pub const FR3_URDF: &str = "<?xml version=\"1.0\" ?>\n<!-- =================================================================================== -->\n<!-- | This document was autogenerated by xacro from franka_description/robots/fr3/fr3.urdf.xacro | -->\n<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->\n<!-- =================================================================================== -->\n<robot name=\"fr3\">\n <!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->\n <!-- arm_id: Namespace of the robot arm. Serves to differentiate between arms in case of multiple instances. -->\n <!-- joint_limits: description of the joint limits that comes from a YAML file. Example definition: ${xacro.load_yaml(\'$(find franka_description)/robots/fr3/joint_limits.yaml\')} -->\n <!-- kinematics: description of the kinematics that comes from a YAML file. Example definition: ${xacro.load_yaml(\'$(find franka_description)/robots/fr3/kinematics.yaml\')} -->\n <!-- inertials: description of the inertials that comes from a YAML file. Example definition: ${xacro.load_yaml(\'$(find franka_description)/robots/fr3/inertials.yaml\')} -->\n <!-- dynamics: description of the dynamics that comes from a YAML file. Example definition: ${xacro.load_yaml(\'$(find franka_description)/robots/fr3/dynamics.yaml\')} -->\n <link name=\"base\">\n </link>\n <joint name=\"base_joint\" type=\"fixed\">\n <parent link=\"base\"/>\n <child link=\"link0\"/>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n </joint>\n <!-- sub-link defining detailed meshes for collision with environment -->\n <link name=\"link0\">\n <visual name=\"link0_visual\">\n <geometry>\n <mesh filename=\"package://franka_description/meshes/robot_arms/fr3/visual/link0.dae\"/>\n </geometry>\n </visual>\n <collision name=\"link0_collision\">\n <geometry>\n <mesh filename=\"package://franka_description/meshes/robot_arms/fr3/collision/link0.stl\"/>\n </geometry>\n </collision>\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"-0.0172 0.0004 0.0745\"/>\n <mass value=\"2.3966\"/>\n <inertia ixx=\"0.009\" ixy=\"0.0\" ixz=\"0.002\" iyy=\"0.0115\" iyz=\"0.0\" izz=\"0.0085\"/>\n </inertial>\n </link>\n <link name=\"link0_accelerometer_top\">\n </link>\n <joint name=\"link0_accelerometer_top_joint\" type=\"fixed\">\n <origin rpy=\"3.14159 0 0\" xyz=\"0 0 0.05\"/>\n <parent link=\"link0\"/>\n <child link=\"link0_accelerometer_top\"/>\n </joint>\n <link name=\"link0_accelerometer_bottom\">\n </link>\n <joint name=\"link0_accelerometer_bottom_joint\" type=\"fixed\">\n <origin rpy=\"0 0 0\" xyz=\"0 0 0.06\"/>\n <parent link=\"link0\"/>\n <child link=\"link0_accelerometer_bottom\"/>\n </joint>\n <!-- sub-link defining detailed meshes for collision with environment -->\n <link name=\"link1\">\n <visual name=\"link1_visual\">\n <geometry>\n <mesh filename=\"package://franka_description/meshes/robot_arms/fr3/visual/link1.dae\"/>\n </geometry>\n </visual>\n <collision name=\"link1_collision\">\n <geometry>\n <mesh filename=\"package://franka_description/meshes/robot_arms/fr3/collision/link1.stl\"/>\n </geometry>\n </collision>\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0.0000004128 -0.0181251324 -0.0386035970\"/>\n <mass value=\"2.9274653454\"/>\n <inertia ixx=\"0.023927316485107913\" ixy=\"1.3317903455714081e-05\" ixz=\"-0.00011404774918616684\" iyy=\"0.0224821613275756\" iyz=\"-0.0019950320628240115\" izz=\"0.006350098258530016\"/>\n </inertial>\n </link>\n <link name=\"link1_accelerometer_top\">\n </link>\n <joint name=\"link1_accelerometer_top_joint\" type=\"fixed\">\n <origin rpy=\"1.5708 0 0\" xyz=\"0 -0.1 0.0\"/>\n <parent link=\"link1\"/>\n <child link=\"link1_accelerometer_top\"/>\n </joint>\n <link name=\"link1_accelerometer_bottom\">\n </link>\n <joint name=\"link1_accelerometer_bottom_joint\" type=\"fixed\">\n <origin rpy=\"-1.5708 0 0\" xyz=\"0 -0.09 0.0\"/>\n <parent link=\"link1\"/>\n <child link=\"link1_accelerometer_bottom\"/>\n </joint>\n <joint name=\"joint1\" type=\"revolute\">\n <origin rpy=\"0 0 0\" xyz=\"0 0 0.333\"/>\n <parent link=\"link0\"/>\n <child link=\"link1\"/>\n <axis xyz=\"0 0 1\"/>\n <limit effort=\"87.0\" lower=\"-2.750100\" upper=\"2.75010\" velocity=\"2.62\"/>\n <safety_controller k_position=\"100.0\" k_velocity=\"40.0\" soft_lower_limit=\"-2.9007\" soft_upper_limit=\"2.9007\"/>\n <position_based_velocity_limits deceleration_limit=\"6.0\" velocity_offset=\"0.30\"/>\n <dynamics D=\"1\" K=\"7000\" damping=\"0.003\" friction=\"0.2\" mu_coulomb=\"0\" mu_viscous=\"16\"/>\n </joint>\n <!-- sub-link defining detailed meshes for collision with environment -->\n <link name=\"link2\">\n <visual name=\"link2_visual\">\n <geometry>\n <mesh filename=\"package://franka_description/meshes/robot_arms/fr3/visual/link2.dae\"/>\n </geometry>\n </visual>\n <collision name=\"link2_collision\">\n <geometry>\n <mesh filename=\"package://franka_description/meshes/robot_arms/fr3/collision/link2.stl\"/>\n </geometry>\n </collision>\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0.0031828864 -0.0743221644 0.0088146084\"/>\n <mass value=\"2.9355370338\"/>\n <inertia ixx=\"0.041938946257609425\" ixy=\"0.00020257331521090626\" ixz=\"0.004077784227179924\" iyy=\"0.02514514885014724\" iyz=\"-0.0042252158006570156\" izz=\"0.06170214472888839\"/>\n </inertial>\n </link>\n <link name=\"link2_accelerometer_top\">\n </link>\n <joint name=\"link2_accelerometer_top_joint\" type=\"fixed\">\n <origin rpy=\"-1.5708 0 0\" xyz=\"0 -0.13 0\"/>\n <parent link=\"link2\"/>\n <child link=\"link2_accelerometer_top\"/>\n </joint>\n <link name=\"link2_accelerometer_bottom\">\n </link>\n <joint name=\"link2_accelerometer_bottom_joint\" type=\"fixed\">\n <origin rpy=\"1.5708 0 0\" xyz=\"0 -0.14 0\"/>\n <parent link=\"link2\"/>\n <child link=\"link2_accelerometer_bottom\"/>\n </joint>\n <joint name=\"joint2\" type=\"revolute\">\n <origin rpy=\"-1.570796326794897 0 0\" xyz=\"0 0 0\"/>\n <parent link=\"link1\"/>\n <child link=\"link2\"/>\n <axis xyz=\"0 0 1\"/>\n <limit effort=\"87.0\" lower=\"-1.791800\" upper=\"1.79180\" velocity=\"2.62\"/>\n <safety_controller k_position=\"100.0\" k_velocity=\"40.0\" soft_lower_limit=\"-1.8361\" soft_upper_limit=\"1.8361\"/>\n <position_based_velocity_limits deceleration_limit=\"2.585\" velocity_offset=\"0.20\"/>\n <dynamics D=\"1\" K=\"7000\" damping=\"0.003\" friction=\"0.2\" mu_coulomb=\"0\" mu_viscous=\"16\"/>\n </joint>\n <!-- sub-link defining detailed meshes for collision with environment -->\n <link name=\"link3\">\n <visual name=\"link3_visual\">\n <geometry>\n <mesh filename=\"package://franka_description/meshes/robot_arms/fr3/visual/link3.dae\"/>\n </geometry>\n </visual>\n <collision name=\"link3_collision\">\n <geometry>\n <mesh filename=\"package://franka_description/meshes/robot_arms/fr3/collision/link3.stl\"/>\n </geometry>\n </collision>\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0.0407015686 -0.0048200565 -0.0289730823\"/>\n <mass value=\"2.2449013699\"/>\n <inertia ixx=\"0.02410142547240885\" ixy=\"0.002404694559042109\" ixz=\"-0.002856269270114313\" iyy=\"0.01974053266708178\" iyz=\"-0.002104212683891874\" izz=\"0.019044494482244823\"/>\n </inertial>\n </link>\n <link name=\"link3_accelerometer_top\">\n </link>\n <joint name=\"link3_accelerometer_top_joint\" type=\"fixed\">\n <origin rpy=\"-1.5708 0 0\" xyz=\"0.0825 0.05 0\"/>\n <parent link=\"link3\"/>\n <child link=\"link3_accelerometer_top\"/>\n </joint>\n <link name=\"link3_accelerometer_bottom\">\n </link>\n <joint name=\"link3_accelerometer_bottom_joint\" type=\"fixed\">\n <origin rpy=\"1.5708 0 0\" xyz=\"0.0825 0.04 0\"/>\n <parent link=\"link3\"/>\n <child link=\"link3_accelerometer_bottom\"/>\n </joint>\n <joint name=\"joint3\" type=\"revolute\">\n <origin rpy=\"1.570796326794897 0 0\" xyz=\"0 -0.316 0\"/>\n <parent link=\"link2\"/>\n <child link=\"link3\"/>\n <axis xyz=\"0 0 1\"/>\n <limit effort=\"87.0\" lower=\"-2.906500\" upper=\"2.90650\" velocity=\"2.62\"/>\n <safety_controller k_position=\"100.0\" k_velocity=\"40.0\" soft_lower_limit=\"-2.9007\" soft_upper_limit=\"2.9007\"/>\n <position_based_velocity_limits deceleration_limit=\"3.50\" velocity_offset=\"0.20\"/>\n <dynamics D=\"1\" K=\"7000\" damping=\"0.003\" friction=\"0.2\" mu_coulomb=\"0\" mu_viscous=\"16\"/>\n </joint>\n <!-- sub-link defining detailed meshes for collision with environment -->\n <link name=\"link4\">\n <visual name=\"link4_visual\">\n <geometry>\n <mesh filename=\"package://franka_description/meshes/robot_arms/fr3/visual/link4.dae\"/>\n </geometry>\n </visual>\n <collision name=\"link4_collision\">\n <geometry>\n <mesh filename=\"package://franka_description/meshes/robot_arms/fr3/collision/link4.stl\"/>\n </geometry>\n </collision>\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"-0.0459100965 0.0630492960 -0.0085187868\"/>\n <mass value=\"2.6155955791\"/>\n <inertia ixx=\"0.03452998321913202\" ixy=\"0.01322552265982813\" ixz=\"0.01015142998484113\" iyy=\"0.028881621933049058\" iyz=\"-0.0009762833870704552\" izz=\"0.04125471171146641\"/>\n </inertial>\n </link>\n <link name=\"link4_accelerometer_top\">\n </link>\n <joint name=\"link4_accelerometer_top_joint\" type=\"fixed\">\n <origin rpy=\"1.5708 0 0\" xyz=\"-0.0825 0.05 0\"/>\n <parent link=\"link4\"/>\n <child link=\"link4_accelerometer_top\"/>\n </joint>\n <link name=\"link4_accelerometer_bottom\">\n </link>\n <joint name=\"link4_accelerometer_bottom_joint\" type=\"fixed\">\n <origin rpy=\"-1.5708 0 0\" xyz=\"-0.0825 0.06 0\"/>\n <parent link=\"link4\"/>\n <child link=\"link4_accelerometer_bottom\"/>\n </joint>\n <joint name=\"joint4\" type=\"revolute\">\n <origin rpy=\"1.570796326794897 0 0\" xyz=\"0.0825 0 0\"/>\n <parent link=\"link3\"/>\n <child link=\"link4\"/>\n <axis xyz=\"0 0 1\"/>\n <limit effort=\"87.0\" lower=\"-3.048100\" upper=\"-0.1458\" velocity=\"2.62\"/>\n <safety_controller k_position=\"100.0\" k_velocity=\"40.0\" soft_lower_limit=\"-3.077\" soft_upper_limit=\"-0.1169\"/>\n <position_based_velocity_limits deceleration_limit=\"4.00\" velocity_offset=\"0.30\"/>\n <dynamics D=\"1\" K=\"7000\" damping=\"0.003\" friction=\"0.2\" mu_coulomb=\"0\" mu_viscous=\"16\"/>\n </joint>\n <!-- sub-link defining detailed meshes for collision with environment -->\n <link name=\"link5\">\n <visual name=\"link5_visual\">\n <geometry>\n <mesh filename=\"package://franka_description/meshes/robot_arms/fr3/visual/link5.dae\"/>\n </geometry>\n </visual>\n <collision name=\"link5_collision\">\n <geometry>\n <mesh filename=\"package://franka_description/meshes/robot_arms/fr3/collision/link5.stl\"/>\n </geometry>\n </collision>\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"-0.0016039605 0.0292536262 -0.0972965990\"/>\n <mass value=\"2.3271207594\"/>\n <inertia ixx=\"0.051610278463662895\" ixy=\"-0.005715173387783472\" ixz=\"-0.0035673167625872135\" iyy=\"0.04787729713371481\" iyz=\"0.010673985108535986\" izz=\"0.016423625579357254\"/>\n </inertial>\n </link>\n <link name=\"link5_accelerometer_top\">\n </link>\n <joint name=\"link5_accelerometer_top_joint\" type=\"fixed\">\n <origin rpy=\"-1.5708 0 0\" xyz=\"0 0.11 0\"/>\n <parent link=\"link5\"/>\n <child link=\"link5_accelerometer_top\"/>\n </joint>\n <link name=\"link5_accelerometer_bottom\">\n </link>\n <joint name=\"link5_accelerometer_bottom_joint\" type=\"fixed\">\n <origin rpy=\"1.5708 0 0\" xyz=\"0 0.1 0\"/>\n <parent link=\"link5\"/>\n <child link=\"link5_accelerometer_bottom\"/>\n </joint>\n <joint name=\"joint5\" type=\"revolute\">\n <origin rpy=\"-1.570796326794897 0 0\" xyz=\"-0.0825 0.384 0\"/>\n <parent link=\"link4\"/>\n <child link=\"link5\"/>\n <axis xyz=\"0 0 1\"/>\n <limit effort=\"12.0\" lower=\"-2.810100\" upper=\"2.81010\" velocity=\"5.26\"/>\n <safety_controller k_position=\"100.0\" k_velocity=\"40.0\" soft_lower_limit=\"-2.8763\" soft_upper_limit=\"2.8763\"/>\n <position_based_velocity_limits deceleration_limit=\"17.0\" velocity_offset=\"0.35\"/>\n <dynamics D=\"1\" K=\"7000\" damping=\"0.003\" friction=\"0.2\" mu_coulomb=\"0\" mu_viscous=\"16\"/>\n </joint>\n <!-- sub-link defining detailed meshes for collision with environment -->\n <link name=\"link6\">\n <visual name=\"link6_visual\">\n <geometry>\n <mesh filename=\"package://franka_description/meshes/robot_arms/fr3/visual/link6.dae\"/>\n </geometry>\n </visual>\n <collision name=\"link6_collision\">\n <geometry>\n <mesh filename=\"package://franka_description/meshes/robot_arms/fr3/collision/link6.stl\"/>\n </geometry>\n </collision>\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0.0597131221 -0.0410294666 -0.0101692726\"/>\n <mass value=\"1.8170376524\"/>\n <inertia ixx=\"0.005412333594383447\" ixy=\"0.006193456360285834\" ixz=\"0.0014219289306117652\" iyy=\"0.014058329545509979\" iyz=\"-0.0013140753741120031\" izz=\"0.016080817924212554\"/>\n </inertial>\n </link>\n <joint name=\"joint6\" type=\"revolute\">\n <origin rpy=\"1.570796326794897 0 0\" xyz=\"0 0 0\"/>\n <parent link=\"link5\"/>\n <child link=\"link6\"/>\n <axis xyz=\"0 0 1\"/>\n <limit effort=\"12.0\" lower=\"0.54092\" upper=\"4.52050\" velocity=\"4.18\"/>\n <safety_controller k_position=\"100.0\" k_velocity=\"40.0\" soft_lower_limit=\"0.4398\" soft_upper_limit=\"4.6216\"/>\n <position_based_velocity_limits deceleration_limit=\"5.5\" velocity_offset=\"0.35\"/>\n <dynamics D=\"1\" K=\"7000\" damping=\"0.003\" friction=\"0.2\" mu_coulomb=\"0\" mu_viscous=\"16\"/>\n </joint>\n <!-- sub-link defining detailed meshes for collision with environment -->\n <link name=\"link7\">\n <visual name=\"link7_visual\">\n <geometry>\n <mesh filename=\"package://franka_description/meshes/robot_arms/fr3/visual/link7.dae\"/>\n </geometry>\n </visual>\n <collision name=\"link7_collision\">\n <geometry>\n <mesh filename=\"package://franka_description/meshes/robot_arms/fr3/collision/link7.stl\"/>\n </geometry>\n </collision>\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0.0045225817 0.0086261921 -0.0161633251\"/>\n <mass value=\"0.6271432862\"/>\n <inertia ixx=\"0.00021092389150104718\" ixy=\"-2.433299114461931e-05\" ixz=\"4.564480393778983e-05\" iyy=\"0.00017718568002411474\" iyz=\"8.744070223226438e-05\" izz=\"5.993190599659971e-05\"/>\n </inertial>\n </link>\n <joint name=\"joint7\" type=\"revolute\">\n <origin rpy=\"1.570796326794897 0 0\" xyz=\"0.088 0 0\"/>\n <parent link=\"link6\"/>\n <child link=\"link7\"/>\n <axis xyz=\"0 0 1\"/>\n <limit effort=\"12.0\" lower=\"-3.019600\" upper=\"3.01960\" velocity=\"5.26\"/>\n <safety_controller k_position=\"100.0\" k_velocity=\"40.0\" soft_lower_limit=\"-3.0508\" soft_upper_limit=\"3.0508\"/>\n <position_based_velocity_limits deceleration_limit=\"17.0\" velocity_offset=\"0.35\"/>\n <dynamics D=\"1\" K=\"7000\" damping=\"0.003\" friction=\"0.2\" mu_coulomb=\"0\" mu_viscous=\"16\"/>\n </joint>\n <link name=\"link8\"/>\n <joint name=\"joint8\" type=\"fixed\">\n <origin rpy=\"0 0 0\" xyz=\"0 0 0.107\"/>\n <parent link=\"link7\"/>\n <child link=\"link8\"/>\n </joint>\n</robot>\n";Expand description
The FR3 URDF from franka_description that the tests and franka-rerun replays use.