{
  "id": "franka-description-artifact-robots-tmrv0-2-caster-wheel-xacro",
  "name": "Franka robot description: robots/tmrv0 2/caster wheel",
  "summary": "Official pinned robot description text for robots/tmrv0 2/caster wheel. Inspect the upstream package and adjacent assets before use.",
  "framework": "franka-description",
  "kind": "official_example",
  "source_registry": "official-robot-artifacts-v1",
  "artifact": {
    "kind": "robot_description",
    "format": "xacro",
    "role": "Source/configuration reference; not an executable Hub skill",
    "structure": {
      "root": "robot",
      "references": [
        "$(find franka_description)/robots/tmrv0_2/inertia.xacro"
      ],
      "references_truncated": false
    }
  },
  "capabilities": [
    "kinematics",
    "robot-description",
    "ros2",
    "urdf"
  ],
  "robot_types": [
    "mobile-manipulator"
  ],
  "robot_scope": "Labels identify this description/configuration source; they do not establish runtime, controller or physical-robot compatibility.",
  "source": {
    "repository": "https://github.com/frankarobotics/franka_description",
    "commit": "7aeeddc449edf8d62b594f9e36a81da53e7796f9",
    "tag": "main",
    "path": "robots/tmrv0_2/caster_wheel.xacro",
    "url": "https://github.com/frankarobotics/franka_description/blob/7aeeddc449edf8d62b594f9e36a81da53e7796f9/robots/tmrv0_2/caster_wheel.xacro",
    "raw_url": "https://raw.githubusercontent.com/frankarobotics/franka_description/7aeeddc449edf8d62b594f9e36a81da53e7796f9/robots/tmrv0_2/caster_wheel.xacro",
    "sha256": "02ffdc610820a1b2ed988af5426ec44270cddb297545f8abbefeee951f414b2e",
    "bytes": 3285
  },
  "license": {
    "spdx": "Apache-2.0",
    "url": "https://github.com/frankarobotics/franka_description/blob/7aeeddc449edf8d62b594f9e36a81da53e7796f9/LICENSE",
    "sha256": "4b25434e6ec2012e28a484f1d7924a0fd1a8bf232c2be2d50d584d299d04d6d6",
    "scope": "Selected robot-description/configuration source text only. Preserve upstream notices; meshes, textures, dependencies and trademarks retain their separate licenses."
  },
  "access": {
    "mode": "source_reference",
    "hub_prepare": false,
    "instructions": "Inspect this checksum-pinned text in the full upstream checkout. Resolve adjacent definitions/assets and their separate licenses using upstream instructions. The Hub does not load or execute this artifact.",
    "setup_url": "https://github.com/frankarobotics/franka_description/blob/7aeeddc449edf8d62b594f9e36a81da53e7796f9/README.rst"
  },
  "requirements": {
    "python": "Not a Python entrypoint; follow the pinned upstream package requirements",
    "packages": [
      "Pinned franka_description package",
      "ROS 2 Xacro and adjacent configuration/mesh resources"
    ],
    "display": "Descriptions and parameters depend on the selected upstream robot generation, attachments and adjacent assets. Xacro generation and robot-specific calibration/controller integration were not performed.",
    "execution_domain": "configuration",
    "source_imports": []
  },
  "invocation": {
    "entrypoint": "Data/configuration artifact: robots/tmrv0_2/caster_wheel.xacro; use its upstream loader or package integration after inspection",
    "notes": "This file is not a standalone program. No Xacro expansion, include resolution, model loading, configuration deployment or robot execution was performed."
  },
  "popularity": {
    "metric": "github_stars",
    "repository_stars": 152,
    "checked_at": "2026-10-18",
    "meaning": "Dated repository interest, not artifact use or runtime success."
  },
  "evidence": {
    "level": "source_reviewed",
    "runtime_verification": "not_run",
    "checked_at": "2026-10-18",
    "inspection": "Verified exact source and applicable license SHA-256 bytes. Parsed XML syntax and recorded direct file references; includes, Xacro expressions and model dynamics were not evaluated.",
    "inspection_method": "automated_static",
    "artifact_kind": "robot_description"
  },
  "robots": [
    "tmrv0-2"
  ]
}