3.99680398707" upper="3.99680398707" />
<dynamics damping="0.5" friction="0.0" />
</joint>
<link name="yumi_link_7_r">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/link_7.stl" />
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/coarse/link_7.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.0" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
</link>
<joint name="yumi_joint_1_l" type="revolute">
<origin xyz="0.05355 0.0725 0.41492" rpy="0.9781 -0.5716 2.318" />
<parent link="yumi_body" />
<child link="yumi_link_1_l" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="300.0" velocity="3.14159265359" lower="-2.94087978961" upper="2.94087978961" />
<dynamics damping="0.5" friction="0.0" />
</joint>
<link name="yumi_link_1_l">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/link_1.stl" />
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/coarse/link_1.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.03 0.12" rpy="0.0 0.0 0.0" />
<mass value="2.0" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
</link>
<joint name="yumi_joint_2_l" type="revolute">
<origin xyz="0.03 0.0 0.1" rpy="1.57079632679 0.0 0.0" />
<parent link="yumi_link_1_l" />
<child link="yumi_link_2_l" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="300.0" velocity="3.14159265359" lower="-2.50454747661" upper="0.759218224618" />
<dynamics damping="0.5" friction="0.0" />
</joint>
<link name="yumi_link_2_l">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/link_2.stl" />
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/coarse/link_2.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.0" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
</link>
<joint name="yumi_joint_7_l" type="revolute">
<origin xyz="-0.03 0.17283 0.0" rpy="-1.57079632679 0.0 0.0" />
<parent link="yumi_link_2_l" />
<child link="yumi_link_3_l" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="300.0" velocity="3.14159265359" lower="-2.94087978961" upper="2.94087978961" />
<dynamics damping="0.5" friction="0.0" />
</joint>
<link name="yumi_link_3_l">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/link_3.stl" />
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/coarse/link_3.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.0" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
</link>
<joint name="yumi_joint_3_l" type="revolute">
<origin xyz="-0.04188 0.0 0.07873" rpy="1.57079632679 -1.57079632679 0.0" />
<parent link="yumi_link_3_l" />
<child link="yumi_link_4_l" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="300.0" velocity="3.14159265359" lower="-2.15548162621" upper="1.3962634016" />
<dynamics damping="0.5" friction="0.0" />
</joint>
<link name="yumi_link_4_l">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/link_4.stl" />
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/coarse/link_4.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.0" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
</link>
<joint name="yumi_joint_4_l" type="revolute">
<origin xyz="0.0405 0.16461 0.0" rpy="-1.57079632679 0.0 0.0" />
<parent link="yumi_link_4_l" />
<child link="yumi_link_5_l" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="300.0" velocity="6.98131700798" lower="-5.06145483078" upper="5.06145483078" />
<dynamics damping="0.5" friction="0.0" />
</joint>
<link name="yumi_link_5_l">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/link_5.stl" />
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/coarse/link_5.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.0" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
</link>
<joint name="yumi_joint_5_l" type="revolute">
<origin xyz="-0.027 0.0 0.10039" rpy="1.57079632679 0.0 0.0" />
<parent link="yumi_link_5_l" />
<child link="yumi_link_6_l" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="300.0" velocity="6.98131700798" lower="-1.53588974176" upper="2.40855436775" />
<dynamics damping="0.5" friction="0.0" />
</joint>
<link name="yumi_link_6_l">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/link_6.stl" />
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/coarse/link_6.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.0" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
</link>
<joint name="yumi_joint_6_l" type="revolute">
<origin xyz="0.027 0.029 0.0" rpy="-1.57079632679 0.0 0.0" />
<parent link="yumi_link_6_l" />
<child link="yumi_link_7_l" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="300.0" velocity="6.98131700798" lower="-3.99680398707" upper="3.99680398707" />
<dynamics damping="0.5" friction="0.0" />
</joint>
<link name="yumi_link_7_l">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/link_7.stl" />
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/coarse/link_7.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="2.0" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
</link>
<joint name="yumi_link_7_r_joint" type="fixed">
<origin xyz="0.0 0.0 0.007" rpy="0.0 0.0 3.14159265359" />
<parent link="yumi_link_7_r" />
<child link="gripper_r_base" />
</joint>
<link name="gripper_r_base">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/gripper/base.stl" />
</geometry>
<material name="Light_Grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/gripper/coarse/base.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.2" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
</inertial>
</link>
<joint name="gripper_r_joint" type="prismatic">
<origin xyz="0.0 -0.0065 0.0837" rpy="0.0 0.0 0.0" />
<parent link="gripper_r_base" />
<child link="gripper_r_finger_r" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="20.0" velocity="2.0" lower="0.0" upper="0.025" />
<dynamics damping="1.0" friction="0.0" />
</joint>
<link name="gripper_r_finger_r">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/gripper/finger.stl" />
</geometry>
<material name="Blue" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/gripper/coarse/finger.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="gripper_r_joint_m" type="prismatic">
<origin xyz="0.0 0.0065 0.0837" rpy="0.0 0.0 3.14159265359" />
<parent link="gripper_r_base" />
<child link="gripper_r_finger_l" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="20.0" velocity="2.0" lower="0.0" upper="0.025" />
<dynamics damping="1.0" friction="0.0" />
</joint>
<link name="gripper_r_finger_l">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/gripper/finger.stl" />
</geometry>
<material name="Blue" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/gripper/coarse/finger.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="yumi_link_7_l_joint" type="fixed">
<origin xyz="0.0 0.0 0.007" rpy="0.0 0.0 3.14159265359" />
<parent link="yumi_link_7_l" />
<child link="gripper_l_base" />
</joint>
<link name="gripper_l_base">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/gripper/base.stl" />
</geometry>
<material name="Light_Grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/gripper/coarse/base.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.2" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
</inertial>
</link>
<joint name="gripper_l_joint" type="prismatic">
<origin xyz="0.0 -0.0065 0.0837" rpy="0.0 0.0 0.0" />
<parent link="gripper_l_base" />
<child link="gripper_l_finger_r" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="20.0" velocity="2.0" lower="0.0" upper="0.025" />
<dynamics damping="1.0" friction="0.0" />
</joint>
<link name="gripper_l_finger_r">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/gripper/finger.stl" />
</geometry>
<material name="Blue" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/gripper/coarse/finger.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="gripper_l_joint_m" type="prismatic">
<origin xyz="0.0 0.0065 0.0837" rpy="0.0 0.0 3.14159265359" />
<parent link="gripper_l_base" />
<child link="gripper_l_finger_l" />
<axis xyz="-1.0 0.0 0.0" />
<limit effort="20.0" velocity="2.0" lower="0.0" upper="0.025" />
<dynamics damping="1.0" friction="0.0" />
</joint>
<link name="gripper_l_finger_l">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/gripper/finger.stl" />
</geometry>
<material name="Blue" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://yumi/meshes/gripper/coarse/finger.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.01" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<link name="world" />
<joint name="world_joint" type="fixed">
<origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0" />
<parent link="world" />
<child link="yumi_base_link" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 7dc267132c2f830c -->
<mujoco model="yumi">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="Black" rgba="0.0 0.0 0.0 1.0" />
<material name="Blue" rgba="0.0 0.0 0.8 1.0" />
<material name="Green" rgba="0.0 0.8 0.0 1.0" />
<material name="Grey" rgba="0.5 0.5 0.5 1.0" />
<material name="Light_Grey" rgba="0.8 0.8 0.8 1.0" />
<material name="Ivory" rgba="1.0 1.0 0.94 1.0" />
<material name="Orange" rgba="1.0 0.423529411765 0.0392156862745 1.0" />
<material name="Brown" rgba="0.870588235294 0.811764705882 0.764705882353 1.0" />
<material name="Red" rgba="0.8 0.0 0.0 1.0" />
<material name="White" rgba="1.0 1.0 1.0 1.0" />
<mesh name="meshes_body" file="yumi/meshes/body.stl" />
<mesh name="coarse_body" file="yumi/meshes/coarse/body.stl" />
<mesh name="meshes_link_1" file="yumi/meshes/link_1.stl" />
<mesh name="coarse_link_1" file="yumi/meshes/coarse/link_1.stl" />
<mesh name="meshes_link_2" file="yumi/meshes/link_2.stl" />
<mesh name="coarse_link_2" file="yumi/meshes/coarse/link_2.stl" />
<mesh name="meshes_link_3" file="yumi/meshes/link_3.stl" />
<mesh name="coarse_link_3" file="yumi/meshes/coarse/link_3.stl" />
<mesh name="meshes_link_4" file="yumi/meshes/link_4.stl" />
<mesh name="coarse_link_4" file="yumi/meshes/coarse/link_4.stl" />
<mesh name="meshes_link_5" file="yumi/meshes/link_5.stl" />
<mesh name="coarse_link_5" file="yumi/meshes/coarse/link_5.stl" />
<mesh name="meshes_link_6" file="yumi/meshes/link_6.stl" />
<mesh name="coarse_link_6" file="yumi/meshes/coarse/link_6.stl" />
<mesh name="meshes_link_7" file="yumi/meshes/link_7.stl" />
<mesh name="coarse_link_7" file="yumi/meshes/coarse/link_7.stl" />
<mesh name="gripper_base" file="yumi/meshes/gripper/base.stl" />
<mesh name="coarse_base" file="yumi/meshes/gripper/coarse/base.stl" />
<mesh name="gripper_finger" file="yumi/meshes/gripper/finger.stl" />
<mesh name="coarse_finger" file="yumi/meshes/gripper/coarse/finger.stl" />
</asset>
<worldbody>
<body name="yumi_base_link" pos="0.0 0.0 0.1">
<body name="yumi_body">
<inertial pos="0.0 0.0 0.0" mass="15.0" fullinertia="0.5 0.6 0.3 0.0 0.0 0.0" />
<geom name="yumi_body_vis_0" type="mesh" mesh="meshes_body" contype="0" conaffinity="0" group="2" material="Light_Grey" />
<geom name="yumi_body_col_0" type="mesh" mesh="coarse_body" group="3" />
<body name="yumi_link_1_r" pos="0.05355 -0.0725 0.41492" quat="0.21925457634717457 -0.4077963603936713 0.31428982822327584 -0.8287650228357129">
<joint name="yumi_joint_1_r" type="hinge" axis="0.0 0.0 1.0" range="-2.94087978961 2.94087978961" damping="0.5" />
<inertial pos="0.0 -0.03 0.12" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
<geom name="yumi_link_1_r_vis_0" type="mesh" mesh="meshes_link_1" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="yumi_link_1_r_col_0" type="mesh" mesh="coarse_link_1" group="3" />
<body name="yumi_link_2_r" pos="0.03 0.0 0.1" quat="0.7071067811882787 0.7071067811848163 0.0 0.0">
<joint name="yumi_joint_2_r" type="hinge" axis="0.0 0.0 1.0" range="-2.50454747661 0.759218224618" damping="0.5" />
<inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
<geom name="yumi_link_2_r_vis_0" type="mesh" mesh="meshes_link_2" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="yumi_link_2_r_col_0" type="mesh" mesh="coarse_link_2" group="3" />
<body name="yumi_link_3_r" pos="-0.03 0.17283 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
<joint name="yumi_joint_7_r" type="hinge" axis="0.0 0.0 1.0" range="-2.94087978961 2.94087978961" damping="0.5" />
<inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
<geom name="yumi_link_3_r_vis_0" type="mesh" mesh="meshes_link_3" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="yumi_link_3_r_col_0" type="mesh" mesh="coarse_link_3" group="3" />
<body name="yumi_link_4_r" pos="-0.04188 0.0 0.07873" quat="0.5000000000024483 0.5 -0.5 0.4999999999975517">
<joint name="yumi_joint_3_r" type="hinge" axis="0.0 0.0 1.0" range="-2.15548162621 1.3962634016" damping="0.5" />
<inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
<geom name="yumi_link_4_r_vis_0" type="mesh" mesh="meshes_link_4" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="yumi_link_4_r_col_0" type="mesh" mesh="coarse_link_4" group="3" />
<body name="yumi_link_5_r" pos="0.0405 0.16461 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
<joint name="yumi_joint_4_r" type="hinge" axis="0.0 0.0 1.0" range="-5.06145483078 5.06145483078" damping="0.5" />
<inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
<geom name="yumi_link_5_r_vis_0" type="mesh" mesh="meshes_link_5" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="yumi_link_5_r_col_0" type="mesh" mesh="coarse_link_5" group="3" />
<body name="yumi_link_6_r" pos="-0.027 0.0 0.10039" quat="0.7071067811882787 0.7071067811848163 0.0 0.0">
<joint name="yumi_joint_5_r" type="hinge" axis="0.0 0.0 1.0" range="-1.53588974176 2.40855436775" damping="0.5" />
<inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
<geom name="yumi_link_6_r_vis_0" type="mesh" mesh="meshes_link_6" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="yumi_link_6_r_col_0" type="mesh" mesh="coarse_link_6" group="3" />
<body name="yumi_link_7_r" pos="0.027 0.029 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
<joint name="yumi_joint_6_r" type="hinge" axis="0.0 0.0 1.0" range="-3.99680398707 3.99680398707" damping="0.5" />
<inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
<geom name="yumi_link_7_r_vis_0" type="mesh" mesh="meshes_link_7" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="yumi_link_7_r_col_0" type="mesh" mesh="coarse_link_7" group="3" />
<body name="gripper_r_base" pos="0.0 0.0 0.007" quat="-1.0341155355510722e-13 -0.0 0.0 1.0">
<inertial pos="0.0 0.0 0.0" mass="0.2" fullinertia="0.0001 0.0001 0.0001 0.0 0.0 0.0" />
<geom name="gripper_r_base_vis_0" type="mesh" mesh="gripper_base" contype="0" conaffinity="0" group="2" material="Light_Grey" />
<geom name="gripper_r_base_col_0" type="mesh" mesh="coarse_base" group="3" />
<body name="gripper_r_finger_r" pos="0.0 -0.0065 0.0837">
<joint name="gripper_r_joint" type="slide" axis="-1.0 0.0 0.0" range="0.0 0.025" damping="1.0" />
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
<geom name="gripper_r_finger_r_vis_0" type="mesh" mesh="gripper_finger" contype="0" conaffinity="0" group="2" material="Blue" />
<geom name="gripper_r_finger_r_col_0" type="mesh" mesh="coarse_finger" group="3" />
</body>
<body name="gripper_r_finger_l" pos="0.0 0.0065 0.0837" quat="-1.0341155355510722e-13 -0.0 0.0 1.0">
<joint name="gripper_r_joint_m" type="slide" axis="-1.0 0.0 0.0" range="0.0 0.025" damping="1.0" />
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
<geom name="gripper_r_finger_l_vis_0" type="mesh" mesh="gripper_finger" contype="0" conaffinity="0" group="2" material="Blue" />
<geom name="gripper_r_finger_l_col_0" type="mesh" mesh="coarse_finger" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="yumi_link_1_l" pos="0.05355 0.0725 0.41492" quat="0.21763235981918536 0.40848028010665555 0.3134367343687632 0.8291787685847762">
<joint name="yumi_joint_1_l" type="hinge" axis="0.0 0.0 1.0" range="-2.94087978961 2.94087978961" damping="0.5" />
<inertial pos="0.0 -0.03 0.12" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
<geom name="yumi_link_1_l_vis_0" type="mesh" mesh="meshes_link_1" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="yumi_link_1_l_col_0" type="mesh" mesh="coarse_link_1" group="3" />
<body name="yumi_link_2_l" pos="0.03 0.0 0.1" quat="0.7071067811882787 0.7071067811848163 0.0 0.0">
<joint name="yumi_joint_2_l" type="hinge" axis="0.0 0.0 1.0" range="-2.50454747661 0.759218224618" damping="0.5" />
<inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
<geom name="yumi_link_2_l_vis_0" type="mesh" mesh="meshes_link_2" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="yumi_link_2_l_col_0" type="mesh" mesh="coarse_link_2" group="3" />
<body name="yumi_link_3_l" pos="-0.03 0.17283 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
<joint name="yumi_joint_7_l" type="hinge" axis="0.0 0.0 1.0" range="-2.94087978961 2.94087978961" damping="0.5" />
<inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
<geom name="yumi_link_3_l_vis_0" type="mesh" mesh="meshes_link_3" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="yumi_link_3_l_col_0" type="mesh" mesh="coarse_link_3" group="3" />
<body name="yumi_link_4_l" pos="-0.04188 0.0 0.07873" quat="0.5000000000024483 0.5 -0.5 0.4999999999975517">
<joint name="yumi_joint_3_l" type="hinge" axis="0.0 0.0 1.0" range="-2.15548162621 1.3962634016" damping="0.5" />
<inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
<geom name="yumi_link_4_l_vis_0" type="mesh" mesh="meshes_link_4" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="yumi_link_4_l_col_0" type="mesh" mesh="coarse_link_4" group="3" />
<body name="yumi_link_5_l" pos="0.0405 0.16461 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
<joint name="yumi_joint_4_l" type="hinge" axis="0.0 0.0 1.0" range="-5.06145483078 5.06145483078" damping="0.5" />
<inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
<geom name="yumi_link_5_l_vis_0" type="mesh" mesh="meshes_link_5" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="yumi_link_5_l_col_0" type="mesh" mesh="coarse_link_5" group="3" />
<body name="yumi_link_6_l" pos="-0.027 0.0 0.10039" quat="0.7071067811882787 0.7071067811848163 0.0 0.0">
<joint name="yumi_joint_5_l" type="hinge" axis="0.0 0.0 1.0" range="-1.53588974176 2.40855436775" damping="0.5" />
<inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
<geom name="yumi_link_6_l_vis_0" type="mesh" mesh="meshes_link_6" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="yumi_link_6_l_col_0" type="mesh" mesh="coarse_link_6" group="3" />
<body name="yumi_link_7_l" pos="0.027 0.029 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
<joint name="yumi_joint_6_l" type="hinge" axis="0.0 0.0 1.0" range="-3.99680398707 3.99680398707" damping="0.5" />
<inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
<geom name="yumi_link_7_l_vis_0" type="mesh" mesh="meshes_link_7" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="yumi_link_7_l_col_0" type="mesh" mesh="coarse_link_7" group="3" />
<body name="gripper_l_base" pos="0.0 0.0 0.007" quat="-1.0341155355510722e-13 -0.0 0.0 1.0">
<inertial pos="0.0 0.0 0.0" mass="0.2" fullinertia="0.0001 0.0001 0.0001 0.0 0.0 0.0" />
<geom name="gripper_l_base_vis_0" type="mesh" mesh="gripper_base" contype="0" conaffinity="0" group="2" material="Light_Grey" />
<geom name="gripper_l_base_col_0" type="mesh" mesh="coarse_base" group="3" />
<body name="gripper_l_finger_r" pos="0.0 -0.0065 0.0837">
<joint name="gripper_l_joint" type="slide" axis="-1.0 0.0 0.0" range="0.0 0.025" damping="1.0" />
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
<geom name="gripper_l_finger_r_vis_0" type="mesh" mesh="gripper_finger" contype="0" conaffinity="0" group="2" material="Blue" />
<geom name="gripper_l_finger_r_col_0" type="mesh" mesh="coarse_finger" group="3" />
</body>
<body name="gripper_l_finger_l" pos="0.0 0.0065 0.0837" quat="-1.0341155355510722e-13 -0.0 0.0 1.0">
<joint name="gripper_l_joint_m" type="slide" axis="-1.0 0.0 0.0" range="0.0 0.025" damping="1.0" />
<inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
<geom name="gripper_l_finger_l_vis_0" type="mesh" mesh="gripper_finger" contype="0" conaffinity="0" group="2" material="Blue" />
<geom name="gripper_l_finger_l_col_0" type="mesh" mesh="coarse_finger" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="yumi_base_link" body2="yumi_body" />
<exclude body1="yumi_body" body2="yumi_link_1_r" />
<exclude body1="yumi_link_1_r" body2="yumi_link_2_r" />
<exclude body1="yumi_link_2_r" body2="yumi_link_3_r" />
<exclude body1="yumi_link_3_r" body2="yumi_link_4_r" />
<exclude body1="yumi_link_4_r" body2="yumi_link_5_r" />
<exclude body1="yumi_link_5_r" body2="yumi_link_6_r" />
<exclude body1="yumi_link_6_r" body2="yumi_link_7_r" />
<exclude body1="yumi_body" body2="yumi_link_1_l" />
<exclude body1="yumi_link_1_l" body2="yumi_link_2_l" />
<exclude body1="yumi_link_2_l" body2="yumi_link_3_l" />
<exclude body1="yumi_link_3_l" body2="yumi_link_4_l" />
<exclude body1="yumi_link_4_l" body2="yumi_link_5_l" />
<exclude body1="yumi_link_5_l" body2="yumi_link_6_l" />
<exclude body1="yumi_link_6_l" body2="yumi_link_7_l" />
<exclude body1="yumi_link_7_r" body2="gripper_r_base" />
<exclude body1="gripper_r_base" body2="gripper_r_finger_r" />
<exclude body1="gripper_r_base" body2="gripper_r_finger_l" />
<exclude body1="yumi_link_7_l" body2="gripper_l_base" />
<exclude body1="gripper_l_base" body2="gripper_l_finger_r" />
<exclude body1="gripper_l_base" body2="gripper_l_finger_l" />
</contact>
</mujoco>
Import report
Counts
| Links | 23 |
|---|---|
| Joints | 22 |
| Moving joints | 18 |
| Visuals | 21 |
| Collisions | 21 |
| Materials | 10 |
Meshes
Formats: stl.
Asset size: 33.4 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
gazebo | 6 | Gazebo simulator extensions are not part of the description |
material | 21 | <material> is not part of the URDF subset RobotDescription mirrors |
mimic | 2 | joint coupling (mimic) is not representable yet; the joint imports as independent |
transmission | 16 | ROS transmissions (actuator-to-joint wiring) have no RobotDescription field yet |
Forward-kinematics check
Forward kinematics of 23 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 · 6.5e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 18).
Source & licence
| Repository | https://github.com/ankurhanda/robot-assets |
|---|---|
| Commit | 12f1a3c89c9975194551afaed0dfae1e09fdb27c |
| Original file | urdfs/robots/yumi/yumi.urdf |
| Licence | 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.