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nico_upper_rh6d_l.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was manually created and the meshes resized and repositioned | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
Copyright (c) 2023, Michal Vavrecka
All rights reserved.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot name="nico_upper_rh6d">
<link name="world" />
<link name="torso">
<visual>
<geometry>
<mesh filename="mesh/torso.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<material name="torso_color">
<color rgba="0.270588 0.270588 0.270588 1"/>
</material>
</visual>
</link>
<joint name="world_to_base_link" type="fixed">
<parent link="world"/>
<child link="torso"/>
</joint>
<link name="neck">
<visual>
<geometry>
<mesh filename="mesh/neck.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<material name="neck_color">
<color rgba="0.74902 0.74902 0.74902 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="mesh/neck.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
</collision>
<inertial>
<mass value="0.090439"/>
<inertia ixx="0.00006" ixy="-0" ixz="-0" iyy="0.000056" iyz="-0.000001" izz="0.000019"/>
<origin rpy="0 0 0" xyz="0 0.000266 0.050352"/>
</inertial>
</link>
<joint name="head_z_rjoint" type="fixed">
<parent link="torso"/>
<child link="neck"/>
<origin rpy="0 0 0" xyz="-0.025 0.005 0.23"/>
<axis xyz="0 0 1"/>
<limit effort="30" lower="-1.5708" upper="1.5708" velocity="1"/>
</joint>
<link name="head">
<visual>
<geometry>
<mesh filename="mesh/head.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="head_color">
<color rgba="0.74902 0.74902 0.74902 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="mesh/head.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.294137"/>
<inertia ixx="0.001424" ixy="-0" ixz="0.000083" iyy="0.00159" iyz="-0.000002" izz="0.001485"/>
<origin rpy="0 0 0" xyz="0.01525 -0.023771 0.09423"/>
</inertial>
</link>
<joint name="head_y_rjoint" type="fixed">
<parent link="neck"/>
<child link="head"/>
<origin rpy="0 0 0" xyz="0 0.0 0.105"/>
<axis xyz="0 1 0"/>
<limit effort="30" lower="-0.8726" upper="0.4363" velocity="1"/>
</joint>
<!-- ====RIGHT ARM=== -->
<link name="right_shoulder">
<visual>
<geometry>
<mesh filename="mesh/right_shoulder.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="right_shoulder_color">
<color rgba="0.176471 0.176471 0.176471 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="mesh/right_shoulder.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.084038"/>
<inertia ixx="0.000026" ixy="-0.000001" ixz="-0.000002" iyy="0.000034" iyz="-0" izz="0.000033"/>
<origin rpy="0 0 0" xyz="0.005637 0.000876 0.033153"/>
</inertial>
</link>
<joint name="r_shoulder_z_rjoint" type="fixed">
<parent link="torso"/>
<child link="right_shoulder"/>
<origin rpy="0 0 0" xyz="0.005 -0.045 0.23"/>
<axis xyz="0 0 1"/>
<limit effort="30" lower="-0.4363" upper="1.3963" velocity="1"/>
</joint>
<link name="right_collarbone">
<visual>
<geometry>
<mesh filename="mesh/right_collar.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="right_collarbone_color">
<color rgba="0.176471 0.176471 0.176471 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="mesh/right_collar.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.024811"/>
<inertia ixx="0.000014" ixy="-0" ixz="0" iyy="0.000011" iyz="-0.000001" izz="0.000019"/>
<origin rpy="0 0 0" xyz="-0 -0.041345 -0.002364"/>
</inertial>
</link>
<joint name="r_shoulder_y_rjoint" type="fixed">
<parent link="right_shoulder"/>
<child link="right_collarbone"/>
<origin rpy="0 0 0" xyz="-0.021 -0.023 0.033"/>
<axis xyz="0 -1 0"/>
<limit effort="30" lower="-0.5236" upper="3.1416" velocity="1"/>
</joint>
<link name="right_upper_arm">
<visual>
<geometry>
<mesh filename="mesh/right_upper_arm.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="right_upper_arm_color">
<color rgba="0.176471 0.176471 0.176471 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="mesh/right_upper_arm.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.189729"/>
<inertia ixx="0.000851" ixy="0" ixz="0" iyy="0.000851" iyz="-0.000005" izz="0.000048"/>
<origin rpy="0 0 0" xyz="-0.02306 -0.000321 -0.0866"/>
</inertial>
</link>
<joint name="r_upperarm_x_rjoint" type="fixed">
<parent link="right_collarbone"/>
<child link="right_upper_arm"/>
<origin rpy="0 0 0" xyz="0.00 -0.073 -0.023"/>
<axis xyz="-1 0 0"/>
<limit effort="30" lower="0" upper="1.2217" velocity="1"/>
</joint>
<link name="right_lower_arm">
<visual>
<geometry>
<mesh filename="mesh/right_lower_arm.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="right_lower_arm_color">
<color rgba="0.176471 0.176471 0.176471 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="mesh/right_lower_arm.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.076793"/>
<inertia ixx="0.000104" ixy="-0" ixz="-0" iyy="0.000095" iyz="-0.000002" izz="0.000021"/>
<origin rpy="0 0 0" xyz="0 0.022485 -0.081055"/>
</inertial>
</link>
<joint name="r_elbow_y_rjoint" type="fixed">
<parent link="right_upper_arm"/>
<child link="right_lower_arm"/>
<origin rpy="0 3.14 0" xyz="0.0 0 -0.17"/>
<axis xyz="0 1 0"/>
<limit effort="30" lower="0.8726" upper="3.1416" velocity="1"/>
</joint>
<link name="right_wrist">
<visual>
<geometry>
<mesh filename="mesh/right_wrist.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="right_wrist_color">
<color rgba="0.74902 0.74902 0.74902 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="mesh/right_wrist.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.028397"/>
<inertia ixx="0.000043" ixy="-0" ixz="0.000004" iyy="0.000058" iyz="-0.000007" izz="0.000029"/>
<origin rpy="0 0 0" xyz="0.000031 -0.011056 -0.0675"/>
</inertial>
</link>
<joint name="r_wrist_z_rjoint" type="fixed">
<parent link="right_lower_arm"/>
<child link="right_wrist"/>
<origin rpy="0 0 1.57" xyz="0 0 -0.105"/>
<axis xyz="0 0 1"/>
<limit effort="30" lower="-1.571" upper="1.571" velocity="1"/>
</joint>
<link name="right_palm"> <!--gripper-->
<visual>
<geometry>
<mesh filename="mesh/right_palm.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="gripper_color">
<color rgba="0.74902 0.74902 0.74902 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="mesh/right_palm.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.005332"/>
<inertia ixx="0.000015" ixy="0.000001" ixz="-0.000004" iyy="0.000017" iyz="0.000004" izz="0.000006"/>
<origin rpy="0 0 0" xyz="-0.029511 0.002253 -0.023968"/>
</inertial>
</link>
<joint name="r_wrist_x_rjoint" type="fixed">
<parent link="right_wrist"/>
<child link="right_palm"/>
<origin rpy="0 0 0" xyz="0 0 -0.10"/>
<axis xyz="0 1 0"/>
<limit effort="30" lower="-.78" upper="0.78" velocity="1"/>
</joint>
<!--link name="endeffector">
<visual>
<origin rpy="0 0 0" xyz="0 0.0 0.0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
</visual>
</link>
<joint name="endeffector_joint" type="fixed">
<parent link="gripper"/>
<child link="endeffector"/>
<origin rpy="0 0 0" xyz="0.00 -0.02 -0.11"/>
</joint-->
<!--link name="middlefinger">
<visual>
<geometry>
<mesh filename="mesh/finger.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="finger_color">
<color rgba="0.74902 0.74902 0.74902 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="mesh/finger.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.000009"/>
<inertia ixx="0" ixy="0" ixz="-0" iyy="0" iyz="0" izz="0"/>
<origin rpy="0 0 0" xyz="0.005409 0.000556 -0.005751"/>
</inertial>
</link-->
<!--link name="littlefinger">
<visual>
<geometry>
<mesh filename="mesh/finger.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="finger_color">
<color rgba="0.74902 0.74902 0.74902 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="mesh/finger.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.000009"/>
<inertia ixx="0" ixy="0" ixz="-0" iyy="0" iyz="0" izz="0"/>
<origin rpy="0 0 0" xyz="0.005409 0.000556 -0.005751"/>
</inertial>
</link-->
<link name="gripper"> <!--indexfinder-->
<visual>
<geometry>
<mesh filename="mesh/finger.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="finger_color">
<color rgba="0.74902 0.74902 0.74902 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="mesh/finger.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.000009"/>
<inertia ixx="0" ixy="0" ixz="-0" iyy="0" iyz="0" izz="0"/>
<origin rpy="0 0 0" xyz="0.005409 0.000556 -0.005751"/>
</inertial>
</link>
<!--joint name="middlefinger_rjoint" type="fixed">
<parent link="gripper"/>
<child link="middlefinger"/>
<origin rpy="0 0 0" xyz="0 0 -0.06"/>
<axis xyz="0 1 0"/>
<limit effort="30" lower="-2.57" upper="0" velocity="1"/>
</joint-->
<!--joint name="litlefinger_rjoint" type="fixed">
<parent link="gripper"/>
<child link="littlefinger"/>
<origin rpy="0 0 0" xyz="0.00 0.02 -0.06"/>
<axis xyz="0 1 0"/>
<limit effort="30" lower="-2.57" upper="0" velocity="1"/>
</joint-->
<joint name="gripper_rjoint" type="fixed">
<parent link="right_palm"/>
<child link="gripper"/>
<origin rpy="0 0 0" xyz="0.00 -0.02 -0.06"/>
<axis xyz="0 1 0"/>
<limit effort="30" lower="-2.57" upper="0" velocity="1"/>
</joint>
<link name="endeffector"> <!-- change to endeffector to use right hand IK -->
<visual>
<origin rpy="0 0 0" xyz="0 0.0 0.0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
</visual>
</link>
<joint name="endeffector_joint" type="fixed">
<parent link="gripper"/>
<child link="endeffector"/>
<origin rpy="0 0 0" xyz="0.00 -0.0 -0.05"/>
</joint>
<!-- ====LEFT ARM=== -->
<link name="left_shoulder">
<visual>
<geometry>
<mesh filename="mesh/left_shoulder.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="left_shoulder_color">
<color rgba="0.176471 0.176471 0.176471 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="mesh/left_shoulder.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.084038"/>
<inertia ixx="0.000026" ixy="-0.000001" ixz="-0.000002" iyy="0.000034" iyz="-0" izz="0.000033"/>
<origin rpy="0 0 0" xyz="0.005637 0.000876 0.033153"/>
</inertial>
</link>
<joint name="l_shoulder_z_rjoint" type="revolute">
<parent link="torso"/>
<child link="left_shoulder"/>
<origin rpy="0 0 0" xyz="0.005 0.05 0.23"/>
<axis xyz="0 0 1"/>
<limit effort="30" lower="-1.3963" upper="0.4363" velocity="1"/>
</joint>
<link name="left_collarbone">
<visual>
<geometry>
<mesh filename="mesh/left_collar.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="right_collarbone_color">
<color rgba="0.176471 0.176471 0.176471 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="mesh/left_collar.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.024811"/>
<inertia ixx="0.000014" ixy="-0" ixz="0" iyy="0.000011" iyz="-0.000001" izz="0.000019"/>
<origin rpy="0 0 0" xyz="-0 -0.041345 -0.002364"/>
</inertial>
</link>
<joint name="l_shoulder_y_rjoint" type="revolute">
<parent link="left_shoulder"/>
<child link="left_collarbone"/>
<origin rpy="0 0 0" xyz="-0.021 0.023 0.033"/>
<axis xyz="0 -1 0"/>
<limit effort="30" lower="-0.5236" upper="3.1416" velocity="1"/>
</joint>
<link name="left_upper_arm">
<visual>
<geometry>
<mesh filename="mesh/right_upper_arm.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="right_upper_arm_color">
<color rgba="0.176471 0.176471 0.176471 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="mesh/right_upper_arm.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.189729"/>
<inertia ixx="0.000851" ixy="0" ixz="0" iyy="0.000851" iyz="-0.000005" izz="0.000048"/>
<origin rpy="0 0 0" xyz="-0.02306 -0.000321 -0.0866"/>
</inertial>
</link>
<joint name="l_upperarm_x_rjoint" type="revolute">
<parent link="left_collarbone"/>
<child link="left_upper_arm"/>
<origin rpy="0 0 0" xyz="0.00 0.073 -0.023"/>
<axis xyz="1 0 0"/>
<limit effort="30" lower="0" upper="1.2217" velocity="1"/>
</joint>
<link name="left_lower_arm">
<visual>
<geometry>
<mesh filename="mesh/right_lower_arm.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="right_lower_arm_color">
<color rgba="0.176471 0.176471 0.176471 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="mesh/right_lower_arm.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.076793"/>
<inertia ixx="0.000104" ixy="-0" ixz="-0" iyy="0.000095" iyz="-0.000002" izz="0.000021"/>
<origin rpy="0 0 0" xyz="0 0.022485 -0.081055"/>
</inertial>
</link>
<joint name="l_elbow_y_rjoint" type="revolute">
<parent link="left_upper_arm"/>
<child link="left_lower_arm"/>
<origin rpy="0 3.14 0" xyz="0.0 0 -0.17"/>
<axis xyz="0 1 0"/>
<limit effort="30" lower="0.8726" upper="3.1416" velocity="1"/>
</joint>
<link name="left_wrist">
<visual>
<geometry>
<mesh filename="mesh/left_wrist.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="right_wrist_color">
<color rgba="0.74902 0.74902 0.74902 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="mesh/left_wrist.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.028397"/>
<inertia ixx="0.000043" ixy="-0" ixz="0.000004" iyy="0.000058" iyz="-0.000007" izz="0.000029"/>
<origin rpy="0 0 0" xyz="0.000031 -0.011056 -0.0675"/>
</inertial>
</link>
<joint name="l_wrist_z_rjoint" type="revolute">
<parent link="left_lower_arm"/>
<child link="left_wrist"/>
<origin rpy="0 0 1.57" xyz="0 0 -0.105"/>
<axis xyz="0 0 1"/>
<limit effort="30" lower="-1.571" upper="1.571" velocity="1"/>
</joint>
<link name="left_palm"> <!--gripper-->
<visual>
<geometry>
<mesh filename="mesh/left_palm.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="gripper_color">
<color rgba="0.74902 0.74902 0.74902 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="mesh/left_palm.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.005332"/>
<inertia ixx="0.000015" ixy="0.000001" ixz="-0.000004" iyy="0.000017" iyz="0.000004" izz="0.000006"/>
<origin rpy="0 0 0" xyz="-0.029511 0.002253 -0.023968"/>
</inertial>
</link>
<joint name="l_wrist_x_rjoint" type="revolute">
<parent link="left_wrist"/>
<child link="left_palm"/>
<origin rpy="0 0 0" xyz="0 0 -0.10"/>
<axis xyz="0 1 0"/>
<limit effort="30" lower="-.78" upper="0.78" velocity="1"/>
</joint>
<!--link name="endeffector">
<visual>
<origin rpy="0 0 0" xyz="0 0.0 0.0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
</visual>
</link>
<joint name="endeffector_joint" type="fixed">
<parent link="gripper"/>
<child link="endeffector"/>
<origin rpy="0 0 0" xyz="0.00 -0.02 -0.11"/>
</joint-->
<!--link name="middlefinger">
<visual>
<geometry>
<mesh filename="mesh/finger.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="finger_color">
<color rgba="0.74902 0.74902 0.74902 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="mesh/finger.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.000009"/>
<inertia ixx="0" ixy="0" ixz="-0" iyy="0" iyz="0" izz="0"/>
<origin rpy="0 0 0" xyz="0.005409 0.000556 -0.005751"/>
</inertial>
</link-->
<!--link name="littlefinger">
<visual>
<geometry>
<mesh filename="mesh/finger.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="finger_color">
<color rgba="0.74902 0.74902 0.74902 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="mesh/finger.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.000009"/>
<inertia ixx="0" ixy="0" ixz="-0" iyy="0" iyz="0" izz="0"/>
<origin rpy="0 0 0" xyz="0.005409 0.000556 -0.005751"/>
</inertial>
</link-->
<link name="grippel"> <!--indexfinder-->
<visual>
<geometry>
<mesh filename="mesh/finger.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="finger_color">
<color rgba="0.74902 0.74902 0.74902 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="mesh/finger.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.000009"/>
<inertia ixx="0" ixy="0" ixz="-0" iyy="0" iyz="0" izz="0"/>
<origin rpy="0 0 0" xyz="0.005409 0.000556 -0.005751"/>
</inertial>
</link>
<!--joint name="middlefinger_rjoint" type="fixed">
<parent link="gripper"/>
<child link="middlefinger"/>
<origin rpy="0 0 0" xyz="0 0 -0.06"/>
<axis xyz="0 1 0"/>
<limit effort="30" lower="-2.57" upper="0" velocity="1"/>
</joint-->
<!--joint name="litlefinger_rjoint" type="fixed">
<parent link="gripper"/>
<child link="littlefinger"/>
<origin rpy="0 0 0" xyz="0.00 0.02 -0.06"/>
<axis xyz="0 1 0"/>
<limit effort="30" lower="-2.57" upper="0" velocity="1"/>
</joint-->
<joint name="grippel_rjoint" type="revolute">
<parent link="left_palm"/>
<child link="grippel"/>
<origin rpy="0 0 0" xyz="0.00 -0.02 -0.06"/>
<axis xyz="0 1 0"/>
<limit effort="30" lower="0" upper="2.57" velocity="1"/>
</joint>
<link name="endeffectol">
<visual>
<origin rpy="0 0 0" xyz="0 0.0 0.0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
</visual>
</link>
<joint name="endeffectol_joint" type="fixed">
<parent link="grippel"/>
<child link="endeffectol"/>
<origin rpy="0 0 0" xyz="0.00 -0.0 -0.05"/>
</joint>
</robot>