Commit 773b36ff authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

simple_humanoid: add data

parent 643b8b17
<?xml version="1.0"?>
<!--
This file defines semantics group of joints.
It is an alternative way of specifying semantics on the robot
structure.
It also provides:
- the half-sitting robot state,
TODO: - add the grippers
TODO: - the set of interesting collision pairs
-->
<robot name="simple_humanoid">
<!-- groups -->
<!-- To remove when the grippers will be added
<group name="r_arm">
<chain base_link="torso" tip_link="r_gripper"/>
</group>
<group name="l_arm">
<chain base_link="torso" tip_link="l_gripper"/>
</group>
-->
<group name="r_leg">
<chain base_link="base_link" tip_link="r_foot"/>
</group>
<group name="l_leg">
<chain base_link="base_link" tip_link="l_foot"/>
</group>
<!-- To remove when the grippers will be added
<group name="arms">
<group name="l_arm"/>
<group name="r_arm"/>
</group>
<group name="all">
<group name="arms"/>
</group>
-->
<group name="mapURDFToOpenHRP">
<joint name="RLEG_HIP_R"/>
<joint name="RLEG_HIP_P" />
<joint name="RLEG_HIP_Y" />
<joint name="RLEG_KNEE" />
<joint name="RLEG_ANKLE_P" />
<joint name="RLEG_ANKLE_R" />
<joint name="LLEG_HIP_R" />
<joint name="LLEG_HIP_P" />
<joint name="LLEG_HIP_Y" />
<joint name="LLEG_KNEE" />
<joint name="LLEG_ANKLE_P" />
<joint name="LLEG_ANKLE_R" />
<joint name="WAIST_P" />
<joint name="WAIST_R" />
<joint name="CHEST" />
<joint name="RARM_SHOULDER_P" />
<joint name="RARM_SHOULDER_R" />
<joint name="RARM_SHOULDER_Y" />
<joint name="RARM_ELBOW" />
<joint name="RARM_WRIST_Y" />
<joint name="RARM_WRIST_P" />
<joint name="RARM_WRIST_R" />
<joint name="LARM_SHOULDER_P" />
<joint name="LARM_SHOULDER_R" />
<joint name="LARM_SHOULDER_Y" />
<joint name="LARM_ELBOW" />
<joint name="LARM_WRIST_Y" />
<joint name="LARM_WRIST_P" />
<joint name="LARM_WRIST_R" />
</group>
<!-- end effector -->
<!-- To remove when the grippers will be added
<end_effector name="r_arm" parent_link="r_gripper" group="r_arm"/>
<end_effector name="l_arm" parent_link="l_gripper" group="l_arm"/>
-->
<end_effector name="r_leg" parent_link="r_foot" group="r_leg"/>
<end_effector name="l_leg" parent_link="l_foot" group="l_leg"/>
<!-- pre-defined states -->
<!-- simple_humanoid pre-defined states -->
<group_state name="half_sitting" group="all">
<!-- <joint name="waist" value="0 0 0 0 0 0 " /> -->
<joint name="RLEG_HIP_R" value="0" />
<joint name="RLEG_HIP_P" value="-0.453786" />
<joint name="RLEG_HIP_Y" value="0" />
<joint name="RLEG_KNEE" value="0.872665" />
<joint name="RLEG_ANKLE_P" value="-0.418879" />
<joint name="RLEG_ANKLE_R" value="0" />
<joint name="RARM_SHOULDER_P" value="-0.17453" />
<joint name="RARM_SHOULDER_R" value="0.261799" />
<joint name="RARM_SHOULDER_Y" value="0" />
<joint name="RARM_ELBOW" value="-0.523599" />
<joint name="RARM_WRIST_Y" value="0" />
<joint name="RARM_WRIST_P" value="0" />
<joint name="RARM_WRIST_R" value="0" />
<joint name="LLEG_HIP_R" value="0" />
<joint name="LLEG_HIP_P" value="-0.453786" />
<joint name="LLEG_HIP_Y" value="0" />
<joint name="LLEG_KNEE" value="0.872665" />
<joint name="LLEG_ANKLE_P" value="-0.418879" />
<joint name="LLEG_ANKLE_R" value="0" />
<joint name="LARM_SHOULDER_P" value="0.17453" />
<joint name="LARM_SHOULDER_R" value="0.261799" />
<joint name="LARM_SHOULDER_Y" value="0" />
<joint name="LARM_ELBOW" value="-0.523599" />
<joint name="LARM_WRIST_Y" value="0" />
<joint name="LARM_WRIST_P" value="0" />
<joint name="LARM_WRIST_R" value="0" />
<joint name="WAIST_P" value="0" />
<joint name="WAIST_R" value="0" />
<joint name="CHEST" value="0" />
</group_state>
<!--
Simple Humnaoid Specificities.
foot height = y axis
foot width = x axis
foot depth = z axis
-->
<specificities>
<feet>
<right>
<size height="0.14" width="0.25" depth="0.10" />
<anklePosition x="0.0" y="0.0" z="0.105" />
</right>
<left>
<size height="0.14" width="0.25" depth="0.10" />
<anklePosition x="0.0" y="0.0" z="0.105" />
</left>
</feet>
</specificities>
</robot>
<?xml version="1.0"?>
<!--
This file defines semantics group of joints.
It is an alternative way of specifying semantics on the robot
structure.
It also provides:
- the half-sitting robot state,
TODO: - add the grippers
TODO: - the set of interesting collision pairs
-->
<robot name="simple_humanoid">
<!-- groups -->
<!-- To remove when the grippers will be added
<group name="r_arm">
<chain base_link="torso" tip_link="r_gripper"/>
</group>
<group name="l_arm">
<chain base_link="torso" tip_link="l_gripper"/>
</group>
-->
<group name="r_leg">
<chain base_link="base_link" tip_link="r_foot"/>
</group>
<group name="l_leg">
<chain base_link="base_link" tip_link="l_foot"/>
</group>
<!-- To remove when the grippers will be added
<group name="arms">
<group name="l_arm"/>
<group name="r_arm"/>
</group>
<group name="all">
<group name="arms"/>
</group>
-->
<group name="mapURDFToOpenHRP">
<joint name="RLEG_HIP_R"/>
<joint name="RLEG_HIP_P" />
<joint name="RLEG_HIP_Y" />
<joint name="RLEG_KNEE" />
<joint name="RLEG_ANKLE_P" />
<joint name="RLEG_ANKLE_R" />
<joint name="LLEG_HIP_R" />
<joint name="LLEG_HIP_P" />
<joint name="LLEG_HIP_Y" />
<joint name="LLEG_KNEE" />
<joint name="LLEG_ANKLE_P" />
<joint name="LLEG_ANKLE_R" />
<joint name="WAIST_P" />
<joint name="WAIST_R" />
<joint name="CHEST" />
<joint name="RARM_SHOULDER_P" />
<joint name="RARM_SHOULDER_R" />
<joint name="RARM_SHOULDER_Y" />
<joint name="RARM_ELBOW" />
<joint name="RARM_WRIST_Y" />
<joint name="RARM_WRIST_P" />
<joint name="RARM_WRIST_R" />
<joint name="LARM_SHOULDER_P" />
<joint name="LARM_SHOULDER_R" />
<joint name="LARM_SHOULDER_Y" />
<joint name="LARM_ELBOW" />
<joint name="LARM_WRIST_Y" />
<joint name="LARM_WRIST_P" />
<joint name="LARM_WRIST_R" />
</group>
<!-- end effector -->
<!-- To remove when the grippers will be added
<end_effector name="r_arm" parent_link="r_gripper" group="r_arm"/>
<end_effector name="l_arm" parent_link="l_gripper" group="l_arm"/>
-->
<end_effector name="r_leg" parent_link="r_foot" group="r_leg"/>
<end_effector name="l_leg" parent_link="l_foot" group="l_leg"/>
<!-- pre-defined states -->
<!-- simple_humanoid pre-defined states -->
<group_state name="half_sitting" group="all">
<!-- <joint name="waist" value="0 0 0 0 0 0 " /> -->
<joint name="RLEG_HIP_R" value="0" />
<joint name="RLEG_HIP_P" value="-0.453786" />
<joint name="RLEG_HIP_Y" value="0" />
<joint name="RLEG_KNEE" value="0.872665" />
<joint name="RLEG_ANKLE_P" value="-0.418879" />
<joint name="RLEG_ANKLE_R" value="0" />
<joint name="RARM_SHOULDER_P" value="-0.17453" />
<joint name="RARM_SHOULDER_R" value="0.261799" />
<joint name="RARM_SHOULDER_Y" value="0" />
<joint name="RARM_ELBOW" value="-0.523599" />
<joint name="RARM_WRIST_Y" value="0" />
<joint name="RARM_WRIST_P" value="0" />
<joint name="RARM_WRIST_R" value="0" />
<joint name="LLEG_HIP_R" value="0" />
<joint name="LLEG_HIP_P" value="-0.453786" />
<joint name="LLEG_HIP_Y" value="0" />
<joint name="LLEG_KNEE" value="0.872665" />
<joint name="LLEG_ANKLE_P" value="-0.418879" />
<joint name="LLEG_ANKLE_R" value="0" />
<joint name="LARM_SHOULDER_P" value="0.17453" />
<joint name="LARM_SHOULDER_R" value="0.261799" />
<joint name="LARM_SHOULDER_Y" value="0" />
<joint name="LARM_ELBOW" value="-0.523599" />
<joint name="LARM_WRIST_Y" value="0" />
<joint name="LARM_WRIST_P" value="0" />
<joint name="LARM_WRIST_R" value="0" />
<joint name="WAIST_P" value="0" />
<joint name="WAIST_R" value="0" />
<joint name="CHEST" value="0" />
</group_state>
<!--
Simple Humnaoid Specificities.
foot height = y axis
foot width = x axis
foot depth = z axis
-->
<specificities>
<feet>
<right>
<size height="0.14" width="0.25" depth="0.10" />
<anklePosition x="0.0" y="0.0" z="0.105" />
</right>
<left>
<size height="0.14" width="0.25" depth="0.10" />
<anklePosition x="0.0" y="0.0" z="0.105" />
</left>
</feet>
</specificities>
</robot>
<?xml version="1.0"?>
<!--
simple_humanoid URDF model
FIXME: fill missing data: sole, gripper and sensors
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="simple_humanoid">
<link name="base_link"/>
<!-- VRML link name="WAIST_LINK0" -->
<link name="BODY">
<inertial>
<origin xyz="0 0 0.0375" rpy="0 0 0"/>
<mass value="27"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="WAIST_LINK1">
<inertial>
<origin xyz="0 0 -0.1" rpy="0 0 0"/>
<mass value="6"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="WAIST_LINK2">
<inertial>
<origin xyz="0.11 0 0.25" rpy="0 0 0"/>
<mass value="30"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<!-- VRML link name="WAIST_LINK3" -->
<link name="torso">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="13"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="LARM_LINK1">
<inertial>
<origin xyz="0.1 0 0" rpy="0 0 0"/>
<mass value="3"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="LARM_LINK2">
<inertial>
<origin xyz="0 0 -0.1" rpy="0 0 0"/>
<mass value="0.6"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="LARM_LINK3">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="LARM_LINK4">
<inertial>
<origin xyz="0 0 -0.3" rpy="0 0 0"/>
<mass value="0.6"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="LARM_LINK5">
<inertial>
<origin xyz="0 0 0.1" rpy="0 0 0"/>
<mass value="0.4"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="LARM_LINK6">
<inertial>
<origin xyz="-0.1 0 0" rpy="0 0 0"/>
<mass value="0.4"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<!-- VRML link name="LARM_LINK7" -->
<link name="l_wrist">
<inertial>
<origin xyz="0 0 -0.1" rpy="0 0 0"/>
<mass value="0.4"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="RARM_LINK1">
<inertial>
<origin xyz="0.1 0 0" rpy="0 0 0"/>
<mass value="3"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="RARM_LINK2">
<inertial>
<origin xyz="0 0 -0.1" rpy="0 0 0"/>
<mass value="0.6"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="RARM_LINK3">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="RARM_LINK4">
<inertial>
<origin xyz="0 0 -0.3" rpy="0 0 0"/>
<mass value="0.6"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="RARM_LINK5">
<inertial>
<origin xyz="0 0 0.1" rpy="0 0 0"/>
<mass value="0.4"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="RARM_LINK6">
<inertial>
<origin xyz="-0.1 0 0" rpy="0 0 0"/>
<mass value="0.4"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<!-- VRML link name="RARM_LINK7" -->
<link name="r_wrist">
<inertial>
<origin xyz="0 0 -0.1" rpy="0 0 0"/>
<mass value="0.4"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="LLEG_LINK1">
<inertial>
<origin xyz="0 0.1 0" rpy="0 0 0"/>
<mass value="2.5"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="LLEG_LINK2">
<inertial>
<origin xyz="0 0 -0.15" rpy="0 0 0"/>
<mass value="2"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="LLEG_LINK3">
<inertial>
<origin xyz="0 0.04 0" rpy="0 0 0"/>
<mass value="5.1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="LLEG_LINK4">
<inertial>
<origin xyz="0 0 -0.3" rpy="0 0 0"/>
<mass value="7"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="LLEG_LINK5">
<inertial>
<origin xyz="-0.15 0 0" rpy="0 0 0"/>
<mass value="2.5"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<!-- VRML link name="LLEG_LINK6" -->
<link name="l_ankle">
<inertial>
<origin xyz="0.28 0 -0.2" rpy="0 0 0"/>
<mass value="1.9"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="RLEG_LINK1">
<inertial>
<origin xyz="0 -0.1 0" rpy="0 0 0"/>
<mass value="2.5"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="RLEG_LINK2">
<inertial>
<origin xyz="0 0 -0.15" rpy="0 0 0"/>
<mass value="2"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="RLEG_LINK3">
<inertial>
<origin xyz="0 -0.04 0" rpy="0 0 0"/>
<mass value="5.1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="RLEG_LINK4">
<inertial>
<origin xyz="0 0 -0.3" rpy="0 0 0"/>
<mass value="7"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<link name="RLEG_LINK5">
<inertial>
<origin xyz="-0.15 0 0" rpy="0 0 0"/>
<mass value="2.5"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<!-- VRML link name="RLEG_LINK6" -->
<link name="r_ankle">
<inertial>
<origin xyz="0.28 0 -0.2" rpy="0 0 0"/>
<mass value="1.9"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>
<!-- Joints following below -->
<joint name="waist" type="fixed">
<parent link="base_link"/>
<child link="BODY"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<joint name="RLEG_HIP_R" type="revolute">
<origin xyz="0 -0.09 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<parent link="BODY"/>
<child link="RLEG_LINK1"/>
<limit effort="100" lower="-0.349065850399" upper="1.57079632679" velocity="3.87" />
</joint>
<joint name="RLEG_HIP_P" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="RLEG_LINK1"/>
<child link="RLEG_LINK2"/>
<limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
</joint>
<joint name="RLEG_HIP_Y" type="revolute">
<origin xyz="0 0 -0.3535" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="RLEG_LINK2"/>
<child link="RLEG_LINK3"/>
<limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
</joint>
<joint name="RLEG_KNEE" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>