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Commit 0b8dfe09 authored by Justin Carpentier's avatar Justin Carpentier Committed by Valenza Florian
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Add simple humanoid urdf model

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<?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="WAIST_LINK0">
<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>
<link name="WAIST_LINK3">
<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>
<link name="LARM_LINK7">
<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>
<link name="RARM_LINK7">
<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>
<link name="LLEG_LINK6">
<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>
<link name="RLEG_LINK6">
<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="RLEG_HIP_R" type="revolute">
<origin xyz="0 -0.09 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<parent link="WAIST_LINK0"/>
<child link="RLEG_LINK1"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</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="30" lower="0" upper="0" velocity="0" />
</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="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="RLEG_KNEE" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="RLEG_LINK3"/>
<child link="RLEG_LINK4"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="RLEG_ANKLE_P" type="revolute">
<origin xyz="0 0 -0.3" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="RLEG_LINK4"/>
<child link="RLEG_LINK5"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="RLEG_ANKLE_R" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<parent link="RLEG_LINK5"/>
<child link="RLEG_LINK6"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="RARM_SHOULDER_P" type="revolute">
<origin xyz="0 -0.21 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="WAIST_LINK3"/>
<child link="RARM_LINK1"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="RARM_SHOULDER_R" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<parent link="RARM_LINK1"/>
<child link="RARM_LINK2"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="RARM_SHOULDER_Y" type="revolute">
<origin xyz="0 0 -0.263" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="RARM_LINK2"/>
<child link="RARM_LINK3"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="RARM_ELBOW" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="RARM_LINK3"/>
<child link="RARM_LINK4"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="RARM_WRIST_Y" type="revolute">
<origin xyz="0 0 -0.247" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="RARM_LINK4"/>
<child link="RARM_LINK5"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="RARM_WRIST_P" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="RARM_LINK5"/>
<child link="RARM_LINK6"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="RARM_WRIST_R" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<parent link="RARM_LINK6"/>
<child link="RARM_LINK7"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="LLEG_HIP_R" type="revolute">
<origin xyz="0 0.09 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<parent link="WAIST_LINK0"/>
<child link="LLEG_LINK1"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="LLEG_HIP_P" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="LLEG_LINK1"/>
<child link="LLEG_LINK2"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="LLEG_HIP_Y" type="revolute">
<origin xyz="0 0 -0.3535" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="LLEG_LINK2"/>
<child link="LLEG_LINK3"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="LLEG_KNEE" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="LLEG_LINK3"/>
<child link="LLEG_LINK4"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="LLEG_ANKLE_P" type="revolute">
<origin xyz="0 0 -0.3" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="LLEG_LINK4"/>
<child link="LLEG_LINK5"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="LLEG_ANKLE_R" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<parent link="LLEG_LINK5"/>
<child link="LLEG_LINK6"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="LARM_SHOULDER_P" type="revolute">
<origin xyz="0 0.21 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="WAIST_LINK3"/>
<child link="LARM_LINK1"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="LARM_SHOULDER_R" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<parent link="LARM_LINK1"/>
<child link="LARM_LINK2"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="LARM_SHOULDER_Y" type="revolute">
<origin xyz="0 0 -0.263" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="LARM_LINK2"/>
<child link="LARM_LINK3"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="LARM_ELBOW" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="LARM_LINK3"/>
<child link="LARM_LINK4"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="LARM_WRIST_Y" type="revolute">
<origin xyz="0 0 -0.247" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="LARM_LINK4"/>
<child link="LARM_LINK5"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="LARM_WRIST_P" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="LARM_LINK5"/>
<child link="LARM_LINK6"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="LARM_WRIST_R" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<parent link="LARM_LINK6"/>
<child link="LARM_LINK7"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="WAIST_P" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="WAIST_LINK0"/>
<child link="WAIST_LINK1"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="WAIST_R" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<parent link="WAIST_LINK1"/>
<child link="WAIST_LINK2"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
<joint name="CHEST" type="revolute">
<origin xyz="0 0 0.35" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="WAIST_LINK2"/>
<child link="WAIST_LINK3"/>
<limit effort="30" lower="0" upper="0" velocity="0" />
</joint>
</robot>
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