orbit.urdf

<?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>