URDF models do not display properly in browsers

[LHT-Liu]

PyCharm 2023.3.4 (Community Edition)
macbook pro

@stephane-caron @jviereck

this is my code

import sys
import numpy as np
import pinocchio as pin
from pinocchio.visualize import MeshcatVisualizer

# urdf 文件的路径
urdf_path = "/Users/liuhaitao/Desktop/MR2000_Franka_urdf/mr2000_franka_modified_pinocchio.urdf"

# 从 urdf 文件构建模型
model: pin.Model = pin.buildModelFromUrdf(urdf_path)
visual_model = pin.buildGeomFromUrdf(model, urdf_path, pin.GeometryType.VISUAL)
collision_model = pin.buildGeomFromUrdf(model, urdf_path, pin.GeometryType.COLLISION)

# 初始化 MeshcatVisualizer
viz = MeshcatVisualizer(model, collision_model, visual_model)

# 初始化查看器
try:
    viz.initViewer(open=True)
    viz.loadViewerModel()
except ImportError as error:
    print(error)
    sys.exit(0)

# 使用模型的 初始姿态 更新显示
q0 = pin.neutral(model)
print(q0)
print(model.nv)

# 自己设置期望的关节关节
# 前两个Planar关节的是x和y值位置，第3、4个量是绕z轴旋转角度的余弦和正弦（好奇怪的设定？）
# 5-11是franka的7个关节角度，
# 最后两个是夹爪 的两个移动位置。
theta = -np.pi / 3
q0 = np.array([1, 1, np.cos(theta), np.sin(theta),
               0, 0, 0, -np.pi / 2, 0, np.pi / 2, np.pi / 4,
               0, 0])
viz.display(q0)

data: pin.Data = model.createData()
# 得到关节的id
Joint7_joint_id = model.getJointId("fr3_joint7")
# 得到一个固定关节（认为是frame）的id
Joint8_frame_id = model.getFrameId("fr3_joint8")

# viz.displayFrames(Joint8_frame_id, axis_width=1, axis_length=1)
# viz.drawFrameVelocities(frame_id=Joint8_frame_id)

pin.forwardKinematics(model, data, q0)

pin.updateFramePlacements(model, data)

# pose = data.oMi[end_frame]  # 最后一个关节
pose = data.oMi[Joint7_joint_id]  # 最后一个关节
print("pose:", pose)

# Print out the placement of each joint of the kinematic tree
for name, oMi in zip(model.names, data.oMi):
    # *oMi.translation.T.flat展开位姿矩阵的平移部分（即关节的世界坐标位置）
    print(("{:<24} : {: .2f} {: .2f} {: .2f}".format(name, *oMi.translation.T.flat)))

for joint_id in range(model.njoints):
    joint = model.joints[joint_id]
    joint_name = model.names[joint_id]
    joint_type = joint.shortname()
    print("Joint ID:", joint_id, "Joint Name:", joint_name, "Joint Type:", joint_type)

for i in range(1, model.njoints):  # 从1开始，跳过根关节
    # 获取第i个连杆的惯性信息
    inertia = model.inertias[i]
    print(f"Link {i} inertia information:")
    print(f"  Mass: {inertia.mass}")  # 连杆的质量
    print(f"  Center of Mass (COM) position (in link frame): {inertia.lever}")  # 连杆质心位置
    print(f"  Inertia matrix (about COM, in link frame): \n{inertia.inertia}")  # 转动惯性矩阵

my urdf file is

<?xml version="1.0" ?>
<!-- 
<robot name="mr2000_franka_modified_pinocchio">
  
  <link name="world"/>

  <link name="base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.010368 -0.00024137 0.11171"/>
      <mass value="80"/>
      <inertia ixx="0.14977" ixy="-6.5006E-07" ixz="-4.2123E-06" iyy="0.51372" iyz="4.82E-06" izz="0.64437" />
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/base_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.75294 0.75294 0.75294 1"/>
      </material>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/base_link_sc.STL"/>
      </geometry>
    </collision>
  </link>


  <joint name="base_link_planar_joint" type="planar">
    <origin xyz="0 0 0.12" rpy="0 0 0"/>
    <parent link="world"/>
    <child link="base_link"/>
  </joint>

  <link name="front_left_wheel_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-4.2777E-08 -0.0015998 -4.3205E-08"/>
      <mass value="3"/>
      <inertia ixx="0.036886" ixy="1.8092E-08" ixz="4.254E-08" iyy="0.067992" iyz="5.6081E-09" izz="0.036885"/>
    </inertial>
    
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/front_left_wheel_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/front_left_wheel_link.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="front_left_wheel" type="fixed">
    <origin rpy="0 0 0" xyz="0.361 0.34669 0.043129"/>
    <parent link="base_link"/>
    <child link="front_left_wheel_link"/>
    <axis xyz="0 -1 0"/>
  </joint>  


  <link name="front_right_wheel_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-5.6635E-08 0.0016 -4.1729E-08"/>
      <mass value="3"/>
      <inertia ixx="0.036885" ixy="-1.5965E-08" ixz="-5.485E-08" iyy="0.067992" iyz="-6.1094E-09" izz="0.036886"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/front_right_wheel_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/front_right_wheel_link.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="front_right_wheel" type="fixed">
    <origin rpy="0 0 0" xyz="0.361 -0.34669 0.043129"/>
    <parent link="base_link"/>
    <child link="front_right_wheel_link"/>
    <axis xyz="0 1 0"/>
  </joint>


  <link name="rear_left_wheel_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-5.6635E-08 -0.0016 -4.1729E-08"/>
      <mass value="3"/>
      <inertia ixx="0.036885" ixy="-1.5965E-08" ixz="-5.485E-08" iyy="0.067992" iyz="-6.1094E-09" izz="0.036886"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/rear_left_wheel_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/rear_left_wheel_link.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="rear_left_wheel" type="fixed">
    <origin rpy="0 0 0" xyz="-0.361 0.34669 0.043129"/>
    <parent link="base_link"/>
    <child link="rear_left_wheel_link"/>
    <axis xyz="0 -1 0"/>
  </joint>


  <link name="rear_right_wheel_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-4.2777E-08 0.0016002 -4.3205E-08"/>
      <mass value="3"/>
      <inertia ixx="0.036886" ixy="1.8092E-08" ixz="4.254E-08" iyy="0.067992" iyz="5.6081E-09" izz="0.036885"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/rear_right_wheel_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/rear_right_wheel_link.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="rear_right_wheel" type="fixed">
    <origin rpy="0 0 0" xyz="-0.361 -0.34669 0.043129"/>
    <parent link="base_link"/>
    <child link="rear_right_wheel_link"/>
    <axis xyz="0 1 0"/>
  </joint>


  <link name="navi_tool_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0041786 0.0052947 0.11563"/>
      <mass value="15"/>
      <inertia ixx="0.044049" ixy="8.3618E-07" ixz="-0.0029013" iyy="0.023656" iyz="3.0147E-05" izz="0.033384"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/navi_tool_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.75294 0.75294 0.75294 1"/>
      </material>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/navi_tool_link.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="navi_tool_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.38525 0 0.397"/>
    <parent link="base_link"/>
    <child link="navi_tool_link"/>
    <axis xyz="0 0 0"/>
  </joint>


  <link name="imu_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-4.996E-16 -0.0028567 6.5395E-05"/>
      <mass value="0.039744"/>
      <inertia ixx="1.0867E-05" ixy="-8.4581E-19" ixz="3.9117E-20" iyy="5.8923E-06" iyz="2.3558E-07" izz="1.3182E-05"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/imu_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/imu_link.STL"/>
      </geometry>
    </collision>
  </link>
  
  <joint name="imu" type="fixed">
    <origin rpy="0 0 0" xyz="-0.39525 0 0.597"/>
    <parent link="base_link"/>
    <child link="imu_link"/>
    <axis xyz="0 0 0"/>
  </joint>


  <link name="rslidar">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0013005 -8.7176E-05 -0.014289"/>
      <mass value="0.10194"/>
      <inertia ixx="0.00011711" ixy="1.1158E-07" ixz="3.3458E-07" iyy="0.00011589" iyz="-2.6655E-08" izz="0.00019538"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/rslidar.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/rslidar.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="laser_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.29525 0 1.0288"/>
    <parent link="base_link"/>
    <child link="rslidar"/>
    <axis xyz="0 0 0"/>
  </joint>


  <link name="antenna_master_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-1.8183E-08 2.9367E-08 -0.0016218"/>
      <mass value="0.28674"/>
      <inertia ixx="0.00018051" ixy="1.633E-09" ixz="-3.2676E-12" iyy="0.00018051" iyz="4.3374E-11" izz="0.00027364"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/antenna_master_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/antenna_master_link.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="antenna_master" type="fixed">
    <origin rpy="0 0 0" xyz="-0.38525 0.31 0.675"/>
    <parent link="base_link"/>
    <child link="antenna_master_link"/>
    <axis xyz="0 0 0"/>
  </joint>


  <link name="antenna_slave_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-1.8183E-08 2.9367E-08 -0.0051218"/>
      <mass value="0.28674"/>
      <inertia ixx="0.00018051" ixy="1.633E-09" ixz="-3.2676E-12" iyy="0.00018051" iyz="4.3374E-11" izz="0.00027364"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/antenna_slave_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/antenna_slave_link.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="antenna_slave" type="fixed">
    <origin rpy="0 0 0" xyz="-0.38525 -0.31 0.6785"/>
    <parent link="base_link"/>
    <child link="antenna_slave_link"/>
    <axis xyz="0 0 0"/>
  </joint>


  <link name="antenna_1_link">
    <inertial>
      <origin rpy="0 0 0" xyz="3.1087E-08 1.4571E-07 0.018911"/>
      <mass value="0.072023"/>
      <inertia ixx="2.1379E-05" ixy="-2.6092E-11" ixz="-8.1788E-11" iyy="2.138E-05" iyz="-6.9148E-11" izz="1.7882E-05"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/antenna_1_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/antenna_1_link.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="antenna_1_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.29275 0.31 0.575"/>
    <parent link="base_link"/>
    <child link="antenna_1_link"/>
    <axis xyz="0 0 0"/>
  </joint>


  <link name="antenna_2_link">
    <inertial>
      <origin rpy="0 0 0" xyz="3.1087E-08 1.4571E-07 0.018911"/>
      <mass value="0.072023"/>
      <inertia ixx="2.1379E-05" ixy="-2.6092E-11" ixz="-8.1788E-11" iyy="2.138E-05" iyz="-6.9148E-11" izz="1.7882E-05"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/antenna_2_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/antenna_2_link.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="antenna_2_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.47775 0.31 0.575"/>
    <parent link="base_link"/>
    <child link="antenna_2_link"/>
    <axis xyz="0 0 0"/>
  </joint>


  <link name="antenna_3_link">
    <inertial>
      <origin rpy="0 0 0" xyz="3.1087E-08 1.4571E-07 0.018911"/>
      <mass value="0.072023"/>
      <inertia ixx="2.1379E-05" ixy="-2.6092E-11" ixz="-8.1788E-11" iyy="2.138E-05" iyz="-6.9148E-11" izz="1.7882E-05"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/antenna_3_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/antenna_3_link.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="antenna_3_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.29275 -0.31 0.575"/>
    <parent link="base_link"/>
    <child link="antenna_3_link"/>
    <axis xyz="0 0 0"/>
  </joint>


  <link name="antenna_4_link">
    <inertial>
      <origin rpy="0 0 0" xyz="3.1087E-08 1.4571E-07 0.018911"/>
      <mass value="0.072023"/>
      <inertia ixx="2.1379E-05" ixy="-2.6092E-11" ixz="-8.1788E-11" iyy="2.138E-05" iyz="-6.9148E-11" izz="1.7882E-05"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/antenna_4_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/antenna_4_link.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="antenna_4_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.47775 -0.31 0.575"/>
    <parent link="base_link"/>
    <child link="antenna_4_link"/>
    <axis xyz="0 0 0"/>
  </joint>


  <link name="controlbox_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0080866 0.0014126 0.037008"/>
      <mass value="13"/>
      <inertia ixx="0.079562" ixy="-0.0012126" ixz="-0.00028912" iyy="0.040974" iyz="-3.6097E-06" izz="0.11729"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/controlbox_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.75294 0.75294 0.75294 1"/>
      </material>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/controlbox_link_sc.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="controlbox_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0015 0 0.276"/>
    <parent link="base_link"/>
    <child link="controlbox_link"/>
    <axis xyz="0 0 0"/>
  </joint>



  <link name="arm_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.041695 2.9142E-17 -0.0050101"/>
      <mass value="1.1745"/>
      <inertia ixx="0.010314" ixy="6.5517E-19" ixz="-6.8381E-08" iyy="0.0060267" iyz="7.362E-21" izz="0.016321"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/arm_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.75294 0.75294 0.75294 1"/>
      </material>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/arm_link.STL"/>
      </geometry>
    </collision>
  </link>
  
  <joint name="arm_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.42802 0 0.247"/>
    <parent link="base_link"/>
    <child link="arm_link"/>
    <axis xyz="0 0 0"/>
  </joint>


  <!-- sub-link defining detailed meshes for collision with environment -->
  <link name="fr3_link0">
    <inertial>
      <origin xyz="-0.041018 -0.00014 0.049974" rpy="0 0 0" />
      <mass value="0.629769" />
      <inertia ixx="0.00315" ixy="8.2904E-07" ixz="0.00015" iyy="0.00388" iyz="8.2299E-06" izz="0.004285" />
    </inertial>

    <visual>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/link0.dae"/>
      </geometry>
    </visual>

    <collision>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/link0.stl"/>
      </geometry>
    </collision>
  </link>

  <!-- mount panda to mobile base -->
  <joint name="fr3_joint0" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.0"/>
    <parent link="arm_link"/>
    <child link="fr3_link0"/>
  </joint>


  <!-- sub-link defining detailed meshes for collision with environment -->
  <link name="fr3_link1">
    <inertial>
      <origin xyz="0.003875 0.002081 -0.04762" rpy="0 0 0" />
      <mass value="4.970684" />
      <inertia ixx="0.70337" ixy="-0.000139" ixz="0.006772" iyy="0.70661" iyz="0.019169" izz="0.009117" />
    </inertial>
    
    <visual>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/link1.dae"/>
      </geometry>
    </visual>

    <collision>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/link1.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="fr3_joint1" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.333"/>
    <parent link="fr3_link0"/>
    <child link="fr3_link1"/>
    <axis xyz="0 0 1"/>
    <limit effort="87.0" lower="-2.3093" upper="2.3093" velocity="2.0"/>
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.3093" soft_upper_limit="2.3093"/>
    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
  </joint>


  <!-- sub-link defining detailed meshes for collision with environment -->
  <link name="fr3_link2">
    <inertial>
      <origin xyz="-0.003141 -0.02872 0.003495" rpy="0 0 0" />
      <mass value="0.646926" />
      <inertia ixx="0.007962" ixy="-0.003925" ixz="0.010254" iyy="0.02811" iyz="0.000704" izz="0.025995" />
    </inertial>

    <visual>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/link2.dae"/>
      </geometry>
    </visual>

    <collision>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/link2.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="fr3_joint2" type="revolute">
    <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
    <parent link="fr3_link1"/>
    <child link="fr3_link2"/>
    <axis xyz="0 0 1"/>
    <limit effort="87.0" lower="-1.5133" upper="1.5133" velocity="1.0"/>
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.5133" soft_upper_limit="1.5133"/>
    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
  </joint>


  <!-- sub-link defining detailed meshes for collision with environment -->
  <link name="fr3_link3">
    <inertial>
      <origin xyz="0.027518 0.039252 -0.066502" rpy="0 0 0" />
      <mass value="3.228604" />
      <inertia ixx="0.037242" ixy="-0.004761" ixz="-0.011396" iyy="0.036155" iyz="-0.012805" izz="0.01083" />
    </inertial>

    <visual>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/link3.dae"/>
      </geometry>
    </visual>

    <collision>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/link3.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="fr3_joint3" type="revolute">
    <origin rpy="1.5707963267948966 0 0" xyz="0 -0.316 0"/>
    <parent link="fr3_link2"/>
    <child link="fr3_link3"/>
    <axis xyz="0 0 1"/>
    <limit effort="87.0" lower="-2.4937" upper="2.4937" velocity="1.5"/>
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.4937" soft_upper_limit="2.4937"/>
    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
  </joint>


  <!-- sub-link defining detailed meshes for collision with environment -->
  <link name="fr3_link4">
    <inertial>
      <origin xyz="-0.05317 0.104419 0.027454" rpy="0 0 0" />
      <mass value="3.587895" />
      <inertia ixx="0.025853" ixy="0.007796" ixz="-0.001332" iyy="0.019552" iyz="0.008641" izz="0.028323" />
    </inertial>
  
    <visual>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/link4.dae"/>
      </geometry>
    </visual>

    <collision>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/link4.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="fr3_joint4" type="revolute">
    <origin rpy="1.5707963267948966 0 0" xyz="0.0825 0 0"/>
    <parent link="fr3_link3"/>
    <child link="fr3_link4"/>
    <axis xyz="0 0 1"/>
    <!-- <limit effort="87.0" lower="-2.7478" upper="-0.4461" velocity="1.25"/> -->
    <limit effort="87.0" lower="-2.7478" upper="0.4461" velocity="1.25"/>
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.7478" soft_upper_limit="-0.4461"/>
    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
  </joint>


  <!-- sub-link defining detailed meshes for collision with environment -->
  <link name="fr3_link5">
    <inertial>
      <origin xyz="-0.011953 0.041065 -0.038437" rpy="0 0 0" />
      <mass value="1.225946" />
      <inertia ixx="0.035549" ixy="-0.002117" ixz="-0.004037" iyy="0.029474" iyz="0.000229" izz="0.008627" />
    </inertial>
  
    <visual>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/link5.dae"/>
      </geometry>
    </visual>

    <collision>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/link5.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="fr3_joint5" type="revolute">
    <origin rpy="-1.5707963267948966 0 0" xyz="-0.0825 0.384 0"/>
    <parent link="fr3_link4"/>
    <child link="fr3_link5"/>
    <axis xyz="0 0 1"/>
    <limit effort="12.0" lower="-2.48" upper="2.48" velocity="3.0"/>
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.48" soft_upper_limit="2.48"/>
    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
  </joint>


  <!-- sub-link defining detailed meshes for collision with environment -->
  <link name="fr3_link6">
    <inertial>
      <origin xyz="0.060149 -0.014117 -0.010517" rpy="0 0 0" />
      <mass value="1.666555" />
      <inertia ixx="0.001964" ixy="0.000109" ixz="-0.001158" iyy="0.004354" iyz="0.000341" izz="0.005433" />
    </inertial>

    <visual>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/link6.dae"/>
      </geometry>
    </visual>

    <collision>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/link6.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="fr3_joint6" type="revolute">
    <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
    <parent link="fr3_link5"/>
    <child link="fr3_link6"/>
    <axis xyz="0 0 1"/>
    <!-- <limit effort="12.0" lower="0.8521" upper="4.2094" velocity="1.5"/> -->
    <limit effort="12.0" lower="-0.8521" upper="4.2094" velocity="1.5"/>
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="0.8521" soft_upper_limit="4.2094"/>
    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
  </joint>

  <!-- sub-link defining detailed meshes for collision with environment -->
  <link name="fr3_link7">
    <inertial>
      <origin xyz="0.010517 -0.004252 0.061597" rpy="0 0 0" />
      <mass value="0.735522" />
      <inertia ixx="0.012516" ixy="-0.000428" ixz="-0.001196" iyy="0.010027" iyz="-0.000741" izz="0.004815" />
    </inertial>

    <visual>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/link7.dae"/>
      </geometry>
    </visual>

    <collision>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/link7.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="fr3_joint7" type="revolute">
    <origin rpy="1.5707963267948966 0 0" xyz="0.088 0 0"/>
    <parent link="fr3_link6"/>
    <child link="fr3_link7"/>
    <axis xyz="0 0 1"/>
    <limit effort="12.0" lower="-2.6895" upper="2.6895" velocity="3.0"/>
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.6895" soft_upper_limit="2.6895"/>
    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
  </joint>


  <link name="fr3_link8"/>

  <joint name="fr3_joint8" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.107"/>
    <parent link="fr3_link7"/>
    <child link="fr3_link8"/>
  </joint>


  <!-- sub-link defining detailed meshes for collision with environment -->
  <link name="fr3_hand">
    <visual>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/hand.dae"/>
      </geometry>
    </visual>

    <collision>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/hand.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="fr3_hand_joint" type="fixed">
    <origin rpy="0 0 -0.7853981633974483" xyz="0 0 0"/>
    <parent link="fr3_link8"/>
    <child link="fr3_hand"/>
  </joint>
  
  <!-- Define the hand_tcp frame -->
  <link name="fr3_hand_tcp"/>

  <joint name="fr3_hand_tcp_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.1034"/>
    <parent link="fr3_hand"/>
    <child link="fr3_hand_tcp"/>
  </joint>

  <link name="fr3_leftfinger">
    <visual>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/finger.dae"/>
      </geometry>
    </visual>
    <!-- screw mount -->
    <collision>
      <origin rpy="0 0 0" xyz="0 18.5e-3 11e-3"/>
      <geometry>
        <box size="22e-3 15e-3 20e-3"/>
      </geometry>
    </collision>
    <!-- cartriage sledge -->
    <collision>
      <origin rpy="0 0 0" xyz="0 6.8e-3 2.2e-3"/>
      <geometry>
        <box size="22e-3 8.8e-3 3.8e-3"/>
      </geometry>
    </collision>
    <!-- diagonal finger -->
    <collision>
      <origin rpy="0.5235987755982988 0 0" xyz="0 15.9e-3 28.35e-3"/>
      <geometry>
        <box size="17.5e-3 7e-3 23.5e-3"/>
      </geometry>
    </collision>
    <!-- rubber tip with which to grasp -->
    <collision>
      <origin rpy="0 0 0" xyz="0 7.58e-3 45.25e-3"/>
      <geometry>
        <box size="17.5e-3 15.2e-3 18.5e-3"/>
      </geometry>
    </collision>
  </link>

  <link name="fr3_rightfinger">
    <visual>
      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/Users/liuhaitao/Desktop/MR2000_Franka_urdf/meshes/finger.dae"/>
      </geometry>
    </visual>
    <!-- screw mount -->
    <collision>
      <origin rpy="0 0 0" xyz="0 -18.5e-3 11e-3"/>
      <geometry>
        <box size="22e-3 15e-3 20e-3"/>
      </geometry>
    </collision>
    <!-- cartriage sledge -->
    <collision>
      <origin rpy="0 0 0" xyz="0 -6.8e-3 2.2e-3"/>
      <geometry>
        <box size="22e-3 8.8e-3 3.8e-3"/>
      </geometry>
    </collision>
    <!-- diagonal finger -->
    <collision>
      <origin rpy="-0.5235987755982988 0 0" xyz="0 -15.9e-3 28.35e-3"/>
      <geometry>
        <box size="17.5e-3 7e-3 23.5e-3"/>
      </geometry>
    </collision>
    <!-- rubber tip with which to grasp -->
    <collision>
      <origin rpy="0 0 0" xyz="0 -7.58e-3 45.25e-3"/>
      <geometry>
        <box size="17.5e-3 15.2e-3 18.5e-3"/>
      </geometry>
    </collision>
  </link>

  <joint name="fr3_finger_joint1" type="prismatic">
    <parent link="fr3_hand"/>
    <child link="fr3_leftfinger"/>
    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
    <axis xyz="0 1 0"/>
    <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/> 
    <dynamics damping="0.3"/>
  </joint>

  <joint name="fr3_finger_joint2" type="prismatic">
    <parent link="fr3_hand"/>
    <child link="fr3_rightfinger"/>
    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
    <axis xyz="0 -1 0"/>
    <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
    <mimic joint="fr3_finger_joint1"/>
    <dynamics damping="0.3"/>
  </joint>

</robot>

I feel that there is something wrong with my urdf file, I run the other URDF file can be normal display, but this URDF file is not displayed in the web

thanks

[MegMll]

Hello,

Indeed there is something wrong with your urdf. When i tried to visualize it with https://mymodelrobot.appspot.com/ it did not work.

I suggest that you use this website to try to fix your urdf, because there are too many commented lines, for us to debug it quickly, and furthermore it's not a problem related to pinocchio.

[LHT-Liu]

@MegMll hello，Can this URL(https://mymodelrobot.appspot.com/) load external stl and other types of files? I put files that can be displayed normally in pinocchio, but they cannot be displayed normally on the website you provided.

[MegMll]

No it cannot, indeed. You need to replace them by simple geometries, but this can still help you find where the bug is in your model.