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/orbit.urdf
Created Jul 22, 2013

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<?xml version="1.0"?>
<robot name="orbit">
<!--Torso Robot-->
<link name="orbit_torso">
<inertial>
<mass value="11.83033"/>
<origin xyz="0.0 0.0 0.09538" rpy="0 0 0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://orbit_description/meshes/orbit_torso.dae" scale="1.0 1.0 1.0" />
</geometry>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://orbit_description/meshes/orbit_torso.dae" scale="1.0 1.0 1.0" />
</geometry>
</collision>
</link>
<!--Leg Left Robot-->
<link name="orbit_hip_left">
<inertial>
<mass value="0.65"/>
<origin xyz="0.0 0.0 -0.07721" rpy="0 0 0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<visual>
<origin rpy="0.0 0.0 1.570795" xyz="0 0 0"/>
<geometry>
<mesh filename="package://orbit_description/meshes/orbit_hip_left.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0.0 0.0 1.570795" xyz="0 0 0"/>
<geometry>
<mesh filename="package://orbit_description/meshes/orbit_hip_left.dae" scale="1.0 1.0 1.0" />
</geometry>
</collision>
</link>
<link name="orbit_upperleg_left">
<inertial>
<mass value="2.947251"/>
<origin xyz="0.0 0.0 -0.14543" rpy="0 0 0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://orbit_description/meshes/orbit_upperleg_left.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://orbit_description/meshes/orbit_upperleg_left.dae" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
</link>
<link name="orbit_lowerleg_left">
<inertial>
<mass value="1.622083"/>
<origin xyz="0.0 0.0 -0.12544" rpy="0 0 0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://orbit_description/meshes/orbit_lowerleg_left.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://orbit_description/meshes/orbit_lowerleg_left.dae" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
</link>
<link name="orbit_foot_left">
<inertial>
<mass value="1.256634"/>
<origin xyz="0.0 0.0 -0.04730" rpy="0 0 0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://orbit_description/meshes/orbit_foot_left.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://orbit_description/meshes/orbit_foot_left.dae" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
</link>
<!--Leg Right Robot-->
<link name="orbit_hip_right">
<inertial>
<mass value="0.845221"/>
<origin xyz="0.0 0.0 -0.07721" rpy="0 0 0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<visual>
<origin rpy="0.0 0.0 1.570795" xyz="0 0 0"/>
<geometry>
<mesh filename="package://orbit_description/meshes/orbit_hip_right.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0.0 0.0 1.570795" xyz="0 0 0"/>
<geometry>
<mesh filename="package://orbit_description/meshes/orbit_hip_right.dae" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
</link>
<link name="orbit_upperleg_right">
<inertial>
<mass value="2.947251"/>
<origin xyz="0.0 0.0 -0.14543" rpy="0 0 0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://orbit_description/meshes/orbit_upperleg_right.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://orbit_description/meshes/orbit_upperleg_right.dae" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
</link>
<link name="orbit_lowerleg_right">
<inertial>
<mass value="1.622083"/>
<origin xyz="0.0 0.0 -0.12544" rpy="0 0 0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://orbit_description/meshes/orbit_lowerleg_right.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://orbit_description/meshes/orbit_lowerleg_right.dae" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
</link>
<link name="orbit_foot_right">
<inertial>
<mass value="1.256634"/>
<origin xyz="0.0 0.0 -0.04730" rpy="0 0 0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://orbit_description/meshes/orbit_foot_right.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://orbit_description/meshes/orbit_foot_right.dae" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
</link>
<!--Joint Robot-->
<joint name="Left_hip_yaw" type="revolute">
<parent link="orbit_torso"/>
<child link="orbit_hip_left"/>
<origin rpy="0.0 0.0 1.570795" xyz="0.08977 -0.02000 0"/>
<axis xyz="0 0 1"/>
<!--<dynamics damping="0.1" friction="0" /> -->
<dynamics damping="0.7"/>
<limit effort="124.016" velocity="12" lower="-0.26" upper="0.26" />
<!--<safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.6109" soft_upper_limit="10.6109" />-->
</joint>
<joint name="Left_hip_pitch" type="revolute">
<parent link="orbit_hip_left"/>
<child link="orbit_upperleg_left"/>
<origin rpy="0.0 0.0 0.0" xyz="0 -0.01085 -0.11060"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.7"/>
<limit effort="124.016" velocity="12" lower="-0.52" upper="1.71" />
</joint>
<joint name="Left_knee_pitch" type="revolute">
<parent link="orbit_upperleg_left"/>
<child link="orbit_lowerleg_left"/>
<origin rpy="0.0 0.0 0.0" xyz="0 -0.01085 -0.32000"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.7"/>
<limit effort="124.016" velocity="12" lower="-2.25" upper="0.05" />
</joint>
<joint name="Left_ankle_pitch" type="revolute">
<parent link="orbit_lowerleg_left"/>
<child link="orbit_foot_left"/>
<origin rpy="0.0 0.0 0.0" xyz="0 -0.01085 -0.27700"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.7"/>
<limit effort="124.016" velocity="12" lower="-0.79" upper="0.52" />
</joint>
<joint name="Right_hip_yaw" type="revolute">
<parent link="orbit_torso"/>
<child link="orbit_hip_right"/>
<origin rpy="0.0 0.0 1.570795" xyz="-0.08977 -0.02000 0"/>
<axis xyz="0 0 1"/>
<dynamics damping="0.7"/>
<limit effort="124.016" velocity="12" lower="-0.26" upper="0.26" />
</joint>
<joint name="Right_hip_pitch" type="revolute">
<parent link="orbit_hip_right"/>
<child link="orbit_upperleg_right"/>
<origin rpy="0.0 0.0 0.0" xyz="0 0.01085 -0.11010"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.7"/>
<limit effort="124.016" velocity="12" lower="-0.52" upper="1.71" />
</joint>
<joint name="Right_knee_pitch" type="revolute">
<parent link="orbit_upperleg_right"/>
<child link="orbit_lowerleg_right"/>
<origin rpy="0.0 0.0 0.0" xyz="0 0.01085 -0.32000"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.7"/>
<limit effort="124.016" velocity="12" lower="-2.25" upper="0.05" />
</joint>
<joint name="Right_ankle_pitch" type="revolute">
<parent link="orbit_lowerleg_right"/>
<child link="orbit_foot_right"/>
<origin rpy="0.0 0.0 0.0" xyz="0 0.01085 -0.27700"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.7"/>
<limit effort="124.016" velocity="12" lower="-0.79" upper="0.52" />
</joint>
<!--Transmission Robot-->
<transmission type="transmission_interface/SimpleTransmission" name="Left_hip_yaw_trans" >
<actuator name="Left_hip_yaw_motor" type="EffortJointInterface" />
<joint name="Left_hip_yaw" />
<mechanicalReduction>1</mechanicalReduction>
<!--<motorTorqueConstant>1</motorTorqueConstant>-->
</transmission>
<transmission type="transmission_interface/SimpleTransmission" name="Left_hip_pitch_trans" >
<actuator name="Left_hip_pitch_motor" type="EffortJointInterface" />
<joint name="Left_hip_pitch" />
<mechanicalReduction>1</mechanicalReduction>
</transmission>
<transmission type="transmission_interface/SimpleTransmission" name="Left_knee_pitch_trans" >
<actuator name="Left_knee_pitch_motor" type="EffortJointInterface" />
<joint name="Left_knee_pitch" />
<mechanicalReduction>1</mechanicalReduction>
</transmission>
<transmission type="transmission_interface/SimpleTransmission" name="Left_ankle_pitch_trans" >
<actuator name="Left_ankle_pitch_motor" type="EffortJointInterface" />
<joint name="Left_ankle_pitch" />
<mechanicalReduction>1</mechanicalReduction>
</transmission>
<transmission name="Right_hip_yaw_trans" type="transmission_interface/SimpleTransmission">
<actuator name="Right_hip_yaw_motor" type="EffortJointInterface" />
<joint name="Right_hip_yaw" />
<mechanicalReduction>1</mechanicalReduction>
</transmission>
<transmission type="transmission_interface/SimpleTransmission" name="Right_hip_pitch_trans" >
<actuator name="Right_hip_pitch_motor" type="EffortJointInterface" />
<joint name="Right_hip_pitch" />
<mechanicalReduction>1</mechanicalReduction>
</transmission>
<transmission type="transmission_interface/SimpleTransmission" name="Right_knee_pitch_trans" >
<actuator name="Right_knee_pitch_motor" type="EffortJointInterface" />
<joint name="Right_knee_pitch" />
<mechanicalReduction>1</mechanicalReduction>
</transmission>
<transmission type="transmission_interface/SimpleTransmission" name="Right_ankle_pitch_trans" >
<actuator name="Right_ankle_pitch_motor" type="EffortJointInterface" />
<joint name="Right_ankle_pitch" />
<mechanicalReduction>1</mechanicalReduction>
</transmission>
<!--Config Gazebo-->
<gazebo reference="orbit_torso">
<material>Gazebo/White</material>
<turnGravityOff>0</turnGravityOff>
<selfCollide>1</selfCollide>
<!-- <dampingFactor>0.01</dampingFactor> -->
</gazebo>
<gazebo reference="orbit_hip_left">
<material>Gazebo/White</material>
<turnGravityOff>0</turnGravityOff>
<selfCollide>1</selfCollide>
</gazebo>
<gazebo reference="orbit_upperleg_left">
<material>Gazebo/White</material>
<turnGravityOff>0</turnGravityOff>
<selfCollide>1</selfCollide>
</gazebo>
<gazebo reference="orbit_lowerleg_left">
<material>Gazebo/White</material>
<turnGravityOff>0</turnGravityOff>
<selfCollide>1</selfCollide>
</gazebo>
<gazebo reference="orbit_foot_left">
<material>Gazebo/White</material>
<turnGravityOff>0</turnGravityOff>
<selfCollide>1</selfCollide>
</gazebo>
<gazebo reference="orbit_hip_right">
<material>Gazebo/White</material>
<turnGravityOff>0</turnGravityOff>
<selfCollide>1</selfCollide>
</gazebo>
<gazebo reference="orbit_upperleg_right">
<material>Gazebo/White</material>
<turnGravityOff>true</turnGravityOff>
<selfCollide>1</selfCollide>
</gazebo>
<gazebo reference="orbit_lowerleg_right">
<material>Gazebo/White</material>
<turnGravityOff>0</turnGravityOff>
<selfCollide>1</selfCollide>
</gazebo>
<gazebo reference="orbit_foot_right">
<material>Gazebo/White</material>
<turnGravityOff>0</turnGravityOff>
<selfCollide>1</selfCollide>
</gazebo>
<gazebo>
<plugin name="ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/orbit</robotNamespace>
<controlPeriod>0.001</controlPeriod>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
</robot>
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