TriFinger Edu

Built by:   MPI-IS
Licence:    MIT
Source:     https://github.com/facebookresearch/differentiable-robot-model/tree/d7bd1b3b8ef1d6dabe9b68474a622185c510e112/diff_robot_data/trifinger_edu_description
Commit:     d7bd1b3b8ef1d6dabe9b68474a622185c510e112
Collection: facebookresearch/differentiable-robot-model
Packaged:   2026-08-28 by urdfbase.com/models/trifinger-edu/

This folder holds the model written as MJCF, with mesh paths rewritten to
meshes/ so they resolve wherever the folder is opened. The original files, with
the paths their authors wrote, are at the source above.

What did not survive the conversion:
  - joint "finger_base_to_upper_joint_0" has a velocity limit of 1000, which MJCF does not store on the joint — enforce it in the controller
  - joint "finger_upper_to_middle_joint_0" has a velocity limit of 1000, which MJCF does not store on the joint — enforce it in the controller
  - joint "finger_middle_to_lower_joint_0" has a velocity limit of 1000, which MJCF does not store on the joint — enforce it in the controller
  - joint "finger_base_to_upper_joint_120" has a velocity limit of 1000, which MJCF does not store on the joint — enforce it in the controller
  - joint "finger_upper_to_middle_joint_120" has a velocity limit of 1000, which MJCF does not store on the joint — enforce it in the controller
  - joint "finger_middle_to_lower_joint_120" has a velocity limit of 1000, which MJCF does not store on the joint — enforce it in the controller
  - joint "finger_base_to_upper_joint_240" has a velocity limit of 1000, which MJCF does not store on the joint — enforce it in the controller
  - joint "finger_upper_to_middle_joint_240" has a velocity limit of 1000, which MJCF does not store on the joint — enforce it in the controller
  - joint "finger_middle_to_lower_joint_240" has a velocity limit of 1000, which MJCF does not store on the joint — enforce it in the controller

The robot belongs to the people who built it. Credit the source, not this site.
