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surena4_1.urdf
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surena4_1.urdf
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<!--?xml version="1.0" encoding="utf-8"?-->
<robot name="rrbot">
<link name="pelvis">
<inertial>
<origin rpy="0 0 0" xyz="-0.0517 0 0.9727 "/>
<mass value="2.3"/>
<inertia ixx="0.001365" ixy="0.000068" ixz="-0.000361" iyy="0.006717" iyz="-0.000089" izz="0.001752"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.942"/>
<geometry>
<mesh filename="meshes/pelvis.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="1.57 0 0.0" xyz="0 0 0.942"/>
<geometry>
<cylinder length="0.23" radius="0.08"/>
</geometry>
</collision>
</link>
<link name="RLeg_HipY_Link">
<inertial>
<origin rpy="0 0 0" xyz="-0.067 0 -0.059 "/>
<mass value="1.29"/>
<inertia ixx="0.005106" ixy="0.000029" ixz="0.003622" iyy="0.011031" iyz="0.000013" izz="0.007143"/>
</inertial>
</link>
<link name="RLeg_Hip_Uni_Link">
<inertial>
<origin rpy="0 0 0" xyz="-0.003 -0.002 -0.0004 "/>
<mass value="1.15"/>
<inertia ixx="0.001754" ixy="-0.000017" ixz="0.000034" iyy="0.001753" iyz="0.000002" izz="0.025712"/>
</inertial>
</link>
<link name="RLeg_Hip_Thigh_Link">
<inertial>
<origin rpy="0 0 0" xyz="0.002 0.001 -0.19 "/>
<mass value="2.08"/>
<inertia ixx="0.031121" ixy="-0.00004" ixz="-0.000024" iyy="0.029521" iyz="0.000317" izz="0.006842"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/Thigh-Right.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.185"/>
<geometry>
<cylinder length="0.35" radius="0.04"/>
</geometry>
</collision>
</link>
<link name="RLeg_Hip_Shank_Link">
<inertial>
<origin rpy="0 0 0" xyz="0.0013 0.0014 -0.09 "/>
<mass value="4.85"/>
<inertia ixx="0.059549" ixy="0.000020" ixz="-0.000220" iyy="0.055950" iyz="0.001301" izz="0.009826"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/Shank-Right.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.18"/>
<geometry>
<cylinder length="0.35" radius="0.04"/>
</geometry>
</collision>
</link>
<link name="RLeg_Ankle_Uni_Link">
<inertial>
<origin rpy="0 0 0" xyz="-0.029 -0.0017 0.057 "/>
<mass value="2.49"/>
<inertia ixx="0.028025" ixy="-0.000028" ixz="-0.004505" iyy="0.029547" iyz="-0.000618" izz="0.006102"/>
</inertial>
</link>
<link name="RLeg_Foot_Link">
<inertial>
<origin rpy="0 0 0" xyz="0.0055 0.0012 -0.072 "/>
<mass value="1.48"/>
<inertia ixx="0.001702" ixy="0.000013" ixz="-0.000187" iyy="0.003158" iyz="-0.000031" izz="0.003625"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/Foot-Right.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision name="RLeg_Foot_Link_collision">
<origin rpy="0 0 0" xyz=".045 0 -.1"/>
<geometry>
<box size="0.26 0.16 0.02"/>
</geometry>
</collision>
</link>
<link name="LLeg_HipY_Link">
<inertial>
<origin rpy="0 0 0" xyz="-0.067 0 -0.059 "/>
<mass value="1.29"/>
<inertia ixx="0.005106" ixy="-0.000029" ixz="0.003622" iyy="0.011031" iyz="-0.000013" izz="0.007143"/>
</inertial>
</link>
<link name="LLeg_Hip_Uni_Link">
<inertial>
<origin rpy="0 0 0" xyz="-0.003 0.002 -0.0004 "/>
<mass value="1.15"/>
<inertia ixx="0.001754" ixy="0.000017" ixz="0.000034" iyy="0.001753" iyz="-0.000002" izz="0.025712"/>
</inertial>
</link>
<link name="LLeg_Hip_Thigh_Link">
<inertial>
<origin rpy="0 0 0" xyz="0.002 -0.001 -0.19 "/>
<mass value="2.08"/>
<inertia ixx="0.031121" ixy="0.00004" ixz="-0.000024" iyy="0.029521" iyz="-0.000317" izz="0.006842"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/Thigh-Left.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.18"/>
<geometry>
<cylinder length="0.35" radius="0.04"/>
</geometry>
</collision>
</link>
<link name="LLeg_Hip_Shank_Link">
<inertial>
<origin rpy="0 0 0" xyz="0.0013 -0.0014 -0.09 "/>
<mass value="4.85"/>
<inertia ixx="0.059549" ixy="-0.000020" ixz="-0.000220" iyy="0.055950" iyz="-0.001301" izz="0.009826"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/Shank-Left.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.18"/>
<geometry>
<cylinder length="0.35" radius="0.04"/>
</geometry>
</collision>
</link>
<link name="LLeg_Ankle_Uni_Link">
<inertial>
<origin rpy="0 0 0" xyz="-0.029 0.0017 0.057 "/>
<mass value="2.49"/>
<inertia ixx="0.028025" ixy="0.000028" ixz="-0.004505" iyy="0.029547" iyz="0.000618" izz="0.006102"/>
</inertial>
</link>
<link name="LLeg_Foot_Link">
<inertial>
<origin rpy="0 0 0" xyz="0.0055 -0.0012 -0.072 "/>
<mass value="1.48"/>
<inertia ixx="0.001702" ixy="-0.000013" ixz="-0.000187" iyy="0.003158" iyz="0.000031" izz="0.003625"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/Foot-Left.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision name="LLeg_Foot_Link_collision">
<origin rpy="0 0 0" xyz=".045 0 -.1"/>
<geometry>
<box size="0.26 0.16 0.02"/>
</geometry>
</collision>
</link>
<link name="WAIST_LINK1">
<inertial>
<origin rpy="0 0 0" xyz="0.015 0 0.129"/>
<mass value="1.15"/>
<inertia ixx="0.005193" ixy="-0.000046" ixz="0.001342" iyy="0.005931" iyz="0.000018" izz="0.001888"/>
</inertial>
</link>
<link name="WAIST_LINK2">
<inertial>
<origin rpy="0 0 0" xyz="-0.016 0 0.169 "/>
<mass value="12.832"/>
<inertia ixx="0.233950" ixy="-0.000513" ixz="0.009826" iyy="0.209591" iyz="0.000836" izz="0.164625"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/tORSO.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/tORSO.STL"/>
</geometry>
</collision>
</link>
<link name="RARM_LINK1">
<inertial>
<origin rpy="0 0 0" xyz="0.01 0.011 0 "/>
<mass value="1.162"/>
<inertia ixx="0.001332" ixy="0.000003" ixz="0.000076" iyy="0.001700" iyz="0.000013" izz="0.001964"/>
</inertial>
</link>
<link name="RARM_LINK2">
<inertial>
<origin rpy="0 0 0" xyz="0.001 0.004 -0.090 "/>
<mass value="0.727"/>
<inertia ixx="0.001536" ixy="-0.000002" ixz="-0.000031" iyy="0.001820" iyz="-0.000028" izz="0.001210"/>
</inertial>
</link>
<link name="RARM_LINK3">
<inertial>
<origin rpy="0 0 0" xyz="0.003 0.006 -0.233 "/>
<mass value="0.846"/>
<inertia ixx="0.001700" ixy="0.000007" ixz="-0.000010" iyy="0.001308" iyz="-0.000014" izz="0.00923"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/Upper-arm-right.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/Upper-arm-right.STL"/>
</geometry>
</collision>
</link>
<link name="RARM_LINK4">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.151"/>
<mass value="1.243"/>
<inertia ixx="0.008731" ixy="0.000005" ixz="-0.000010" iyy="0.008629" iyz="0.000081" izz="0.000868"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/fore-arm-right.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
</link>
<link name="RARM_LINK5">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.01"/>
<inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001"/>
</inertial>
</link>
<link name="RARM_LINK6">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.01"/>
<inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001"/>
</inertial>
</link>
<link name="RARM_LINK7">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.05 "/>
<mass value="0.2"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/Hand-Right.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/Hand-Right.STL"/>
</geometry>
</collision>
</link>
<link name="LARM_LINK1">
<inertial>
<origin rpy="0 0 0" xyz="0.01 -0.011 0 "/>
<mass value="1.162"/>
<inertia ixx="0.001332" ixy="-0.000003" ixz="0.000076" iyy="0.0017000" iyz="-0.000013" izz="0.001964"/>
</inertial>
</link>
<link name="LARM_LINK2">
<inertial>
<origin rpy="0 0 0" xyz="0.001 -0.004 -0.090"/>
<mass value="0.727"/>
<inertia ixx="0.001536" ixy="-0.000002" ixz="-0.000031" iyy="0.001820" iyz="-0.000028" izz="0.001210"/>
</inertial>
</link>
<link name="LARM_LINK3">
<inertial>
<origin rpy="0 0 0" xyz="0.003 -0.006 -0.233 "/>
<mass value="0.846"/>
<inertia ixx="0.0017" ixy="-0.000007" ixz="-0.000010" iyy="0.001308" iyz="0.000014" izz="0.00923"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/Upper-arm-Left.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/Upper-arm-Left.STL"/>
</geometry>
</collision>
</link>
<link name="LARM_LINK4">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.151 "/>
<mass value="1.243"/>
<inertia ixx="0.008731" ixy="-0.000005" ixz="-0.000010" iyy="0.008629" iyz="-0.000081" izz="0.000868"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/fore-arm-Left.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
</link>
<link name="LARM_LINK5">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.01"/>
<inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001"/>
</inertial>
</link>
<link name="LARM_LINK6">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.01"/>
<inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001"/>
</inertial>
</link>
<link name="LARM_LINK7">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.05 "/>
<mass value="0.2"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/Hand-Left.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/Hand-Left.STL"/>
</geometry>
</collision>
</link>
<joint name="RLeg_HipY_J1" type="continuous">
<origin rpy="0 0 0" xyz="0 -0.115 0.9727 "/>
<parent link="pelvis"/>
<child link="RLeg_HipY_Link"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="RLeg_HipR_J2" type="continuous">
<origin rpy="0 0 0" xyz="0 0 -0.1327 "/>
<parent link="RLeg_HipY_Link"/>
<child link="RLeg_Hip_Uni_Link"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="RLeg_HipP_J3" type="continuous">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="RLeg_Hip_Uni_Link"/>
<child link="RLeg_Hip_Thigh_Link"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="RLeg_KneeP_J4" type="continuous">
<origin rpy="0 0 0" xyz="0 0 -0.37 "/>
<parent link="RLeg_Hip_Thigh_Link"/>
<child link="RLeg_Hip_Shank_Link"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="RLeg_AnkleP_J5" type="continuous">
<origin rpy="0 0 0" xyz="0 0 -0.36 "/>
<parent link="RLeg_Hip_Shank_Link"/>
<child link="RLeg_Ankle_Uni_Link"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="RLeg_AnkleR_J6" type="continuous">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="RLeg_Ankle_Uni_Link"/>
<child link="RLeg_Foot_Link"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="LLeg_HipY_J1" type="continuous">
<origin rpy="0 0 0" xyz="0 0.115 0.9727 "/>
<parent link="pelvis"/>
<child link="LLeg_HipY_Link"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="LLeg_HipR_J2" type="continuous">
<origin rpy="0 0 0" xyz="0 0 -0.1327 "/>
<parent link="LLeg_HipY_Link"/>
<child link="LLeg_Hip_Uni_Link"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="LLeg_HipP_J3" type="continuous">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="LLeg_Hip_Uni_Link"/>
<child link="LLeg_Hip_Thigh_Link"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="LLeg_KneeP_J4" type="continuous">
<origin rpy="0 0 0" xyz="0 0 -0.37 "/>
<parent link="LLeg_Hip_Thigh_Link"/>
<child link="LLeg_Hip_Shank_Link"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="LLeg_AnkleP_J5" type="continuous">
<origin rpy="0 0 0" xyz="0 0 -0.36 "/>
<parent link="LLeg_Hip_Shank_Link"/>
<child link="LLeg_Ankle_Uni_Link"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="LLeg_AnkleR_J6" type="continuous">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="LLeg_Ankle_Uni_Link"/>
<child link="LLeg_Foot_Link"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="Waist_Y_J1" type="continuous">
<origin rpy="0 0 0" xyz="0 0 0.9727"/>
<parent link="pelvis"/>
<child link="WAIST_LINK1"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="Waist_Y_J2" type="continuous">
<origin rpy="0 0 0" xyz="0 0 0.1333"/>
<parent link="WAIST_LINK1"/>
<child link="WAIST_LINK2"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="RArm_ShoulderP_J1" type="continuous">
<origin rpy="-0.174533 0 0" xyz="0 -0.239 0.2694"/>
<parent link="WAIST_LINK2"/>
<child link="RARM_LINK1"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="RArm_ShoulderR_J2" type="continuous">
<origin rpy="0.174533 0 0" xyz="0 0 0"/>
<parent link="RARM_LINK1"/>
<child link="RARM_LINK2"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="RArm_ShoulderY_J3" type="continuous">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="RARM_LINK2"/>
<child link="RARM_LINK3"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="RArm_ElbowP_J4" type="continuous">
<origin rpy="0 0 0" xyz="0 0 -0.254"/>
<parent link="RARM_LINK3"/>
<child link="RARM_LINK4"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="RArm_WristY_J5" type="continuous">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="RARM_LINK4"/>
<child link="RARM_LINK5"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="RArm_WristR_J6" type="continuous">
<origin rpy="0 0 0" xyz="0 0 -0.3302"/>
<parent link="RARM_LINK5"/>
<child link="RARM_LINK6"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="RArm_WristP_J7" type="continuous">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="RARM_LINK6"/>
<child link="RARM_LINK7"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="LArm_ShoulderP_J1" type="continuous">
<origin rpy="0.174533 0 0" xyz="0 0.239 0.2694"/>
<parent link="WAIST_LINK2"/>
<child link="LARM_LINK1"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="LArm_ShoulderR_J2" type="continuous">
<origin rpy="-0.174533 0 0" xyz="0 0 0"/>
<parent link="LARM_LINK1"/>
<child link="LARM_LINK2"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="LArm_ShoulderY_J3" type="continuous">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="LARM_LINK2"/>
<child link="LARM_LINK3"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="LArm_ElbowP_J4" type="continuous">
<origin rpy="0 0 0" xyz="0 0 -0.254"/>
<parent link="LARM_LINK3"/>
<child link="LARM_LINK4"/>
<axis xyz="0 1 0"/>
<limit effort="300.0" lower="-1000.0" upper="-1000.0" velocity="0.5"/>
</joint>
<joint name="LArm_WristY_J5" type="continuous">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="LARM_LINK4"/>
<child link="LARM_LINK5"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="LArm_WristR_J6" type="continuous">
<origin rpy="0 0 0" xyz="0 0 -0.3302"/>
<parent link="LARM_LINK5"/>
<child link="LARM_LINK6"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="LArm_WristP_J7" type="continuous">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="LARM_LINK6"/>
<child link="LARM_LINK7"/>
<axis xyz="0 1 0"/>
</joint>
</robot>