-
Guilhem Saurel authoredGuilhem Saurel authored
romeo.urdf 29.12 KiB
<?xml version="1.0" ?>
<!-- This file comes from Aldebaran romeo.urdf file with slight modifications: -->
<!-- - rename joint_base by waist (joint base name in sot is already joint_base) -->
<!-- - waist joint goes from base_link to body (and not torso) -->
<!-- - inverse trunkYaw joint direction (now from body to torso) -->
<!-- Aldebaran file comes from -->
<!-- https://github.com/ros-aldebaran/romeo_robot/blob/master/romeo_description/urdf/romeoV1_generated_urdf/romeo.urdf -->
<robot name="romeoH37V1" xmlns:xacro="http://www.ros.org/wiki/xacro">
<joint name="NeckYaw" type="revolute">
<parent link="torso"/>
<child link="NeckYawLink"/>
<origin rpy="0 0 0" xyz="0 0 0.0835"/>
<axis xyz="0 0 1.0"/>
<limit effort="3.662" lower="-1.5708" upper="1.5708" velocity="4.0"/>
</joint>
<link name="NeckYawLink">
<inertial>
<mass value="0.51016"/>
<inertia ixx="0.00122159" ixy="-8.014e-08" ixz="1.145e-08" iyy="0.00124608" iyz="-1.84095e-06" izz="0.000187965"/>
<origin rpy="0 0 0" xyz="0 0 -0.03074"/>
</inertial>
</link>
<joint name="NeckPitch" type="revolute">
<parent link="NeckYawLink"/>
<child link="NeckPitchLink"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1.0 0"/>
<limit effort="2.978" lower="-0.349066" upper="0.698132" velocity="2.2"/>
</joint>
<link name="NeckPitchLink">
<inertial>
<mass value="0.23875"/>
<inertia ixx="0.000866022" ixy="-1.57263e-06" ixz="6.13825e-05" iyy="0.000818287" iyz="9.69515e-06" izz="0.000238919"/>
<origin rpy="0 0 0" xyz="-0.00472 0 0.04432"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/visual/NeckPitch.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/collision/NeckPitch.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="HeadPitch" type="revolute">
<parent link="NeckPitchLink"/>
<child link="HeadPitchLink"/>
<origin rpy="0 0 0" xyz="0 0 0.09511"/>
<axis xyz="0 1.0 0"/>
<limit effort="2.57" lower="-0.349066" upper="0.279253" velocity="1.9"/>
</joint>
<link name="HeadPitchLink">
<inertial>
<mass value="0.13981"/>
<inertia ixx="3.89601e-05" ixy="-3.814e-08" ixz="-2.29622e-06" iyy="7.25465e-05" iyz="-6.46e-09" izz="5.3765e-05"/>
<origin rpy="0 0 0" xyz="0.00137 0 -0.00641"/>
</inertial>
</link>
<joint name="HeadRoll" type="revolute">
<parent link="HeadPitchLink"/>
<child link="HeadRollLink"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="0.9" lower="-0.349066" upper="0.349066" velocity="1.5"/>
</joint>
<link name="HeadRollLink">
<inertial>
<mass value="1.41282"/> <inertia ixx="0.0149087" ixy="-5.14209e-05" ixz="-0.000684893" iyy="0.0173189" iyz="-0.000191527" izz="0.00735475"/>
<origin rpy="0 0 0" xyz="0.01617 0 0.00757"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/visual/HeadRoll.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/collision/HeadRoll.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gaze_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="gaze"/>
<origin rpy="0 0 0" xyz="0.11017 0 0.05426"/>
</joint>
<link name="gaze"/>
<joint name="LHipYaw" type="revolute">
<parent link="body"/>
<child link="LHipYawLink"/>
<origin rpy="0 0 0" xyz="0 0.096 -0.20004"/>
<axis xyz="0 0 1.0"/>
<limit effort="9.2" lower="-0.261799" upper="0.261799" velocity="0.32"/>
</joint>
<link name="LHipYawLink">
<inertial>
<mass value="0.49477"/>
<inertia ixx="0.00303668" ixy="0" ixz="0" iyy="0.00347998" iyz="0" izz="0.000622773"/>
<origin rpy="0 0 0" xyz="-0.00871 -0.00022 0.06319"/>
</inertial>
</link>
<joint name="LHipRoll" type="revolute">
<parent link="LHipYawLink"/>
<child link="LHipRollLink"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="46.6" lower="-0.261799" upper="0.523599" velocity="2.09"/>
</joint>
<link name="LHipRollLink">
<inertial>
<mass value="0.6607"/>
<inertia ixx="0.00089862" ixy="0" ixz="0" iyy="0.000509559" iyz="0" izz="0.000935392"/>
<origin rpy="0 0 0" xyz="0.00293 -0.00027 0.00011"/>
</inertial>
</link>
<joint name="LHipPitch" type="revolute">
<parent link="LHipRollLink"/>
<child link="LHipPitchLink"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1.0 0"/>
<limit effort="46.6" lower="-1.71042" upper="0.401426" velocity="2.09"/>
</joint>
<link name="LHipPitchLink">
<inertial>
<mass value="4.33935"/>
<inertia ixx="0.132895" ixy="0" ixz="0" iyy="0.133977" iyz="0" izz="0.0121687"/>
<origin rpy="0 0 0" xyz="-0.00971 0.00135 -0.15083"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/visual/LHipPitch.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/collision/LHipPitch.dae" scale="1 1 1"/>
</geometry> </collision>
</link>
<joint name="LKneePitch" type="revolute">
<parent link="LHipPitchLink"/>
<child link="LKneePitchLink"/>
<origin rpy="0 0 0" xyz="0 0 -0.32"/>
<axis xyz="0 1.0 0"/>
<limit effort="38.17" lower="0" upper="2.00713" velocity="6.0"/>
</joint>
<link name="LKneePitchLink">
<inertial>
<mass value="2.61063"/>
<inertia ixx="0.054913" ixy="0" ixz="0" iyy="0.0549663" iyz="0" izz="0.00398482"/>
<origin rpy="0 0 0" xyz="-0.00532 -0.00075 -0.12258"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/visual/LKneePitch.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/collision/LKneePitch.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="LAnklePitch" type="revolute">
<parent link="LKneePitchLink"/>
<child link="LAnklePitchLink"/>
<origin rpy="0 0 0" xyz="0 0 -0.29"/>
<axis xyz="0 1.0 0"/>
<limit effort="25.76" lower="-0.523599" upper="0.785398" velocity="2.1"/>
</joint>
<link name="LAnklePitchLink">
<inertial>
<mass value="0.5008"/>
<inertia ixx="0.000429952" ixy="0" ixz="0" iyy="0.000281451" iyz="0" izz="0.000527665"/>
<origin rpy="0 0 0" xyz="0.00059 0.00051 0.00038"/>
</inertial>
</link>
<joint name="LAnkleRoll" type="revolute">
<parent link="LAnklePitchLink"/>
<child link="l_ankle"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="25.76" lower="-0.349066" upper="0.349066" velocity="2.1"/>
</joint>
<link name="l_ankle">
<inertial>
<mass value="1.07155"/>
<inertia ixx="0.00350696" ixy="0" ixz="0" iyy="0.0162129" iyz="0" izz="0.0147353"/>
<origin rpy="0 0 0" xyz="0.07856 -0.00603 -0.04513"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/visual/LAnkleRoll.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/collision/LAnkleRoll.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="l_sole_joint" type="fixed">
<parent link="l_ankle"/>
<child link="l_sole"/>
<origin rpy="0 0 0" xyz="0 0 -0.0684"/>
</joint>
<link name="l_sole"/> <joint name="RHipYaw" type="revolute">
<parent link="body"/>
<child link="RHipYawLink"/>
<origin rpy="0 0 0" xyz="0 -0.096 -0.20004"/>
<axis xyz="0 0 1.0"/>
<limit effort="9.2" lower="-0.261799" upper="0.261799" velocity="0.32"/>
</joint>
<link name="RHipYawLink">
<inertial>
<mass value="0.49477"/>
<inertia ixx="0.00303668" ixy="0" ixz="0" iyy="0.00347998" iyz="0" izz="0.000622773"/>
<origin rpy="0 0 0" xyz="-0.00871 0.00022 0.06319"/>
</inertial>
</link>
<joint name="RHipRoll" type="revolute">
<parent link="RHipYawLink"/>
<child link="RHipRollLink"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="46.6" lower="-0.523599" upper="0.261799" velocity="2.09"/>
</joint>
<link name="RHipRollLink">
<inertial>
<mass value="0.6607"/>
<inertia ixx="0.00089862" ixy="0" ixz="0" iyy="0.000509559" iyz="0" izz="0.000935392"/>
<origin rpy="0 0 0" xyz="0.00293 0.00027 0.00011"/>
</inertial>
</link>
<joint name="RHipPitch" type="revolute">
<parent link="RHipRollLink"/>
<child link="RHipPitchLink"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1.0 0"/>
<limit effort="46.6" lower="-1.71042" upper="0.401426" velocity="2.09"/>
</joint>
<link name="RHipPitchLink">
<inertial>
<mass value="4.33935"/>
<inertia ixx="0.132895" ixy="0" ixz="0" iyy="0.133977" iyz="0" izz="0.0121687"/>
<origin rpy="0 0 0" xyz="-0.00971 -0.00135 -0.15083"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/visual/RHipPitch.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/collision/RHipPitch.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RKneePitch" type="revolute">
<parent link="RHipPitchLink"/>
<child link="RKneePitchLink"/>
<origin rpy="0 0 0" xyz="0 0 -0.32"/>
<axis xyz="0 1.0 0"/>
<limit effort="38.17" lower="0" upper="2.00713" velocity="6.0"/>
</joint>
<link name="RKneePitchLink">
<inertial>
<mass value="2.61063"/>
<inertia ixx="0.054913" ixy="0" ixz="0" iyy="0.0549663" iyz="0" izz="0.00398482"/>
<origin rpy="0 0 0" xyz="-0.00532 0.00075 -0.12258"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/visual/RKneePitch.dae" scale="1 1 1"/>
</geometry>
</visual> <collision>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/collision/RKneePitch.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RAnklePitch" type="revolute">
<parent link="RKneePitchLink"/>
<child link="RAnklePitchLink"/>
<origin rpy="0 0 0" xyz="0 0 -0.29"/>
<axis xyz="0 1.0 0"/>
<limit effort="25.76" lower="-0.523599" upper="0.785398" velocity="2.1"/>
</joint>
<link name="RAnklePitchLink">
<inertial>
<mass value="0.5008"/>
<inertia ixx="0.000429952" ixy="0" ixz="0" iyy="0.000281451" iyz="0" izz="0.000527665"/>
<origin rpy="0 0 0" xyz="0.00059 -0.00051 0.00038"/>
</inertial>
</link>
<joint name="RAnkleRoll" type="revolute">
<parent link="RAnklePitchLink"/>
<child link="r_ankle"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="25.76" lower="-0.349066" upper="0.349066" velocity="2.1"/>
</joint>
<link name="r_ankle">
<inertial>
<mass value="1.07155"/>
<inertia ixx="0.00350696" ixy="0" ixz="0" iyy="0.0162129" iyz="0" izz="0.0147353"/>
<origin rpy="0 0 0" xyz="0.07856 0.00603 -0.04513"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/visual/RAnkleRoll.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/collision/RAnkleRoll.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="r_sole_joint" type="fixed">
<parent link="r_ankle"/>
<child link="r_sole"/>
<origin rpy="0 0 0" xyz="0 0 -0.0684"/>
</joint>
<link name="r_sole"/>
<link name="base_link"/>
<joint name="waist" type="fixed">
<parent link="base_link"/>
<child link="body"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="torso">
<inertial>
<mass value="9.9216"/>
<inertia ixx="0.129332" ixy="-0.000359651" ixz="0.00283888" iyy="0.126831" iyz="-0.00200843" izz="0.110627"/>
<origin rpy="0 0 0" xyz="0.0023 0 -0.04854"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/visual/Torso.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/collision/Torso.dae" scale="1 1 1"/> </geometry>
</collision>
</link>
<joint name="TrunkYaw" type="revolute">
<parent link="body"/>
<child link="torso"/>
<origin rpy="0 0 0" xyz="0 0 0.2"/>
<axis xyz="0 0 1.0"/>
<limit effort="80.902" lower="-0.785398" upper="0.785398" velocity="1.5"/>
</joint>
<link name="body">
<inertial>
<mass value="4.16277"/>
<inertia ixx="0.241879" ixy="-6.88963e-05" ixz="0.00282915" iyy="0.238168" iyz="0.000306252" izz="0.0214739"/>
<origin rpy="0 0 0" xyz="0.00932 0 -0.2119"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/visual/TrunkYaw.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/collision/TrunkYaw.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="LShoulderPitch" type="revolute">
<parent link="torso"/>
<child link="LShoulderPitchLink"/>
<origin rpy="-0.158879 -0.0725189 -0.424682" xyz="0.005 0.19 0"/>
<axis xyz="0 1.0 0"/>
<limit effort="19.095" lower="-1.44478" upper="2.22041" velocity="2.2"/>
</joint>
<link name="LShoulderPitchLink">
<inertial>
<mass value="0.69402"/>
<inertia ixx="0.00201004" ixy="2.37595e-06" ixz="-2.16793e-06" iyy="0.000570626" iyz="8.27832e-06" izz="0.00194068"/>
<origin rpy="0 0 0" xyz="0.00149 -0.03299 0.00018"/>
</inertial>
</link>
<joint name="LShoulderYaw" type="revolute">
<parent link="LShoulderPitchLink"/>
<child link="LShoulderYawLink"/>
<origin rpy="0 0 0.430457" xyz="0 0 0"/>
<axis xyz="0 0 1.0"/>
<limit effort="9.031" lower="-0.430472" upper="1.14032" velocity="4.0"/>
</joint>
<link name="LShoulderYawLink">
<inertial>
<mass value="0.57151"/>
<inertia ixx="0.000742818" ixy="-0.000617675" ixz="-7.28438e-05" iyy="0.00650202" iyz="-1.25157e-05" izz="0.00664434"/>
<origin rpy="0 0 0" xyz="0.09367 0.01373 0.00103"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/visual/LShoulderYaw.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/collision/LShoulderYaw.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="LElbowRoll" type="revolute">
<parent link="LShoulderYawLink"/>
<child link="LElbowRollLink"/>
<origin rpy="0.17452 0 0" xyz="0.205 0 0"/>
<axis xyz="1.0 0 0"/> <limit effort="7.404" lower="-2.0944" upper="2.0944" velocity="3.7"/>
</joint>
<link name="LElbowRollLink">
<inertial>
<mass value="0.39848"/>
<inertia ixx="0.000179003" ixy="-2.25555e-06" ixz="1.376e-08" iyy="0.000804322" iyz="8.007e-08" izz="0.00077956"/>
<origin rpy="0 0 0" xyz="-0.02231 -0.0024 0"/>
</inertial>
</link>
<joint name="LElbowYaw" type="revolute">
<parent link="LElbowRollLink"/>
<child link="LElbowYawLink"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1.0"/>
<limit effort="6.02" lower="-1.5708" upper="0" velocity="4.0"/>
</joint>
<link name="LElbowYawLink">
<inertial>
<mass value="0.31265"/>
<inertia ixx="0.000375096" ixy="-0.000225283" ixz="2.58073e-06" iyy="0.00209728" iyz="2.74613e-06" izz="0.00211065"/>
<origin rpy="0 0 0" xyz="0.06738 0.01043 -0.00031"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/visual/LElbowYaw.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/collision/LElbowYaw.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="LWristRoll" type="revolute">
<parent link="LElbowYawLink"/>
<child link="LWristRollLink"/>
<origin rpy="0 0 0" xyz="0.1823 0 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="2.177" lower="-3.66519" upper="0.523599" velocity="1.1"/>
</joint>
<link name="LWristRollLink">
<inertial>
<mass value="0.17563"/>
<inertia ixx="6.72145e-05" ixy="-6.373e-07" ixz="-1.35809e-05" iyy="0.000851196" iyz="-2.443e-08" izz="0.000840348"/>
<origin rpy="0 0 0" xyz="-0.0593 -5e-05 -0.00069"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/visual/LWristRoll.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/collision/LWristRoll.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="LWristYaw" type="revolute">
<parent link="LWristRollLink"/>
<child link="LWristYawLink"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1.0"/>
<limit effort="0.862" lower="-0.436332" upper="0.436332" velocity="2.26"/>
</joint>
<link name="LWristYawLink">
<inertial>
<mass value="0.07595"/>
<inertia ixx="1.45402e-05" ixy="-4.157e-08" ixz="7.674e-08" iyy="3.91907e-05" iyz="3.08e-09" izz="3.81787e-05"/>
<origin rpy="0 0 0" xyz="-0.00746 -0.00016 -0.00022"/>
</inertial> <visual>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/visual/LWristYaw.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/collision/LWristYaw.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="LWristPitch" type="revolute">
<parent link="LWristYawLink"/>
<child link="l_wrist"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1.0 0"/>
<limit effort="0.6" lower="-0.977384" upper="0.977384" velocity="3.75"/>
</joint>
<link name="l_wrist">
<inertial>
<mass value="0.16569"/>
<inertia ixx="0.000112529" ixy="4.72583e-05" ixz="1.70404e-05" iyy="0.00107982" iyz="-1.54761e-05" izz="0.00115367"/>
<origin rpy="0 0 0" xyz="0.06987 -0.00381 -0.00165"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/visual/LWristPitch.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/collision/LWristPitch.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RShoulderPitch" type="revolute">
<parent link="torso"/>
<child link="RShoulderPitchLink"/>
<origin rpy="0.158879 -0.0725189 0.424682" xyz="0.005 -0.19 0"/>
<axis xyz="0 1.0 0"/>
<limit effort="19.095" lower="-1.44478" upper="2.22041" velocity="2.2"/>
</joint>
<link name="RShoulderPitchLink">
<inertial>
<mass value="0.69402"/>
<inertia ixx="0.00201004" ixy="-2.37595e-06" ixz="2.16793e-06" iyy="0.000570626" iyz="8.27832e-06" izz="0.00194068"/>
<origin rpy="0 0 0" xyz="0.00149 0.03299 0.00018"/>
</inertial>
</link>
<joint name="RShoulderYaw" type="revolute">
<parent link="RShoulderPitchLink"/>
<child link="RShoulderYawLink"/>
<origin rpy="0 0 -0.430457" xyz="0 0 0"/>
<axis xyz="0 0 1.0"/>
<limit effort="9.031" lower="-1.14032" upper="0.430472" velocity="4.0"/>
</joint>
<link name="RShoulderYawLink">
<inertial>
<mass value="0.57151"/>
<inertia ixx="0.000742356" ixy="0.000617202" ixz="5.98521e-06" iyy="0.00649989" iyz="-1.07417e-06" izz="0.000664209"/>
<origin rpy="0 0 0" xyz="0.09367 -0.01373 0.00103"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/visual/RShoulderYaw.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/collision/RShoulderYaw.dae" scale="1 1 1"/> </geometry>
</collision>
</link>
<joint name="RElbowRoll" type="revolute">
<parent link="RShoulderYawLink"/>
<child link="RElbowRollLink"/>
<origin rpy="-0.17452 0 0" xyz="0.205 0 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="7.404" lower="-2.0944" upper="2.0944" velocity="3.7"/>
</joint>
<link name="RElbowRollLink">
<inertial>
<mass value="0.39848"/>
<inertia ixx="0.000179003" ixy="-2.25555e-06" ixz="1.376e-08" iyy="0.000804322" iyz="8.007e-08" izz="0.00077956"/>
<origin rpy="0 0 0" xyz="-0.02231 0.0024 0"/>
</inertial>
</link>
<joint name="RElbowYaw" type="revolute">
<parent link="RElbowRollLink"/>
<child link="RElbowYawLink"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1.0"/>
<limit effort="6.02" lower="0" upper="1.5708" velocity="4.0"/>
</joint>
<link name="RElbowYawLink">
<inertial>
<mass value="0.31265"/>
<inertia ixx="0.000366728" ixy="0.000185631" ixz="-5.37905e-07" iyy="0.00211104" iyz="3.1932e-07" izz="0.000211493"/>
<origin rpy="0 0 0" xyz="0.06738 -0.01043 -0.00031"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/visual/RElbowYaw.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/collision/RElbowYaw.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RWristRoll" type="revolute">
<parent link="RElbowYawLink"/>
<child link="RWristRollLink"/>
<origin rpy="0 0 0" xyz="0.1823 0 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="2.177" lower="-0.523599" upper="3.66519" velocity="1.1"/>
</joint>
<link name="RWristRollLink">
<inertial>
<mass value="0.17563"/>
<inertia ixx="6.72145e-05" ixy="-6.373e-07" ixz="-1.35809e-05" iyy="0.000851196" iyz="-2.443e-08" izz="0.000840348"/>
<origin rpy="0 0 0" xyz="-0.0593 5e-05 -0.00069"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/visual/RWristRoll.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/collision/RWristRoll.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RWristYaw" type="revolute">
<parent link="RWristRollLink"/>
<child link="RWristYawLink"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1.0"/> <limit effort="0.862" lower="-0.436332" upper="0.436332" velocity="2.26"/>
</joint>
<link name="RWristYawLink">
<inertial>
<mass value="0.07595"/>
<inertia ixx="1.45402e-05" ixy="-4.157e-08" ixz="7.674e-08" iyy="3.91907e-05" iyz="3.08e-09" izz="3.81787e-05"/>
<origin rpy="0 0 0" xyz="-0.00746 0.00016 -0.00022"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/visual/RWristYaw.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/collision/RWristYaw.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RWristPitch" type="revolute">
<parent link="RWristYawLink"/>
<child link="r_wrist"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1.0 0"/>
<limit effort="0.6" lower="-0.977384" upper="0.977384" velocity="3.75"/>
</joint>
<link name="r_wrist">
<inertial>
<mass value="0.16569"/>
<inertia ixx="0.000112529" ixy="0" ixz="0" iyy="0.00107982" iyz="0" izz="0.00115367"/>
<origin rpy="0 0 0" xyz="0.06987 0.00381 -0.00165"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/visual/RWristPitch.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://romeo_description/meshes/V1/collision/RWristPitch.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
<link name="ImuTorsoGyrometer_frame"/>
<joint name="ImuTorsoGyrometer_joint" type="fixed">
<parent link="body"/>
<child link="ImuTorsoGyrometer_frame"/>
<origin rpy="0 0 0" xyz="0.06185 0.0087 -0.1582"/>
</joint>
<link name="RFsrRCenter_frame"/>
<joint name="RFsrRCenter_joint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrRCenter_frame"/>
<origin rpy="0 0 0" xyz="-0.04 0 -0.0646"/>
</joint>
<link name="LFsrRCenter_frame"/>
<joint name="LFsrRCenter_joint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrRCenter_frame"/>
<origin rpy="0 0 0" xyz="-0.04 0 -0.0646"/>
</joint>
<link name="RFsrFR_frame"/>
<joint name="RFsrFR_joint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrFR_frame"/>
<origin rpy="0 0 0" xyz="0.13 -0.0337 -0.0646"/>
</joint>
<link name="CameraLeftEye_frame"/>
<joint name="CameraLeftEye_joint" type="fixed">
<parent link="HeadRollLink"/> <child link="CameraLeftEye_frame"/>
<origin rpy="0 0 0" xyz="0.11017 0.03192 0.05426"/>
</joint>
<link name="CameraRight_frame"/>
<joint name="CameraRight_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraRight_frame"/>
<origin rpy="0 0 0" xyz="0.11999 -0.04 0.09938"/>
</joint>
<link name="ImuHeadGyrometer_frame"/>
<joint name="ImuHeadGyrometer_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="ImuHeadGyrometer_frame"/>
<origin rpy="0 0 1.57079632679" xyz="-0.01135 -0.04225 0.16011"/>
</joint>
<link name="ImuHeadAccelerometer_frame"/>
<joint name="ImuHeadAccelerometer_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="ImuHeadAccelerometer_frame"/>
<origin rpy="0 0 1.57079632679" xyz="-0.01135 -0.04225 0.16011"/>
</joint>
<link name="HeadTouchMiddle_frame"/>
<joint name="HeadTouchMiddle_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="HeadTouchMiddle_frame"/>
<origin rpy="0 -1.57079632679 0" xyz="0.001 0 0.1099"/>
</joint>
<link name="CameraLeft_frame"/>
<joint name="CameraLeft_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraLeft_frame"/>
<origin rpy="0 0 0" xyz="0.11999 0.04 0.09938"/>
</joint>
<link name="RFsrCenter_frame"/>
<joint name="RFsrCenter_joint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrCenter_frame"/>
<origin rpy="0 0 0" xyz="0.073 0.02 -0.0646"/>
</joint>
<link name="LFsrCenter_frame"/>
<joint name="LFsrCenter_joint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrCenter_frame"/>
<origin rpy="0 0 0" xyz="0.073 0.02 -0.0646"/>
</joint>
<link name="CameraDepth_frame"/>
<joint name="CameraDepth_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraDepth_frame"/>
<origin rpy="2.0043951 0 1.57079632679" xyz="0.1403 -0.04708 0.14655"/>
</joint>
<link name="ImuTorsoAccelerometer_frame"/>
<joint name="ImuTorsoAccelerometer_joint" type="fixed">
<parent link="body"/>
<child link="ImuTorsoAccelerometer_frame"/>
<origin rpy="0 0 0" xyz="0.06185 0.0087 -0.1582"/>
</joint>
<link name="RFsrFL_frame"/>
<joint name="RFsrFL_joint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrFL_frame"/>
<origin rpy="0 0 0" xyz="0.13 0.0337 -0.0646"/>
</joint>
<link name="LFsrFL_frame"/>
<joint name="LFsrFL_joint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrFL_frame"/>
<origin rpy="0 0 0" xyz="0.13 0.0337 -0.0646"/>
</joint>
<link name="CameraRightEye_frame"/> <joint name="CameraRightEye_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraRightEye_frame"/>
<origin rpy="0 0 0" xyz="0.11017 -0.03192 0.05426"/>
</joint>
<link name="HeadTouchFront_frame"/>
<joint name="HeadTouchFront_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="HeadTouchFront_frame"/>
<origin rpy="0 -1.186099535 0" xyz="0.0312 0 0.1014"/>
</joint>
<link name="LFsrFR_frame"/>
<joint name="LFsrFR_joint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrFR_frame"/>
<origin rpy="0 0 0" xyz="0.13 -0.0337 -0.0646"/>
</joint>
<link name="HeadTouchRear_frame"/>
<joint name="HeadTouchRear_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="HeadTouchRear_frame"/>
<origin rpy="3.14159265359 -1.333192995 3.14159265359" xyz="-0.0257 0 0.1045"/>
</joint>
<joint name="l_gripper_joint" type="fixed">
<parent link="l_wrist"/>
<child link="l_gripper"/>
<origin rpy="-1.57079633 0 0" xyz="0.09 0 -0.02"/>
</joint>
<link name="l_gripper"/>
<joint name="r_gripper_joint" type="fixed">
<parent link="r_wrist"/>
<child link="r_gripper"/>
<origin rpy="-1.57079633 0 0" xyz="0.09 0 -0.02"/>
</joint>
<link name="r_gripper"/>
</robot>