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m_hubo_omniWH_vrep.urdf
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<?xml version="1.0" ?>
<robot
xmlns:xacro="http://www.ros.org/wiki/xacro"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
name="m_hubo_omniWH">
<!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/>
<!-- Wheels -->
<!-- in kg-->
<!-- Defining the colors used in this robot -->
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<link name="base_footprint">
<inertial>
<mass value="0.0001"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="base_footprint_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.04"/>
<parent link="base_footprint"/>
<child link="Body_WHBase_link"/>
</joint>
<!--BODY TORSO-->
<joint name="WST" type="revolute">
<origin
xyz="0 0 0.677"
rpy="0 0 0" />
<!--original z = 0.692 -->
<parent
link="Body_WHBase_link" />
<child
link="Body_TORSO" />
<axis
xyz="0 0 1" />
<limit effort="100000" velocity="100" lower="-3.14" upper="3.14" />
<dynamics damping="30" friction="5" />
</joint>
<link name="Body_TORSO">
<inertial>
<origin
xyz="0.000373 0.000832 0.360257"
rpy="0 0 0" />
<mass
value="18.236" />
<inertia
ixx="0.19794"
ixy="6.4e-05"
ixz="-0.001125"
iyy="0.155811"
iyz="0.000284"
izz="0.117584" />
</inertial>
<visual>
<origin
xyz="0 0 -0.203"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_TORSO.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 -0.203"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_TORSO_col.STL" />
</geometry>
</collision>
</link>
<!-- LEFT ARM -->
<!-- LEFT ARM -->
<!-- LEFT ARM -->
<joint name="LSP" type="revolute">
<origin
xyz="0 0.242 0.253"
rpy="0 -0 0" />
<parent
link="Body_TORSO" />
<child
link="Body_LSP" />
<axis
xyz="0 1 0" />
<limit effort="10000000" velocity="100.0" lower="-5" upper="5" />
<dynamics damping="15" friction="2" />
</joint>
<link name="Body_LSP">
<inertial>
<origin
xyz="0.015596 -0.052409 0"
rpy="0 0 0" />
<mass
value="1.6" />
<inertia
ixx="0.005195"
ixy="0.001333"
ixz="1e-08"
iyy="0.004409"
iyz="0.0"
izz="0.007234" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LSP.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LSP_col.STL" />
</geometry>
</collision>
</link>
<joint name="LSR" type="revolute">
<origin
xyz="0 0 0"
rpy="0 0 0" />
<parent
link="Body_LSP" />
<child
link="Body_LSR" />
<axis
xyz="1 0 0" />
<limit effort="10000000" velocity="100.0" lower="-5.14" upper="5.14" />
<dynamics damping="15" friction="2" />
</joint>
<link name="Body_LSR">
<inertial>
<origin
xyz="-0.003104 0.000106 -0.013013"
rpy="0 -0 0" />
<mass
value="1.427" />
<inertia
ixx="0.003163"
ixy="6e-06"
ixz="-0.000211"
iyy="0.003689"
iyz="0.0"
izz="0.001909" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LSR.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LSR_col.STL" />
</geometry>
</collision>
</link>
<joint name="LSY" type="revolute">
<origin
xyz="0 0 0"
rpy="0 0 0" />
<parent
link="Body_LSR" />
<child
link="Body_LSY" />
<axis
xyz="0 0 1" />
<limit effort="10000000" velocity="100.0" lower="-5" upper="5" />
<dynamics damping="5" friction="2" />
</joint>
<link name="Body_LSY">
<inertial>
<origin
xyz="0.035284 -0.242 -0.87969"
rpy="0 0 0" />
<mass
value="2.35838" />
<inertia
ixx="0.024139"
ixy="0.000334"
ixz="-0.003948"
iyy="0.024861"
iyz="-0.001103"
izz="0.003447" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LSY.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LSY_col.STL" />
</geometry>
</collision>
</link>
<joint name="LEB" type="revolute">
<origin
xyz="0.035 0 -0.350"
rpy="0 0 0" />
<parent
link="Body_LSY" />
<child
link="Body_LEB" />
<axis
xyz="0 1 0" />
<limit effort="10000000" velocity="100.0" lower="-5" upper="5" />
<dynamics damping="8" friction="2" />
</joint>
<link name="Body_LEB">
<inertial>
<origin
xyz="-0.019775 0.004924 -0.041836"
rpy="0 0 0" />
<mass
value="0.409464" />
<inertia
ixx="0.001031"
ixy="4e-05"
ixz="0.000277"
iyy="0.001163"
iyz="8.5e-05"
izz="0.00056" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LEB.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LEB_col.STL" />
</geometry>
</collision>
</link>
<joint name="LWY" type="revolute">
<origin
xyz="-0.035 0 -0.34"
rpy="0 0 0" />
<parent
link="Body_LEB" />
<child
link="Body_LWY" />
<axis
xyz="0 0 1" />
<limit effort="10000000" velocity="100.0" lower="-5" upper="5" />
<dynamics damping="0.8" friction="50" />
</joint>
<link name="Body_LWY">
<inertial>
<origin
xyz="5.4e-05 0.001779 0.134651"
rpy="0 0 0" />
<mass
value="1.47" />
<inertia
ixx="0.01302"
ixy="-1e-05"
ixz="4e-5"
iyy="0.012803"
iyz="-0.000388"
izz="0.000862" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LWY.STL" />
</geometry>
<material
name="">
<color rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LWY_col.STL" />
</geometry>
</collision>
</link>
<joint name="LWP" type="revolute">
<origin
xyz="0 0 0"
rpy="0 0 0" />
<parent
link="Body_LWY" />
<child
link="Body_LWP" />
<axis
xyz="0 1 0" />
<limit effort="10000000" velocity="100.0" lower="-5" upper="5" />
<dynamics damping="0.1" friction="0.2" />
</joint>
<link name="Body_LWP">
<inertial>
<origin
xyz="1.7e-05 0.011876 -0.003359"
rpy="0 0 0" />
<mass
value="0.158865" />
<inertia
ixx="7.2e-04"
ixy="1.0e-06"
ixz="1.0e-06"
iyy="6.5e-04"
iyz="6.0e-05"
izz="6.5e-04" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LWP.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LWP_col.STL" />
</geometry>
</collision>
</link>
<joint name="LWFT" type="prismatic">
<origin
xyz="0 0 -0.0326"
rpy="0 0 0" />
<parent
link="Body_LWP" />
<child
link="Body_LWFT" />
<axis
xyz="0 0 1" />
<limit effort="1000000" velocity="1.0" lower="-0" upper="0" />
<dynamics damping="1" friction="1" />
</joint>
<link name="Body_LWFT">
<inertial>
<origin
xyz="-1.2e-05 -3e-06 -0.017752"
rpy="0 0 0" />
<mass
value="0.016659" />
<inertia
ixx="2.0e-05"
ixy="1.0e-06"
ixz="1.0e-06"
iyy="1.85e-05"
iyz="1.0e-06"
izz="3.33e-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LWFT.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LWFT_col.STL" />
</geometry>
</collision>
</link>
<joint name="LWY2" type="revolute">
<origin
xyz="0 0 0.0326"
rpy="0 0 0" />
<parent
link="Body_LWFT" />
<child
link="Body_LF1" />
<axis
xyz="0 0 1" />
<limit effort="10000000" velocity="100.0" lower="-5" upper="5" />
<dynamics damping="0.1" friction="1" />
</joint>
<link name = "Body_LF1">
<inertial>
<origin
xyz="0.00350179 0.00500094 -0.108683" rpy="0 0 0" />
<mass value="0.894667" />
<inertia
ixx="0.00087045"
ixy="-1.448e-05"
ixz="-1.064e-05"
iyy="0.00103972"
iyz="-7.89e-06"
izz="0.00095329" />
</inertial>
<visual>
<origin
xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LF1.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LF1_col.STL" />
</geometry>
</collision>
</link>
<!-- LEFT HAND -->
<!-- LEFT HAND -->
<!-- LEFT HAND -->
<joint name="LHAND_a1" type="revolute">
<origin
xyz="0.02498 -0.023 -0.1471"
rpy="0 0 0" />
<parent
link="Body_LF1" />
<child
link="Body_LF2_a1" />
<axis
xyz="0 1 0" />
<limit effort="100000" velocity="1.0" lower="0" upper="1.4708" />
<dynamics damping="0.0003" friction="0.1" />
</joint>
<link name="Body_LF2_a1">
<inertial>
<origin
xyz="-0.0228526 -0.00016373 -0.0095261"
rpy="0 0 0" />
<mass
value="0.038683" />
<inertia
ixx="1.143e-04"
ixy="7e-06"
ixz="-6.53e-05"
iyy="2.17e-04"
iyz="-1e-05"
izz="1.314e-04" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LF2_a1.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LF2_a1_col.STL" />
</geometry>
</collision>
</link>
<joint name="LHAND_a2" type="revolute">
<origin
xyz="0.03889 0 -0.0388"
rpy="0 0.7854 0" />
<parent
link="Body_LF2_a1" />
<child
link="Body_LF2_a2" />
<axis
xyz="0 1 0" />
<limit effort="100000" velocity="100.0" lower="0" upper="1.4708" />
<dynamics damping="0.0003" friction="0.1" />
</joint>
<link name="Body_LF2_a2">
<inertial>
<origin
xyz="0.0183473 -5.73e-06 0.00742064"
rpy="0 0 0" />
<mass
value="0.021949" />
<inertia
ixx="2.31e-05"
ixy="9e-06"
ixz="-4.6e-06"
iyy="7.09e-05"
iyz="-5e-06"
izz="6.69e-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LF2_a2.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LF2_a3_col.STL" />
</geometry>
</collision>
</link>
<joint name="LHAND_a3" type="revolute">
<origin
xyz="0.04 0 0"
rpy="0 0 0" />
<parent
link="Body_LF2_a2" />
<child
link="Body_LF2_a3" />
<axis
xyz="0 1 0" />
<limit effort="100000" velocity="100.0" lower="0" upper="1.4708" />
<dynamics damping="0.0003" friction="0.1" />
</joint>
<link name="Body_LF2_a3">
<inertial>
<origin
xyz="0.00112468 -3.724e-05 0.00681838"
rpy="0 0 0" />
<mass
value="0.0115" />
<inertia
ixx="7.2e-05"
ixy="1e-06"
ixz="2.9e-05"
iyy="1.67e-05"
iyz="1e-06"
izz="1.84e-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LF2_a3.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_RF2_a3_col.STL" />
</geometry>
</collision>
</link>
<joint name="LHAND_b1" type="revolute">
<origin
xyz="0.02498 0.0232 -0.1471"
rpy="0 0 0" />
<parent
link="Body_LF1" />
<child
link="Body_LF2_b1" />
<axis
xyz="0 1 0" />
<limit effort="100000" velocity="100.0" lower="0" upper="1.4708" />
<dynamics damping="0.0003" friction="0.1" />
</joint>
<link name="Body_LF2_b1">
<inertial>
<origin
xyz="-0.0228526 -0.00016373 -0.0095261"
rpy="0 0 0" />
<mass
value="0.038683" />
<inertia
ixx="1.143e-04"
ixy="7e-06"
ixz="-6.53e-05"
iyy="2.17e-04"
iyz="-1e-05"
izz="1.314e-04" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LF2_b1.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LF2_b1_col.STL" />
</geometry>
</collision>
</link>
<joint name="LHAND_b2" type="revolute">
<origin
xyz="0.03889 0 -0.0388"
rpy="0 0.7854 0" />
<parent
link="Body_LF2_b1" />
<child
link="Body_LF2_b2" />
<axis
xyz="0 1 0" />
<limit effort="100000" velocity="1.0" lower="0" upper="1.4708" />
<dynamics damping="0.0003" friction="0.1" />
</joint>
<link name="Body_LF2_b2">
<inertial>
<origin
xyz="0.0183473 -5.73e-06 0.00742064"
rpy="0 0 0" />
<mass
value="0.021949" />
<inertia
ixx="2.31e-05"
ixy="9e-06"
ixz="-4.6e-06"
iyy="7.09e-05"
iyz="-5e-06"
izz="6.69e-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LF2_b2.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LF2_b2_col.STL" />
</geometry>
</collision>
</link>
<joint name="LHAND_b3" type="revolute">
<origin
xyz="0.04 0 0"
rpy="0 0 0" />
<parent
link="Body_LF2_b2" />
<child
link="Body_LF2_b3" />
<axis
xyz="0 1 0" />
<limit effort="100000" velocity="100.0" lower="0" upper="1.4708" />
<dynamics damping="0.0003" friction="0.1" />
</joint>
<link name="Body_LF2_b3">
<inertial>
<origin
xyz="0.00112468 -3.724e-05 0.00681838"
rpy="0 0 0" />
<mass
value="0.0115" />
<inertia
ixx="7.2e-05"
ixy="1e-06"
ixz="2.9e-05"
iyy="1.67e-05"
iyz="1e-06"
izz="1.84e-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LF2_b3.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LF2_b3_col.STL" />
</geometry>
</collision>
</link>
<joint name="LHAND_c1" type="revolute">
<origin
xyz="-0.02502 0 -0.1471"
rpy="0 0 0" />
<parent
link="Body_LF1" />
<child
link="Body_LF2_c1" />
<axis
xyz="0 -1 0" />
<limit effort="100000" velocity="100.0" lower="0" upper="1.4708" />
<dynamics damping="0.0003" friction="0.1" />
</joint>
<link name="Body_LF2_c1">
<inertial>
<origin
xyz="-0.0228526 0.00016373 -0.0095261"
rpy="0 0 0" />
<mass
value="0.038683" />
<inertia
ixx="1.143e-04"
ixy="7e-06"
ixz="-6.53e-05"
iyy="2.17e-04"
iyz="-1e-05"
izz="1.314e-04" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LF2_c1.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LF2_c1_col.STL" />
</geometry>
</collision>
</link>
<joint name="LHAND_c2" type="revolute">
<origin
xyz="-0.03889 0 -0.0388"
rpy="0 -0.7854 0" />
<parent
link="Body_LF2_c1" />
<child
link="Body_LF2_c2" />
<axis
xyz="0 -1 0" />
<limit effort="100000" velocity="100.0" lower="0" upper="1.4708" />
<dynamics damping="0.0003" friction="0.1" />
</joint>
<link name="Body_LF2_c2">
<inertial>
<origin
xyz="-0.0183473 5.73e-06 0.00742064"
rpy="0 0 0" />
<mass
value="0.021949" />
<inertia
ixx="2.31e-05"
ixy="9e-06"
ixz="-4.6e-06"
iyy="7.09e-05"
iyz="-5e-06"
izz="6.69e-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LF2_c2.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/rainbow/catkin_ws/src/m_hubo/meshes/Body_LF2_c2_col.STL" />
</geometry>
</collision>
</link>
<joint name="LHAND_c3" type="revolute">
<origin
xyz="-0.04 0 0"
rpy="0 0 0" />
<parent
link="Body_LF2_c2" />
<child
link="Body_LF2_c3" />
<axis
xyz="0 -1 0" />
<limit effort="100000" velocity="100.0" lower="0" upper="1.4708" />
<dynamics damping="0.0003" friction="0.1" />
</joint>
<link name="Body_LF2_c3">
<inertial>
<origin