orbit.urdf

<?xml version="1.0"?>
<robot name="orbit"> 
 <link name="orbit_torso">
 <inertial>
        <mass value="6.870"/>
        <origin xyz="0 0 0.09538" rpy="0 0 0"/>
        <inertia ixx="0.060" ixy="0.000" ixz="-0.000" iyy="0.023" iyz="0.001" izz="0.069"/>
    </inertial>
    <visual name="visual">
      <origin rpy="0 0 1.570795" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://orbit_description/meshes/orbit_torso.dae" />
      </geometry>
    </visual>
    <collision name="collision">
      <origin rpy="0 0 1.570795" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://orbit_description/meshes/orbit_torso.dae" />
      </geometry>
    </collision>
  </link>
  
  <!-- Leg left -->
  
  <link name="orbit_hip_left">
    <inertial>
        <mass value="0.698"/>
        <origin xyz="0 0 -0.07721" rpy="0 0 0"/>
        <inertia ixx="0.002" ixy="-0.000" ixz="0.000" iyy="0.001" iyz="0.000" izz="0.002"/>
    </inertial>
    <visual name="visual">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://orbit_description/meshes/orbit_hip_left.dae" />
      </geometry>
    </visual>
    <collision name="collision">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://orbit_description/meshes/orbit_hip_left.dae" />
      </geometry>
    </collision>
  </link>

  <link name="orbit_upperleg_left">
    <inertial>
        <mass value="1.622"/>
        <origin xyz="0 0 -0.14543" rpy="0 0 0"/>
        <inertia ixx="0.030" ixy="-0.007" ixz="0.000" iyy="0.003" iyz="0.000" izz="0.031"/>
    </inertial>
    <visual name="visual">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://orbit_description/meshes/orbit_upperleg_left.dae" />
      </geometry>
    </visual>
    <collision name="collision">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://orbit_description/meshes/orbit_upperleg_left.dae" />
      </geometry>
    </collision>
  </link>

  <link name="orbit_lowerleg_left">
    <inertial>
        <mass value="1.588"/>
        <origin xyz="0 0 -0.12544" rpy="0 0 0"/>
        <inertia ixx="0.022" ixy="-0.006" ixz="0.000" iyy="0.003" iyz="0.000" izz="0.023"/>
    </inertial>
    <visual name="visual">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://orbit_description/meshes/orbit_lowerleg_left.dae" />
      </geometry>
    </visual>
    <collision name="collision">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://orbit_description/meshes/orbit_lowerleg_left.dae" />
      </geometry>
    </collision>
  </link>

  <link name="orbit_foot_left">
    <inertial>
        <mass value="1.234"/>
        <origin xyz="0 0 -0.04730" rpy="0 0 0"/>
        <inertia ixx="0.005" ixy="-0.001" ixz="0.000" iyy="0.005" iyz="-0.001" izz="0.004"/>
    </inertial>
    <visual name="visual">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://orbit_description/meshes/orbit_foot_left.dae" />
      </geometry>
    </visual>
    <collision name="collision">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://orbit_description/meshes/orbit_foot_left.dae" />
      </geometry>
    </collision>
  </link>
  
   <!-- Leg right -->
  
  <link name="orbit_hip_right">
    <inertial>
        <mass value="0.698"/>
        <origin xyz="0 0 -0.07721" rpy="0 0 0"/>
        <inertia ixx="0.002" ixy="0.000" ixz="0.000" iyy="0.001" iyz="0.000" izz="0.002"/>
    </inertial>
    <visual name="visual">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://orbit_description/meshes/orbit_hip_right.dae" />
      </geometry>
    </visual>
    <collision name="collision">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://orbit_description/meshes/orbit_hip_right.dae" />
      </geometry>
    </collision>
  </link>

  <link name="orbit_upperleg_right">
    <inertial>
        <mass value="1.622"/>
        <origin xyz="0 0 -0.14543" rpy="0 0 0"/>
        <inertia ixx="0.030" ixy="0.007" ixz="0.000" iyy="0.003" iyz="0.000" izz="0.031"/>
    </inertial>
    <visual name="visual">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://orbit_description/meshes/orbit_upperleg_right.dae" />
      </geometry>
    </visual>
    <collision name="collision">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://orbit_description/meshes/orbit_upperleg_right.dae" />
      </geometry>
    </collision>
  </link>

  <link name="orbit_lowerleg_right">
    <inertial>
        <mass value="1.588"/>
        <origin xyz="0 0 -0.12544" rpy="0 0 0"/>
        <inertia ixx="0.022" ixy="0.006" ixz="0.000" iyy="0.003" iyz="0.000" izz="0.023"/>
    </inertial>
    <visual name="visual">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://orbit_description/meshes/orbit_lowerleg_right.dae" />
      </geometry>
    </visual>
    <collision name="collision">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://orbit_description/meshes/orbit_lowerleg_right.dae" />
      </geometry>
    </collision>
  </link> 

  <link name="orbit_foot_right">
    <inertial>
        <mass value="1.234"/>
        <origin xyz="0 0 -0.04730" rpy="0 0 0"/>
        <inertia ixx="0.005" ixy="0.001" ixz="-0.000" iyy="0.004" iyz="-0.001" izz="0.004"/>
    </inertial>
    <visual name="visual">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://orbit_description/meshes/orbit_foot_right.dae" />
      </geometry>
    </visual>
    <collision name="collision">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://orbit_description/meshes/orbit_foot_right.dae" />
      </geometry>
    </collision>
  </link>
  
    <!--Joint Robot Left-->
  
    <joint name="left_hip_yaw" type="revolute">
    <parent link="orbit_torso"/>
    <child link="orbit_hip_left"/>
    <origin rpy="0 0 -1.570795" xyz="0.0203 0.0902 0"/>
    <axis xyz="0 0 1"/>
    <calibration rising="0.0"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit lower="-0.26" upper="0.26" effort="20.7" velocity="25.0" />
    <safety_controller k_velocity="12.5" k_position="12.5" soft_lower_limit="-0.25" soft_upper_limit="0.25" />
  </joint>  
  
  <joint name="left_hip_pitch" type="revolute">
    <parent link="orbit_hip_left"/>
    <child link="orbit_upperleg_left"/>
    <origin rpy="0 0 -1.570795" xyz="-0.0109 0 -0.11060"/>
    <axis xyz="0 1 0"/>
    <calibration rising="0.0"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit lower="-0.52" upper="1.71" effort="20.7" velocity="25.0"  />
    <safety_controller k_velocity="12.5" k_position="12.5" soft_lower_limit="-0.51" soft_upper_limit="1.70" />
  </joint>

  <joint name="left_knee_pitch" type="revolute">
    <parent link="orbit_upperleg_left"/>
    <child link="orbit_lowerleg_left"/>
    <origin rpy="0 0 0" xyz="0 0 -0.32000"/>
    <axis xyz="0 1 0"/>
    <calibration rising="0.0"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit lower="-2.25" upper="0.050" effort="20.7" velocity="25.0" />
    <safety_controller k_velocity="12.5" k_position="12.5" soft_lower_limit="-2.24" soft_upper_limit="0.049" />
  </joint>

  <joint name="left_ankle_pitch" type="revolute">
    <parent link="orbit_lowerleg_left"/>
    <child link="orbit_foot_left"/>
    <origin rpy="0 0 0" xyz="0 0 -0.27700"/>
    <axis xyz="0 1 0"/>
    <calibration rising="0.0"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit  lower="-0.79" upper="0.52" effort="20.7" velocity="25.0" />
    <safety_controller k_velocity="12.5" k_position="12.5" soft_lower_limit="-0.78" soft_upper_limit="0.51" />
  </joint>

<!--Joint Robot Right-->

  <joint name="right_hip_yaw" type="revolute">
    <parent link="orbit_torso"/>
    <child link="orbit_hip_right"/>
    <origin rpy="0 0 -1.570795" xyz="0.0203 -0.0902 0"/>
    <axis xyz="0 0 1"/>
    <calibration rising="0.0"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit lower="-0.26" upper="0.26" effort="20.7" velocity="25.0"  />
    <safety_controller k_velocity="12.5" k_position="12.5" soft_lower_limit="-0.25" soft_upper_limit="0.25" />
  </joint>

  <joint name="right_hip_pitch" type="revolute">
    <parent link="orbit_hip_right"/>
    <child link="orbit_upperleg_right"/>
    <origin rpy="0 0 -1.570795" xyz="0.0109 0 -0.11060"/>
    <axis xyz="0 1 0"/>
    <calibration rising="0.0"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit lower="-0.52" upper="1.71" effort="20.7" velocity="25.0" />
    <safety_controller k_velocity="12.5" k_position="12.5" soft_lower_limit="-0.51" soft_upper_limit="1.70" />
  </joint>

  <joint name="right_knee_pitch" type="revolute">
    <parent link="orbit_upperleg_right"/>
    <child link="orbit_lowerleg_right"/>
    <origin rpy="0 0 0" xyz="0 0 -0.32000"/>
    <axis xyz="0 1 0"/>
    <calibration rising="0.0"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit  lower="-2.25" upper="0.050" effort="20.7" velocity="25.0" />
    <safety_controller k_velocity="12.5" k_position="12.5" soft_lower_limit="-2.24" soft_upper_limit="0.049" />
  </joint> 

  <joint name="right_ankle_pitch" type="revolute">
    <parent link="orbit_lowerleg_right"/>
    <child link="orbit_foot_right"/>
    <origin rpy="0 0 0" xyz="0 0 -0.27700"/>
    <axis xyz="0 1 0"/>
    <calibration rising="0.0"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit lower="-0.79" upper="0.52" effort="20.7" velocity="25.0"  />
    <safety_controller k_velocity="12.5" k_position="12.5" soft_lower_limit="-0.78" soft_upper_limit="0.51" />
  </joint>
  
  
  <!--Transmission Robot-->

  <transmission type="pr2_mechanism_model/SimpleTransmission" name="Left_hip_yaw_trans" >
    <actuator name="left_hip_yaw_motor" />
    <joint name="left_hip_yaw" />    
    <mechanicalReduction>1</mechanicalReduction>
    <motorTorqueConstant>1</motorTorqueConstant>
  </transmission>

  <transmission type="pr2_mechanism_model/SimpleTransmission" name="Left_hip_pitch_trans" >
     <actuator name="left_hip_pitch_motor" />   
    <joint name="left_hip_pitch" />    
    <mechanicalReduction>1</mechanicalReduction>
    <motorTorqueConstant>1</motorTorqueConstant>
  </transmission>

  <transmission type="pr2_mechanism_model/SimpleTransmission" name="Left_knee_pitch_trans" >
    <actuator name="left_knee_pitch_motor" />
    <joint name="left_knee_pitch" />
    <mechanicalReduction>1</mechanicalReduction>
    <motorTorqueConstant>1</motorTorqueConstant>
  </transmission>

  <transmission type="pr2_mechanism_model/SimpleTransmission" name="Left_ankle_pitch_trans" >
    <actuator name="left_ankle_pitch_motor" />
    <joint name="left_ankle_pitch" />    
    <mechanicalReduction>1</mechanicalReduction>
    <motorTorqueConstant>1</motorTorqueConstant>
  </transmission>


  <transmission type="pr2_mechanism_model/SimpleTransmission" name="Right_hip_yaw_trans" >
    <actuator name="right_hip_yaw_motor" type="EffortJointInterface" />
    <joint name="right_hip_yaw" />
    <mechanicalReduction>1</mechanicalReduction>
    <motorTorqueConstant>1</motorTorqueConstant>
  </transmission>

  <transmission type="pr2_mechanism_model/SimpleTransmission" name="Right_hip_pitch_trans" >
    <actuator name="right_hip_pitch_motor" />
    <joint name="right_hip_pitch" />
    <mechanicalReduction>1</mechanicalReduction>
    <motorTorqueConstant>1</motorTorqueConstant>
  </transmission>

  <transmission type="pr2_mechanism_model/SimpleTransmission" name="Right_knee_pitch_trans" >
    <actuator name="right_knee_pitch_motor" />
    <joint name="right_knee_pitch" />             
    <mechanicalReduction>1</mechanicalReduction>
    <motorTorqueConstant>1</motorTorqueConstant>
  </transmission>

  <transmission type="pr2_mechanism_model/SimpleTransmission" name="Right_ankle_pitch_trans" >
    <actuator name="right_ankle_pitch_motor" />
    <joint name="right_ankle_pitch" />             
    <mechanicalReduction>1</mechanicalReduction>
    <motorTorqueConstant>1</motorTorqueConstant>
  </transmission>

<!--Config Gazebo-->

  <gazebo reference="orbit_torso">
    <material>Gazebo/White</material>
    <turnGravityOff>false</turnGravityOff>
    <selfCollide>true</selfCollide>
  </gazebo>

  <gazebo reference="orbit_hip_left">
    <material>Gazebo/White</material>
    <turnGravityOff>false</turnGravityOff>
    <selfCollide>true</selfCollide>
  </gazebo>

  <gazebo reference="orbit_upperleg_left">
    <material>Gazebo/White</material>
    <turnGravityOff>false</turnGravityOff>
    <selfCollide>true</selfCollide> 
  </gazebo> 

  <gazebo reference="orbit_lowerleg_left">
    <material>Gazebo/White</material>
    <turnGravityOff>false</turnGravityOff>
    <selfCollide>true</selfCollide>
  </gazebo>

  <gazebo reference="orbit_foot_left">
    <material>Gazebo/White</material>
    <turnGravityOff>false</turnGravityOff>
    <selfCollide>true</selfCollide>
  </gazebo>

  <gazebo reference="orbit_hip_right">
    <material>Gazebo/White</material>
    <turnGravityOff>false</turnGravityOff>
    <selfCollide>true</selfCollide>
  </gazebo>

  <gazebo reference="orbit_upperleg_right">
    <material>Gazebo/White</material>
    <turnGravityOff>false</turnGravityOff>
    <selfCollide>true</selfCollide>
  </gazebo>

  <gazebo reference="orbit_lowerleg_right">
    <material>Gazebo/White</material>
    <turnGravityOff>false</turnGravityOff>
    <selfCollide>true</selfCollide>
  </gazebo>

  <gazebo reference="orbit_foot_right">
    <material>Gazebo/White</material>
    <turnGravityOff>false</turnGravityOff>
    <selfCollide>true</selfCollide>
  </gazebo> 

</robot>