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model.urdf
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model.urdf
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<robot name="iCub">
<link name="root_link">
<inertial>
<origin xyz="0.025612699999999995 0.00017707299999999008 -0.0445339" rpy="1.5707963267948961 0 -1.5707963267948961"/>
<mass value="5.12739"/>
<inertia ixx="0.0145428" ixy="-3.37917e-05" ixz="-3.74897e-05" iyy="0.0206942" iyz="-0.00196027" izz="0.0252204"/>
</inertial>
<visual>
<origin xyz="-0.036399999999999995 0 0.032" rpy="1.5707963267948961 0 -1.5707963267948961"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_root_link_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="root_link_color">
<color rgba="0.9 0.9 0.9 1"/>
</material>
</visual>
<collision>
<origin xyz="-0.036399999999999995 0 0.032" rpy="1.5707963267948961 0 -1.5707963267948961"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_root_link_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="root_link_ems_gyro_eb5"/>
<joint name="root_link_ems_gyro_eb5_fixed_joint" type="fixed">
<origin xyz="0.0493308 -0.012577100000000023 -0.11569100000000002" rpy="3.141592653589793 1.2915440450258349 3.141592653589793"/>
<parent link="root_link"/>
<child link="root_link_ems_gyro_eb5"/>
<dynamics damping="0.1"/>
</joint>
<link name="root_link_imu_frame"/>
<joint name="root_link_imu_frame_fixed_joint" type="fixed">
<origin xyz="0.08515499999999998 -0.011000000000000022 -0.11230899999999999" rpy="-2.0943952105869323 0 -1.5707963267948963"/>
<parent link="root_link"/>
<child link="root_link_imu_frame"/>
<dynamics damping="0.1"/>
</joint>
<link name="root_link_imu_acc"/>
<joint name="root_link_imu_acc_fixed_joint" type="fixed">
<origin xyz="0.08515499999999998 -0.011000000000000022 -0.11230899999999999" rpy="-2.0943952105869323 0 -1.5707963267948963"/>
<parent link="root_link"/>
<child link="root_link_imu_acc"/>
<dynamics damping="0.1"/>
</joint>
<link name="torso_1">
<inertial>
<origin xyz="0.026980635899999997 0.02914798 -0.00043979999999999714" rpy="0 0 0"/>
<mass value="0.67144"/>
<inertia ixx="0.00040911" ixy="-1.04522e-06" ixz="-1.02516e-06" iyy="0.000384141" iyz="6.50708e-06" izz="0.000299445"/>
</inertial>
<visual>
<origin xyz="0.026934799809264998 0.03199999999999968 0.036400000000000286" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_lap_belt_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="torso_1_color">
<color rgba="0.9 0.9 0.9 1"/>
</material>
</visual>
<collision>
<origin xyz="0.026934799809264998 0.03199999999999968 0.036400000000000286" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_lap_belt_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="torso_pitch" type="revolute">
<origin xyz="0 0.02693479999999999 0" rpy="1.5707963267948961 0 -1.5707963267948961"/>
<axis xyz="1.0 0.0 0.0"/>
<parent link="root_link"/>
<child link="torso_1"/>
<limit effort="50000" lower="-0.3490658503988659" upper="1.2217304763960306" velocity="50000"/>
<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="torso_2">
<inertial>
<origin xyz="-0.00011350780926499999 0.036152500000000004 0.05709630000000001" rpy="0 0 0"/>
<mass value="0.425685"/>
<inertia ixx="0.000829234" ixy="2.37006e-08" ixz="9.25231e-08" iyy="0.000436517" iyz="-1.74814e-07" izz="0.000604802"/>
</inertial>
<visual>
<origin xyz="0 0.1433 0.03865310000000001" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_lap_belt_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="torso_2_color">
<color rgba="0.9 0.9 0.9 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0.1433 0.03865310000000001" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_lap_belt_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="torso_roll" type="revolute">
<origin xyz="0.026934799809264998 0.032 -0.05734460000000001" rpy="0 0 0"/>
<axis xyz="0.0 0.0 -1.0"/>
<parent link="torso_1"/>
<child link="torso_2"/>
<limit effort="50000" lower="-0.5235987755982988" upper="0.5235987755982988" velocity="50000"/>
<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="chest">
<inertial>
<origin xyz="0.000188619190735 0.07309099999999999 -0.047238100000000005" rpy="0 0 0"/>
<mass value="7.638"/>
<inertia ixx="0.043032487861801666" ixy="2.9107538880437883e-05" ixz="0.00018198522994852988" iyy="0.04408357255482159" iyz="-0.0004291064091076428" izz="0.026056324991143805"/>
</inertial>
<visual>
<origin xyz="0 0.09280000000000001 -0.024189000000000002" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_chest_bb_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="chest_color">
<color rgba="0.635 0.137 0.114 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0.09280000000000001 -0.024189000000000002" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_chest_bb_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="torso_yaw" type="revolute">
<origin xyz="0 0.05 0.06284210000000001" rpy="0 0 0"/>
<axis xyz="0.0 -1.0 0.0"/>
<parent link="torso_2"/>
<child link="chest"/>
<limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="chest_ems_gyro_eb1"/>
<joint name="chest_ems_gyro_eb1_fixed_joint" type="fixed">
<origin xyz="0.069201600190735 0.06454800000000001 -0.0635258" rpy="3.1415169122972952 -0.2617993091222473 0.0002926418802545251"/>
<parent link="chest"/>
<child link="chest_ems_gyro_eb1"/>
<dynamics damping="0.1"/>
</joint>
<link name="chest_ems_gyro_eb2"/>
<joint name="chest_ems_gyro_eb2_fixed_joint" type="fixed">
<origin xyz="0.016037100190735 0.08755899999999998 -0.0653479" rpy="3.141590501042822 0.2617993198185103 3.1415843367812997"/>
<parent link="chest"/>
<child link="chest_ems_gyro_eb2"/>
<dynamics damping="0.1"/>
</joint>
<link name="chest_ems_gyro_eb3"/>
<joint name="chest_ems_gyro_eb3_fixed_joint" type="fixed">
<origin xyz="-0.018641699809265 0.064521 -0.0770785" rpy="3.141109162025268 0.26110051647116095 -0.00030907146255546275"/>
<parent link="chest"/>
<child link="chest_ems_gyro_eb3"/>
<dynamics damping="0.1"/>
</joint>
<link name="chest_ems_gyro_eb4"/>
<joint name="chest_ems_gyro_eb4_fixed_joint" type="fixed">
<origin xyz="-0.06657839980926501 0.08755899999999998 -0.0518054" rpy="-3.1415905047625503 -0.26179931981852844 3.141584339870295"/>
<parent link="chest"/>
<child link="chest_ems_gyro_eb4"/>
<dynamics damping="0.1"/>
</joint>
<link name="neck_1">
<inertial>
<origin xyz="0.0143705608 0.006567000000000017 -0.006384200000000003" rpy="0 0 0"/>
<mass value="0.125793"/>
<inertia ixx="4.0647e-05" ixy="8.09156e-08" ixz="-3.74998e-08" iyy="3.881e-05" iyz="9.39717e-06" izz="4.7535e-05"/>
</inertial>
<visual>
<origin xyz="0.014299999809265 -0.07999699999999998 -0.029500800000000004" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_neck_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="neck_1_color">
<color rgba="0.9 0.9 0.9 1"/>
</material>
</visual>
<collision>
<origin xyz="0.014299999809265 -0.07999699999999998 -0.029500800000000004" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_neck_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="neck_pitch" type="revolute">
<origin xyz="-0.014299999809265 0.17279699999999998 0.005311800000000002" rpy="0 0 0"/>
<axis xyz="-1.0 0.0 0.0"/>
<parent link="chest"/>
<child link="neck_1"/>
<limit effort="50000" lower="-0.6981317007977318" upper="0.3839724354387525" velocity="50000"/>
<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="neck_2">
<inertial>
<origin xyz="-8.8573009265e-05 0.03522499999999998 -0.01954527" rpy="0 0 0"/>
<mass value="0.177087"/>
<inertia ixx="0.000117943" ixy="-5.25591e-07" ixz="4.68307e-07" iyy="4.04013e-05" iyz="9.81476e-06" izz="0.000105186"/>
</inertial>
<visual>
<origin xyz="0 -0.089497 -0.05030077" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_neck_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="neck_2_color">
<color rgba="0.9 0.9 0.9 1"/>
</material>
</visual>
<collision>
<origin xyz="0 -0.089497 -0.05030077" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_neck_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="neck_roll" type="revolute">
<origin xyz="0.014299999809265 0.009500000000000008 0.020799969999999997" rpy="0 0 0"/>
<axis xyz="0.0 0.0 1.0"/>
<parent link="neck_1"/>
<child link="neck_2"/>
<limit effort="50000" lower="-0.3490658503988659" upper="0.3490658503988659" velocity="50000"/>
<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="head">
<inertial>
<origin xyz="-0.000574157809265 0.11351100000000003 -0.007539199999999999" rpy="0 0 0"/>
<mass value="1.50691"/>
<inertia ixx="0.00680478" ixy="-1.60267e-05" ixz="7.28166e-05" iyy="0.00634736" iyz="0.000292091" izz="0.00478116"/>
</inertial>
<visual>
<origin xyz="0 -0.06715299999999999 -0.029500800000000004" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_head_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="head_color">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 -0.06715299999999999 -0.029500800000000004" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_head_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="neck_yaw" type="revolute">
<origin xyz="0 -0.022344000000000003 -0.020799969999999997" rpy="0 0 0"/>
<axis xyz="0.0 1.0 0.0"/>
<parent link="neck_2"/>
<child link="head"/>
<limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="imu_frame"/>
<joint name="imu_frame_fixed_joint" type="fixed">
<origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
<parent link="head"/>
<child link="imu_frame"/>
<dynamics damping="0.1"/>
</joint>
<link name="head_imu_0"/>
<joint name="head_imu_0_fixed_joint" type="fixed">
<origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
<parent link="head"/>
<child link="head_imu_0"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_shoulder_1">
<inertial>
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<mass value="0.114862"/>
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<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="r_shoulder_1_color">
<color rgba="0.9 0.9 0.9 1"/>
</material>
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<parent link="chest"/>
<child link="r_shoulder_1"/>
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<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="r_shoulder_2">
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<material name="r_shoulder_2_color">
<color rgba="0.9 0.9 0.9 1"/>
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<joint name="r_shoulder_roll" type="revolute">
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<parent link="r_shoulder_1"/>
<child link="r_shoulder_2"/>
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</joint>
<link name="r_shoulder_3">
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<material name="r_shoulder_3_color">
<color rgba="0.9 0.9 0.9 1"/>
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<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_upper_arm_prt-binary.stl" scale="0.001 0.001 0.001"/>
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<joint name="r_shoulder_yaw" type="revolute">
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<parent link="r_shoulder_2"/>
<child link="r_shoulder_3"/>
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<link name="r_arm_ft"/>
<joint name="r_arm_ft_fixed_joint" type="fixed">
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<parent link="r_shoulder_3"/>
<child link="r_arm_ft"/>
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<link name="r_arm_ft_imu"/>
<joint name="r_arm_ft_imu_fixed_joint" type="fixed">
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<parent link="r_shoulder_3"/>
<child link="r_arm_ft_imu"/>
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</joint>
<link name="r_upper_arm">
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<geometry>
<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="r_upper_arm_color">
<color rgba="0.635 0.137 0.114 1"/>
</material>
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<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prt-binary.stl" scale="0.001 0.001 0.001"/>
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</link>
<joint name="r_arm_ft_sensor" type="fixed">
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<parent link="r_shoulder_3"/>
<child link="r_upper_arm"/>
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</joint>
<link name="r_elbow_1">
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<material name="r_elbow_1_color">
<color rgba="0.635 0.137 0.114 1"/>
</material>
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<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
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<joint name="r_elbow" type="revolute">
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<axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
<parent link="r_upper_arm"/>
<child link="r_elbow_1"/>
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<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="r_forearm">
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<origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
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<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_forearm_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="r_forearm_color">
<color rgba="0.635 0.137 0.114 1"/>
</material>
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<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_forearm_prt-binary.stl" scale="0.001 0.001 0.001"/>
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</link>
<joint name="r_wrist_prosup" type="revolute">
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<parent link="r_elbow_1"/>
<child link="r_forearm"/>
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<link name="r_forearm_skin_0"/>
<joint name="r_forearm_skin_0_fixed_joint" type="fixed">
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_1"/>
<joint name="r_forearm_skin_1_fixed_joint" type="fixed">
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_2"/>
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_3"/>
<joint name="r_forearm_skin_3_fixed_joint" type="fixed">
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_4"/>
<joint name="r_forearm_skin_4_fixed_joint" type="fixed">
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_5"/>
<joint name="r_forearm_skin_5_fixed_joint" type="fixed">
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_6"/>
<joint name="r_forearm_skin_6_fixed_joint" type="fixed">
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_7"/>
<joint name="r_forearm_skin_7_fixed_joint" type="fixed">
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_8"/>
<joint name="r_forearm_skin_8_fixed_joint" type="fixed">
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_9"/>
<joint name="r_forearm_skin_9_fixed_joint" type="fixed">
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_10"/>
<joint name="r_forearm_skin_10_fixed_joint" type="fixed">
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_11"/>
<joint name="r_forearm_skin_11_fixed_joint" type="fixed">
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_12"/>
<joint name="r_forearm_skin_12_fixed_joint" type="fixed">
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_13"/>
<joint name="r_forearm_skin_13_fixed_joint" type="fixed">
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_14"/>
<joint name="r_forearm_skin_14_fixed_joint" type="fixed">
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_15"/>
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_16"/>
<joint name="r_forearm_skin_16_fixed_joint" type="fixed">
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_17"/>
<joint name="r_forearm_skin_17_fixed_joint" type="fixed">
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_19"/>
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<link name="r_forearm_skin_22"/>
<joint name="r_forearm_skin_22_fixed_joint" type="fixed">
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_24"/>
<joint name="r_forearm_skin_24_fixed_joint" type="fixed">
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_25"/>
<joint name="r_forearm_skin_25_fixed_joint" type="fixed">
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_28"/>
<joint name="r_forearm_skin_28_fixed_joint" type="fixed">
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<parent link="r_forearm"/>
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<link name="r_forearm_skin_29"/>
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<parent link="r_forearm"/>
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<link name="r_forearm_dh_frame"/>
<joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
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<parent link="r_forearm"/>
<child link="r_forearm_dh_frame"/>
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<link name="r_wrist_1">
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<material name="r_wrist_1_color">
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</link>
<joint name="r_wrist_pitch" type="revolute">
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<axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
<parent link="r_forearm"/>
<child link="r_wrist_1"/>
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</joint>
<link name="r_hand">
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<material name="r_hand_color">
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<child link="r_hand"/>
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<link name="r_hand_dh_frame"/>
<joint name="r_hand_dh_frame_fixed_joint" type="fixed">
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<parent link="r_hand"/>
<child link="r_hand_dh_frame"/>
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<link name="l_shoulder_1">
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<origin xyz="-0.008985000000000007 -3.300000000000525e-05 -0.0088998" rpy="0 0 0"/>
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<material name="l_shoulder_1_color">
<color rgba="0.9 0.9 0.9 1"/>
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<joint name="l_shoulder_pitch" type="revolute">
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<parent link="chest"/>
<child link="l_shoulder_1"/>
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</joint>
<link name="l_shoulder_2">
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<origin xyz="0.021474595127247476 0.00026895789968721384 -0.019410736153453706" rpy="0 0 0"/>
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<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
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<material name="l_shoulder_2_color">
<color rgba="0.9 0.9 0.9 1"/>
</material>
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<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
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</link>
<joint name="l_shoulder_roll" type="revolute">
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<axis xyz="-0.258819 2.0285226262510233e-17 0.965926"/>
<parent link="l_shoulder_1"/>
<child link="l_shoulder_2"/>
<limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="l_shoulder_3">
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<origin xyz="0.026798412222026474 -1.5999999999988246e-05 0.014695680617730612" rpy="0 0 0"/>
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<geometry>
<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_arm_prt-binary.stl" scale="0.001 0.001 0.001"/>
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<material name="l_shoulder_3_color">
<color rgba="0.9 0.9 0.9 1"/>
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<origin xyz="-0.1319010376853961 0 -0.03534276691935331" rpy="0 0 0"/>
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<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_arm_prt-binary.stl" scale="0.001 0.001 0.001"/>
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</link>
<joint name="l_shoulder_yaw" type="revolute">
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<axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
<parent link="l_shoulder_2"/>
<child link="l_shoulder_3"/>
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<dynamics damping="0.06" friction="0.0"/>
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<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
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<parent link="l_shoulder_3"/>
<child link="l_arm_ft"/>
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</joint>
<link name="l_arm_ft_imu"/>
<joint name="l_arm_ft_imu_fixed_joint" type="fixed">
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<parent link="l_shoulder_3"/>
<child link="l_arm_ft_imu"/>
<dynamics damping="0.1"/>
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<link name="l_upper_arm">
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<origin xyz="-0.006120999999999996 -0.00018899999999999473 0.02936839999999999" rpy="0 -1.30899700696774 -3.1415926535897922"/>
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<visual>
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<geometry>
<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_elbow_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="l_upper_arm_color">
<color rgba="0.635 0.137 0.114 1"/>
</material>
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<origin xyz="-0.014999999999999994 0 -0.19329999999999997" rpy="0 -1.30899700696774 -3.1415926535897922"/>
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<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_elbow_prt-binary.stl" scale="0.001 0.001 0.001"/>
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</collision>
</link>
<joint name="l_arm_ft_sensor" type="fixed">
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<parent link="l_shoulder_3"/>
<child link="l_upper_arm"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_elbow_1">
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<origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
<mass value="0.267903"/>
<inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
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<visual>
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<geometry>
<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
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<material name="l_elbow_1_color">
<color rgba="0.635 0.137 0.114 1"/>
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</visual>
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<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
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</collision>
</link>
<joint name="l_elbow" type="revolute">
<origin xyz="0 0.03399989999999997 0.07925999999999998" rpy="0 -1.3089970069677395 -3.141592653589793"/>
<axis xyz="2.220446049250313e-16 -1.0000000000000002 0.0"/>
<parent link="l_upper_arm"/>
<child link="l_elbow_1"/>
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<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="l_forearm">
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<origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
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<visual>
<origin xyz="-0.29688696737542175 0 -0.07955060152271212" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_forearm_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="l_forearm_color">
<color rgba="0.635 0.137 0.114 1"/>
</material>
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<origin xyz="-0.29688696737542175 0 -0.07955060152271212" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_forearm_prt-binary.stl" scale="0.001 0.001 0.001"/>
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</link>
<joint name="l_wrist_prosup" type="revolute">
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<axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
<parent link="l_elbow_1"/>
<child link="l_forearm"/>
<limit effort="50000" lower="-1.0471975511965976" upper="1.0471975511965976" velocity="50000"/>
<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="l_forearm_skin_0"/>
<joint name="l_forearm_skin_0_fixed_joint" type="fixed">
<origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
<parent link="l_forearm"/>
<child link="l_forearm_skin_0"/>
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</joint>
<link name="l_forearm_skin_1"/>
<joint name="l_forearm_skin_1_fixed_joint" type="fixed">
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<parent link="l_forearm"/>
<child link="l_forearm_skin_1"/>
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</joint>
<link name="l_forearm_skin_2"/>
<joint name="l_forearm_skin_2_fixed_joint" type="fixed">
<origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
<parent link="l_forearm"/>
<child link="l_forearm_skin_2"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_forearm_skin_3"/>
<joint name="l_forearm_skin_3_fixed_joint" type="fixed">
<origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
<parent link="l_forearm"/>
<child link="l_forearm_skin_3"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_forearm_skin_4"/>
<joint name="l_forearm_skin_4_fixed_joint" type="fixed">
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<parent link="l_forearm"/>
<child link="l_forearm_skin_4"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_forearm_skin_5"/>
<joint name="l_forearm_skin_5_fixed_joint" type="fixed">
<origin xyz="0.06882119419679653 0.015709 -0.023113336179072505" rpy="-2.541047580603648 -0.38562726064167896 -0.08672275692033206"/>
<parent link="l_forearm"/>
<child link="l_forearm_skin_5"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_forearm_skin_6"/>
<joint name="l_forearm_skin_6_fixed_joint" type="fixed">
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<parent link="l_forearm"/>
<child link="l_forearm_skin_6"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_forearm_skin_7"/>
<joint name="l_forearm_skin_7_fixed_joint" type="fixed">
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<parent link="l_forearm"/>
<child link="l_forearm_skin_7"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_forearm_skin_8"/>
<joint name="l_forearm_skin_8_fixed_joint" type="fixed">
<origin xyz="0.0228528628554271 0.007545999999999997 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232073 -0.0017870807434848186"/>
<parent link="l_forearm"/>
<child link="l_forearm_skin_8"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_forearm_skin_9"/>
<joint name="l_forearm_skin_9_fixed_joint" type="fixed">
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<parent link="l_forearm"/>
<child link="l_forearm_skin_9"/>
<dynamics damping="0.1"/>
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<link name="l_forearm_skin_10"/>
<joint name="l_forearm_skin_10_fixed_joint" type="fixed">
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<parent link="l_forearm"/>
<child link="l_forearm_skin_10"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_forearm_skin_11"/>
<joint name="l_forearm_skin_11_fixed_joint" type="fixed">
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<parent link="l_forearm"/>
<child link="l_forearm_skin_11"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_forearm_skin_12"/>
<joint name="l_forearm_skin_12_fixed_joint" type="fixed">
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<parent link="l_forearm"/>
<child link="l_forearm_skin_12"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_forearm_skin_13"/>
<joint name="l_forearm_skin_13_fixed_joint" type="fixed">
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<parent link="l_forearm"/>
<child link="l_forearm_skin_13"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_forearm_skin_14"/>
<joint name="l_forearm_skin_14_fixed_joint" type="fixed">
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<parent link="l_forearm"/>
<child link="l_forearm_skin_14"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_forearm_skin_15"/>
<joint name="l_forearm_skin_15_fixed_joint" type="fixed">
<origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>