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model.urdf
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model.urdf
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<robot name="iCub">
<link name="base_link" />
<link name="chest">
<inertial>
<mass value="4.81" />
<origin xyz="0.00222898 0.075 -1.18362e-17" rpy="0 -0 0" />
<inertia ixx="0.07472" ixy="-3.6e-06" ixz="-4.705e-05" iyy="0.08145" iyz="0.004567" izz="0.01306" />
</inertial>
<visual>
<origin xyz="-0.0055 -6.93889e-18 -3.55271e-18" rpy="2.03442 -1.5708 -0.463617" />
<geometry>
<mesh filename="meshes/visual/icub_chest.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="-0.0055 -6.93889e-18 -3.55271e-18" rpy="2.03442 -1.5708 -0.463617" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_chest.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="chest_skin_frame">
<inertial>
<mass value="0" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<!-- LINKS FOR ICUB BALANCING ON A CHAIR -->
<link name="l_upper_leg_contact">
<inertial>
<mass value="0" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<link name="r_upper_leg_contact">
<inertial>
<mass value="0" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<!-- *********************************** -->
<link name="codyco_balancing_world">
<inertial>
<mass value="0" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<link name="head">
<inertial>
<mass value="3" />
<origin xyz="0.0185 -0.1108 6.78454e-18" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
</inertial>
<visual>
<origin xyz="0.0045 -0.0235 9.42472e-13" rpy="1.81577 1.5708 0.244969" />
<geometry>
<mesh filename="meshes/visual/icub_head.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="0.0045 -0.0235 9.42472e-13" rpy="1.81577 1.5708 0.244969" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_head.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="imu_frame">
<inertial>
<mass value="0" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<link name="l_ankle_1">
<inertial>
<mass value="0.746" />
<origin xyz="-0.0054 0.00163 0.0172" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="-7.081e-06" ixz="4.1421e-05" iyy="0.01" iyz="2.0817e-05" izz="0.01" />
</inertial>
<visual>
<origin xyz="1.11022e-16 -5.54343e-12 4.45647e-12" rpy="1.5708 1.53106e-11 1.53105e-11" />
<geometry>
<mesh filename="meshes/visual/icub_l_ankle_1.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="1.11022e-16 -5.54343e-12 4.45647e-12" rpy="1.5708 1.53106e-11 1.53105e-11" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_l_ankle_1.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="l_ankle_2">
<inertial>
<mass value="0.2675" />
<origin xyz="0 0 0.037" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
</inertial>
</link>
<link name="l_elbow_1">
<inertial>
<mass value="0.1" />
<origin xyz="-0.0013 0.00371 -0.00105" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="-5.15e-07" ixz="-4.08e-07" iyy="0.01" iyz="-3.71e-07" izz="0.01" />
</inertial>
</link>
<link name="l_foot">
<inertial>
<mass value="0.5935" />
<origin xyz="0.024069 -0.000613931 -0.0284154" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="-4.51893e-06" ixz="0.000567785" iyy="0.01" iyz="-6.62361e-07" izz="0.01" />
</inertial>
<visual>
<origin xyz="4.45647e-12 -5.54343e-12 -0.037" rpy="2.35619 1.5708 2.35619" />
<geometry>
<mesh filename="meshes/visual/icub_l_foot.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="4.45647e-12 -5.54343e-12 -0.037" rpy="2.35619 1.5708 2.35619" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_l_foot.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="l_foot_dh_frame">
<inertial>
<mass value="0" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<link name="l_forearm">
<inertial>
<mass value="0.525" />
<origin xyz="0.000347 0.066 0.00476" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="4.337e-06" ixz="2.39e-07" iyy="0.01" iyz="1.9381e-05" izz="0.01" />
</inertial>
<visual>
<origin xyz="-0.000143922 -1.25974e-12 0.0204334" rpy="0.477647 1.5708 2.04844" />
<geometry>
<mesh filename="meshes/visual/icub_l_forearm.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="-0.000143922 -1.25974e-12 0.0204334" rpy="0.477647 1.5708 2.04844" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_l_forearm.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="l_forearm_dh_frame">
<inertial>
<mass value="0" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<link name="l_gripper">
<inertial>
<mass value="0" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<link name="l_hand">
<inertial>
<mass value="0.213" />
<origin xyz="0.07023 -0.00805 -0.007" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="1.278e-05" ixz="4.823e-06" iyy="0.01" iyz="-1.8188e-05" izz="0.01" />
</inertial>
<visual>
<origin xyz="-1.25973e-12 0.0204334 -0.000143922" rpy="5.10271e-12 -2.64186e-12 1.49622e-11" />
<geometry>
<mesh filename="meshes/visual/icub_l_hand.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="-1.25973e-12 0.0204334 -0.000143922" rpy="5.10271e-12 -2.64186e-12 1.49622e-11" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_l_hand.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="l_hand_dh_frame">
<inertial>
<mass value="0" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<link name="l_hip_1">
<inertial>
<mass value="0.754" />
<origin xyz="0 -0.0782 0" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="2.059e-06" ixz="1.451e-06" iyy="0.01" iyz="1.545e-06" izz="0.01" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="2.35619 1.5708 0.785398" />
<geometry>
<mesh filename="meshes/visual/icub_l_hip_1.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="2.35619 1.5708 0.785398" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_l_hip_1.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="l_hip_2">
<inertial>
<mass value="0.526" />
<origin xyz="0 0 0.03045" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="-7.4e-08" ixz="1.0835e-05" iyy="0.01" iyz="-6.2e-08" izz="0.01" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="-2.35623 -1.5708 -0.785361" />
<geometry>
<mesh filename="meshes/visual/icub_l_hip_2.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="-2.35623 -1.5708 -0.785361" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_l_hip_2.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="l_hip_3">
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
</inertial>
</link>
<link name="l_lower_leg">
<inertial>
<mass value="1.264" />
<origin xyz="-0.1071 0.00182 0.00211" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="-0.000185699" ixz="-6.3147e-05" iyy="0.01" iyz="7.86e-07" izz="0.01" />
</inertial>
<visual>
<origin xyz="5.55112e-17 2.28232e-12 2.2823e-12" rpy="-3.14159 -2.33487e-16 1.5708" />
<geometry>
<mesh filename="meshes/visual/icub_l_shank.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="5.55112e-17 2.28232e-12 2.2823e-12" rpy="-3.14159 -2.33487e-16 1.5708" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_l_shank.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="l_shoulder_1">
<inertial>
<mass value="0.189" />
<origin xyz="-5e-06 0.0187 -0.00119" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="9e-09" ixz="0" iyy="0.01" iyz="-1.7e-08" izz="0.01" />
</inertial>
<visual>
<origin xyz="3.08642e-14 0.109285 -0.00521101" rpy="2.84053 1.5708 1.26973" />
<geometry>
<mesh filename="meshes/visual/icub_l_shoulder_1.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="3.08642e-14 0.109285 -0.00521101" rpy="2.84053 1.5708 1.26973" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_l_shoulder_1.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="l_shoulder_2">
<inertial>
<mass value="0.179" />
<origin xyz="9.4e-05 -0.00627 0.0166" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="4.66e-07" ixz="3.65e-07" iyy="0.01" iyz="-2.0524e-05" izz="0.01" />
</inertial>
<visual>
<origin xyz="-0.00154529 -0.00521101 -1.11181e-12" rpy="1.00126 1.5708 2.57206" />
<geometry>
<mesh filename="meshes/visual/icub_l_shoulder_2.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="-0.00154529 -0.00521101 -1.11181e-12" rpy="1.00126 1.5708 2.57206" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_l_shoulder_2.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="l_shoulder_3">
<inertial>
<mass value="0.156157" />
<origin xyz="0.00559398 9.77357e-05 0.0501346" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="-5.662e-08" ixz="-4.3618e-06" iyy="0.01" iyz="-7.42844e-07" izz="0.01" />
</inertial>
</link>
<link name="l_sole">
<inertial>
<mass value="0" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<link name="l_upper_arm">
<inertial>
<mass value="0.727843" />
<origin xyz="-0.000156 -9.87e-05 0.0298" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="-1.08e-06" ixz="-2.29e-06" iyy="0.01" iyz="3.57e-06" izz="0.01" />
</inertial>
<visual>
<origin xyz="-0.0204334 0.000143922 -0.068" rpy="1.15274e-11 4.92958e-12 -1.309" />
<geometry>
<mesh filename="meshes/visual/icub_l_arm.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="-0.0204334 0.000143922 -0.068" rpy="1.15274e-11 4.92958e-12 -1.309" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_l_arm.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="l_upper_arm_dh_frame">
<inertial>
<mass value="0" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<link name="l_upper_leg">
<inertial>
<mass value="2.175" />
<origin xyz="0.00144 -0.15943 -0.00039" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="-6.726e-05" ixz="2.267e-06" iyy="0.01" iyz="3.63726e-05" izz="0.01" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0.463626 1.5708 2.03443" />
<geometry>
<mesh filename="meshes/visual/icub_l_thigh.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0.463626 1.5708 2.03443" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_l_thigh.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="l_wrist_1">
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
</inertial>
</link>
<link name="neck_1">
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
</inertial>
<visual>
<origin xyz="-5.55112e-17 9.62889e-13 -0.0055" rpy="-7.25153e-06 -1.5708 -1.57079" />
<geometry>
<mesh filename="meshes/visual/icub_neck_1.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="-5.55112e-17 9.62889e-13 -0.0055" rpy="-7.25153e-06 -1.5708 -1.57079" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_neck_1.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="neck_2">
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
</inertial>
<visual>
<origin xyz="-9.62885e-13 0.0055 0.0235" rpy="2.17538e-05 -1.5708 1.57077" />
<geometry>
<mesh filename="meshes/visual/icub_neck_2.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="-9.62885e-13 0.0055 0.0235" rpy="2.17538e-05 -1.5708 1.57077" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_neck_2.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="r_ankle_1">
<inertial>
<mass value="0.746" />
<origin xyz="-0.0054 0.00163 -0.0172" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="-1.69407e-21" ixz="1.35525e-20" iyy="0.01" iyz="3.38813e-21" izz="0.01" />
</inertial>
<visual>
<origin xyz="1.11022e-16 -1.08717e-12 -4.45647e-12" rpy="-1.5708 -1.53106e-11 5.10376e-12" />
<geometry>
<mesh filename="meshes/visual/icub_r_ankle_1.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="1.11022e-16 -1.08717e-12 -4.45647e-12" rpy="-1.5708 -1.53106e-11 5.10376e-12" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_r_ankle_1.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="r_ankle_2">
<inertial>
<mass value="0.2675" />
<origin xyz="0 0 0.037" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
</inertial>
</link>
<link name="r_elbow_1">
<inertial>
<mass value="0.1" />
<origin xyz="0.0013 -0.00371 0.00105" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="-5.02e-07" ixz="-3.99e-07" iyy="0.01" iyz="-3.71e-07" izz="0.01" />
</inertial>
</link>
<link name="r_foot">
<inertial>
<mass value="0.5935" />
<origin xyz="0.024069 0.000613931 -0.0284154" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="4.51893e-06" ixz="0.000567784" iyy="0.01" iyz="6.62535e-07" izz="0.01" />
</inertial>
<visual>
<origin xyz="4.45647e-12 1.08717e-12 -0.037" rpy="0.321762 1.5708 -2.81983" />
<geometry>
<mesh filename="meshes/visual/icub_r_foot.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="4.45647e-12 1.08717e-12 -0.037" rpy="0.321762 1.5708 -2.81983" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_r_foot.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="r_foot_dh_frame">
<inertial>
<mass value="0" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<link name="r_forearm">
<inertial>
<mass value="0.525" />
<origin xyz="-0.000347 -0.066 -0.00476" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="5.66e-06" ixz="1.4e-06" iyy="0.01" iyz="1.82e-05" izz="0.01" />
</inertial>
<visual>
<origin xyz="0.000143922 -1.07214e-12 -0.0204334" rpy="1.39994 1.5708 2.97073" />
<geometry>
<mesh filename="meshes/visual/icub_r_forearm.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="0.000143922 -1.07214e-12 -0.0204334" rpy="1.39994 1.5708 2.97073" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_r_forearm.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="r_forearm_dh_frame">
<inertial>
<mass value="0" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<link name="r_gripper">
<inertial>
<mass value="0" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<link name="r_hand">
<inertial>
<mass value="0.213" />
<origin xyz="0.07023 -0.00805 0.007" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="1.26e-05" ixz="-6.08e-06" iyy="0.01" iyz="1.76e-05" izz="0.01" />
</inertial>
<visual>
<origin xyz="1.0721e-12 0.0204334 0.000143922" rpy="1.53098e-11 2.00656e-11 -3.14159" />
<geometry>
<mesh filename="meshes/visual/icub_r_hand.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="1.0721e-12 0.0204334 0.000143922" rpy="1.53098e-11 2.00656e-11 -3.14159" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_r_hand.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="r_hand_dh_frame">
<inertial>
<mass value="0" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<link name="r_hip_1">
<inertial>
<mass value="0.754" />
<origin xyz="0 -0.0782 0" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="-1.3734 -1.5708 -0.380506" />
<geometry>
<mesh filename="meshes/visual/icub_r_hip_1.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="-1.3734 -1.5708 -0.380506" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_r_hip_1.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="r_hip_2">
<inertial>
<mass value="0.526" />
<origin xyz="0 0 0.03045" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0.785327 -1.5708 -0.785327" />
<geometry>
<mesh filename="meshes/visual/icub_r_hip_2.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0.785327 -1.5708 -0.785327" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_r_hip_2.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="r_hip_3">
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
</inertial>
</link>
<link name="r_lower_leg">
<inertial>
<mass value="1.264" />
<origin xyz="-0.1071 0.00182 -0.00211" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="5.42101e-20" ixz="-5.42101e-20" iyy="0.01" iyz="8.47033e-22" izz="0.01" />
</inertial>
<visual>
<origin xyz="5.55112e-17 2.28232e-12 -8.32667e-17" rpy="3.14159 -1.14424e-17 1.5708" />
<geometry>
<mesh filename="meshes/visual/icub_r_shank.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="5.55112e-17 2.28232e-12 -8.32667e-17" rpy="3.14159 -1.14424e-17 1.5708" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_r_shank.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="r_shoulder_1">
<inertial>
<mass value="0.189" />
<origin xyz="5e-06 0.0187 0.00119" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="2.1e-08" ixz="-1e-09" iyy="0.01" iyz="4.22e-06" izz="0.01" />
</inertial>
<visual>
<origin xyz="-3.08642e-14 0.109285 0.00521101" rpy="-0.0815582 1.5708 1.48924" />
<geometry>
<mesh filename="meshes/visual/icub_r_shoulder_1.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="-3.08642e-14 0.109285 0.00521101" rpy="-0.0815582 1.5708 1.48924" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_r_shoulder_1.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="r_shoulder_2">
<inertial>
<mass value="0.179" />
<origin xyz="-9.4e-05 -0.00627 -0.0166" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="-4.53e-07" ixz="2.03e-07" iyy="0.01" iyz="2.07e-05" izz="0.01" />
</inertial>
<visual>
<origin xyz="-0.00154529 -0.00521101 -1.11181e-12" rpy="2.14034 -1.5708 -0.56954" />
<geometry>
<mesh filename="meshes/visual/icub_r_shoulder_2.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="-0.00154529 -0.00521101 -1.11181e-12" rpy="2.14034 -1.5708 -0.56954" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_r_shoulder_2.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="r_shoulder_3">
<inertial>
<mass value="0.155" />
<origin xyz="0.00553932 -2.47652e-05 0.0493895" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="3.56977e-07" ixz="-3.95372e-06" iyy="0.01" iyz="-6.5128e-06" izz="0.01" />
</inertial>
</link>
<link name="r_sole">
<inertial>
<mass value="0" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<link name="r_upper_arm">
<inertial>
<mass value="0.729" />
<origin xyz="-0.00015906 8.28733e-05 0.0298828" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="-1.08e-06" ixz="-2.29e-06" iyy="0.01" iyz="3.57e-06" izz="0.01" />
</inertial>
<visual>
<origin xyz="-0.0204334 -0.000143922 -0.068" rpy="-3.14159 -1.51363e-11 1.309" />
<geometry>
<mesh filename="meshes/visual/icub_r_arm.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="-0.0204334 -0.000143922 -0.068" rpy="-3.14159 -1.51363e-11 1.309" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_r_arm.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="r_upper_arm_dh_frame">
<inertial>
<mass value="0" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<link name="r_upper_leg">
<inertial>
<mass value="2.175" />
<origin xyz="0.00144 -0.15943 0.00039" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="-2.71051e-20" izz="0.01" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="-1.57072 -1.5708 3.14152" />
<geometry>
<mesh filename="meshes/visual/icub_r_thigh.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="-1.57072 -1.5708 3.14152" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_r_thigh.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="r_wrist_1">
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
</inertial>
</link>
<link name="root_link">
<inertial>
<mass value="4.72" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="meshes/visual/icub_root_link.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_root_link.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="torso">
<inertial>
<mass value="0" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<link name="torso_1">
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="-4.263e-05" ixz="-3.889e-08" iyy="0.01" iyz="0" izz="0.01" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="-1.5708 5.10314e-12 1.11022e-16" />
<geometry>
<mesh filename="meshes/visual/icub_lap_belt_1.dae" scale="1 1 1" />
</geometry>
<material name="material.metal">
<texture />
<color rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="-1.5708 5.10314e-12 1.11022e-16" />
<geometry>
<mesh filename="meshes/collision/icub_simple_collision_lap_belt_1.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="torso_2">
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0.01" ixy="-1.923e-06" ixz="5.095e-05" iyy="0.01" iyz="-3.849e-07" izz="0.01" />
</inertial>
</link>
<joint name="torso_yaw" type="revolute">
<origin xyz="-7.46298e-34 -0.0055 0" rpy="-1.5708 -0 -1.5708" />
<axis xyz="0 -1 6.12323e-17" />
<parent link="torso_2" />
<child link="chest" />
<dynamics damping="1" friction="0" />
<limit effort="80" velocity="100" lower="-1.02974" upper="1.02974" />
</joint>
<joint name="chest_skin_frame_fixed_joint" type="fixed">
<origin xyz="0.00231 0.1933 -1.18362e-17" rpy="-1.8747e-33 5.77686e-66 6.16298e-33" />
<axis xyz="0 0 0" />
<parent link="chest" />
<child link="chest_skin_frame" />
</joint>
<!-- JOINTS FOR ICUB BALANCING ON A CHAIR -->
<joint name="l_upper_leg_frame_fixed_joint" type="fixed">
<origin xyz="-0.06 -0.07 0.0" rpy="-1.5708 -0.0 -1.5708" />
<axis xyz="0 0 0" />
<parent link="l_upper_leg" />
<child link="l_upper_leg_contact" />
</joint>
<joint name="r_upper_leg_frame_fixed_joint" type="fixed">
<origin xyz="-0.06 -0.07 0.0" rpy="-1.5708 0.0 -1.5708" />
<axis xyz="0 0 0" />
<parent link="r_upper_leg" />
<child link="r_upper_leg_contact" />
</joint>
<!-- ************************************ -->
<joint name="codyco_balancing_world_fixed_joint" type="fixed">
<origin xyz="-1.24246e-32 -2.65687e-65 0.004" rpy="3.14159 -0 0" />
<axis xyz="0 0 0" />
<parent link="l_foot" />
<child link="codyco_balancing_world" />
</joint>
<joint name="neck_yaw" type="revolute">
<origin xyz="-5.77779e-34 0 0" rpy="-1.5708 -0 1.5708" />
<axis xyz="0 -1 6.12323e-17" />
<parent link="neck_2" />
<child link="head" />
<dynamics damping="1" friction="0" />
<limit effort="20" velocity="100" lower="-0.959931" upper="0.959931" />
</joint>
<joint name="imu_frame_fixed_joint" type="fixed">
<origin xyz="0.0185 -0.1108 0.0066" rpy="1.5708 -0 0" />
<axis xyz="0 0 0" />
<parent link="head" />
<child link="imu_frame" />
</joint>
<joint name="l_ankle_pitch" type="revolute">
<origin xyz="-0.213 0 0" rpy="-1.5708 0 0" />
<axis xyz="0 -1 6.12323e-17" />
<parent link="l_lower_leg" />
<child link="l_ankle_1" />
<dynamics damping="1" friction="0" />
<limit effort="24" velocity="100" lower="-0.733038" upper="0.366519" />
</joint>
<joint name="l_ankle_roll" type="revolute">
<origin xyz="0 0 0" rpy="0 -1.5708 0" />
<axis xyz="1 0 0" />
<parent link="l_ankle_1" />
<child link="l_ankle_2" />
<dynamics damping="1" friction="0" />
<limit effort="11" velocity="100" lower="-0.418879" upper="0.418879" />
</joint>
<joint name="l_elbow" type="revolute">
<origin xyz="0 0 0.08428" rpy="-6.12323e-17 0 0" />
<axis xyz="0 1 6.12323e-17" />
<parent link="l_upper_arm" />
<child link="l_elbow_1" />
<dynamics damping="1" friction="0" />
<limit effort="20" velocity="100" lower="0.0959931" upper="1.85005" />
</joint>
<joint name="l_foot_ft_sensor" type="fixed">
<origin xyz="0 0 0.037" rpy="0 -0 0" />
<axis xyz="0 0 0" />
<parent link="l_ankle_2" />
<child link="l_foot" />
</joint>
<joint name="l_foot_dh_frame_fixed_joint" type="fixed">
<origin xyz="0 0 0.004" rpy="0 1.5708 0" />
<axis xyz="0 0 0" />
<parent link="l_foot" />
<child link="l_foot_dh_frame" />
</joint>
<joint name="l_wrist_prosup" type="revolute">
<origin xyz="-0.015 0 0" rpy="1.5708 -0 -1.5708" />
<axis xyz="0 1 6.12323e-17" />
<parent link="l_elbow_1" />
<child link="l_forearm" />
<dynamics damping="1" friction="0" />
<limit effort="0.45" velocity="100" lower="-0.872665" upper="0.872665" />
</joint>
<joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
<origin xyz="0 0.1373 8.4072e-18" rpy="0 -0 0" />
<axis xyz="0 0 0" />
<parent link="l_forearm" />
<child link="l_forearm_dh_frame" />
</joint>
<joint name="l_gripper_joint" type="fixed">
<origin xyz="0.0625 0 -0.016" rpy="0 -0 0" />
<axis xyz="0 0 0" />
<parent link="l_hand" />
<child link="l_gripper" />
</joint>
<joint name="l_wrist_yaw" type="revolute">
<origin xyz="0 0 0" rpy="0 -0 0" />
<axis xyz="0 0 1" />
<parent link="l_wrist_1" />
<child link="l_hand" />
<dynamics damping="1" friction="0" />
<limit effort="0.65" velocity="100" lower="-0.436332" upper="0.436332" />
</joint>
<joint name="l_hand_dh_frame_fixed_joint" type="fixed">
<origin xyz="0.0625 0 -0.016" rpy="0 -0 0" />
<axis xyz="0 0 0" />
<parent link="l_hand" />
<child link="l_hand_dh_frame" />
</joint>
<joint name="l_hip_pitch" type="revolute">
<origin xyz="0 -0.0681 -0.1199" rpy="-3.14159 1.5708 -2.77556e-17" />
<axis xyz="0 -1 6.12323e-17" />
<parent link="root_link" />
<child link="l_hip_1" />
<dynamics damping="1" friction="0" />
<limit effort="84" velocity="100" lower="-0.767945" upper="2.30383" />
</joint>
<joint name="l_hip_roll" type="revolute">
<origin xyz="0 0 0" rpy="3.14159 -1.5708 -2.77556e-17" />
<axis xyz="1 0 -6.12323e-17" />
<parent link="l_hip_1" />
<child link="l_hip_2" />
<dynamics damping="1" friction="0" />
<limit effort="84" velocity="100" lower="-2.07694" upper="0.296706" />
</joint>
<joint name="l_leg_ft_sensor" type="fixed">
<origin xyz="0 0 0.0665" rpy="0 -0 0" />
<axis xyz="0 0 0" />
<parent link="l_hip_2" />
<child link="l_hip_3" />
</joint>
<joint name="l_knee" type="revolute">
<origin xyz="0 -0.2236 -1.36916e-17" rpy="3.14159 -1.2326e-32 1.5708" />
<axis xyz="0 1.22465e-16 -1" />
<parent link="l_upper_leg" />
<child link="l_lower_leg" />
<dynamics damping="1" friction="0" />
<limit effort="30" velocity="100" lower="-2.18166" upper="0.401426" />
</joint>
<joint name="l_shoulder_pitch" type="revolute">