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biped.urdf
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<?xml version="1.0" ?>
<robot name="bipedal_robot" xmlns:xacro="https://ros.org/wiki/xacro">
<link name="body">
<inertial>
<mass value="4.546"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.06765345" ixy="0.0" ixz="0.0" iyy="0.053440875" iyz="0.0" izz="0.017235495"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/stl/base.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="meshes/stl/base.stl"/>
</geometry>
</collision>
</link>
<joint name="r_yaw_hipJoint" type="revolute">
<parent link="body"/>
<child link="r_yaw_hipLink"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0.0 -0.065 -0.175"/>
<!--dynamics damping="0.05"/-->
<dynamics friction="0.05"/>
<limit effort="8.0" lower="-2.5" upper="2.5" velocity="6.0"/>
</joint>
<transmission name="r_yaw_hipTrans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_yaw_hipJoint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="r_yaw_hipMotor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanismReduction>1</mechanismReduction>
</actuator>
</transmission>
<link name="r_yaw_hipLink">
<inertial>
<mass value="0.108149"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="3.9598421e-05" ixy="0.0" ixz="0.0" iyy="3.9598427e-05" iyz="0.0" izz="5.0357027e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/stl/hip_Zaxis_link.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="meshes/stl/hip_Zaxis_link.stl"/>
</geometry>
</collision>
</link>
<joint name="r_roll_hipJoint" type="revolute">
<parent link="r_yaw_hipLink"/>
<child link="r_roll_hipLink"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<!--dynamics damping="0.05"/-->
<dynamics friction="0.05"/>
<limit effort="8.0" lower="-2.5" upper="2.5" velocity="6.0"/>
</joint>
<transmission name="r_roll_hipTrans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_roll_hipJoint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="r_roll_hipMotor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanismReduction>1</mechanismReduction>
</actuator>
</transmission>
<link name="r_roll_hipLink">
<inertial>
<mass value="0.108149"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="5.0357027e-05" ixy="0.0" ixz="0.0" iyy="3.9598427e-05" iyz="0.0" izz="3.9598421e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/stl/hip_Xaxis_link.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="meshes/stl/hip_Xaxis_link.stl"/>
</geometry>
</collision>
</link>
<joint name="r_pitch_hipJoint" type="revolute">
<parent link="r_roll_hipLink"/>
<child link="r_thighLink"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<!--dynamics damping="0.05"/-->
<dynamics friction="0.05"/>
<limit effort="8.0" lower="-2.5" upper="2.5" velocity="6.0"/>
</joint>
<transmission name="r_pitch_hipTrans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_pitch_hipJoint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="r_pitch_hipMotor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanismReduction>1</mechanismReduction>
</actuator>
</transmission>
<link name="r_thighLink">
<inertial>
<mass value="0.12805"/>
<origin rpy="0 0 0" xyz="0 0 -0.09"/>
<inertia ixx="0.000525492139" ixy="0.0" ixz="0.0" iyy="0.000525518548" iyz="0.0" izz="2.4541119e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/stl/thigh_link.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="meshes/stl/thigh_link.stl"/>
</geometry>
</collision>
</link>
<joint name="r_kneeJoint" type="revolute">
<parent link="r_thighLink"/>
<child link="r_kneeLink"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.18"/>
<!--dynamics damping="0.05"/-->
<dynamics friction="0.05"/>
<limit effort="8.0" lower="-2.5" upper="2.5" velocity="6.0"/>
</joint>
<transmission name="r_kneeTrans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_kneeJoint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="r_kneeMotor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanismReduction>1</mechanismReduction>
</actuator>
</transmission>
<link name="r_kneeLink">
<inertial>
<mass value="0.123672"/>
<origin rpy="0 0 0" xyz="0 0 -0.09"/>
<inertia ixx="0.000345322965" ixy="0.0" ixz="0.0" iyy="0.000345322962" iyz="0.0" izz="2.2817471e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/stl/knee_link.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="meshes/stl/knee_link.stl"/>
</geometry>
</collision>
</link>
<joint name="r_pitch_ankleJoint" type="revolute">
<parent link="r_kneeLink"/>
<child link="r_ankleLink"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.18"/>
<!--dynamics damping="0.05"/-->
<dynamics friction="0.05"/>
<limit effort="8.0" lower="-2.5" upper="2.5" velocity="6.0"/>
</joint>
<transmission name="r_pitch_ankleTrans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_pitch_ankleJoint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="r_pitch_ankleMotor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanismReduction>1</mechanismReduction>
</actuator>
</transmission>
<link name="r_ankleLink">
<inertial>
<mass value="0.0972"/>
<origin rpy="0 0 0" xyz="0 0 0.01"/>
<inertia ixx="2.025e-05" ixy="0.0" ixz="0.0" iyy="2.025e-05" iyz="0.0" izz="1.458e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/stl/ankle_link.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="meshes/stl/ankle_link.stl"/>
</geometry>
</collision>
</link>
<joint name="r_roll_ankleJoint" type="revolute">
<parent link="r_ankleLink"/>
<child link="r_tipLink"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<!--dynamics damping="0.05"/-->
<dynamics friction="0.05"/>
<limit effort="8.0" lower="-2.5" upper="2.5" velocity="6.0"/>
</joint>
<transmission name="r_roll_ankleTrans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_roll_ankleJoint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="r_roll_ankleMotor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanismReduction>1</mechanismReduction>
</actuator>
</transmission>
<link name="r_tipLink">
<inertial>
<mass value="0.139622"/>
<origin rpy="0 0 0" xyz="0.002639 0.0 -0.011265"/>
<inertia ixx="8.1336818e-05" ixy="0.0" ixz="7.800852e-06" iyy="0.000185289302" iyz="0.0" izz="0.000251133962"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/stl/tip_link.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="meshes/stl/tip_link.stl"/>
</geometry>
</collision>
</link>
<!-- left leg -->
<joint name="l_yaw_hipJoint" type="revolute">
<parent link="body"/>
<child link="l_yaw_hipLink"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0.0 0.065 -0.175"/>
<!--dynamics damping="0.05"/-->
<dynamics friction="0.05"/>
<limit effort="8.0" lower="-2.5" upper="2.5" velocity="6.0"/>
</joint>
<transmission name="l_yaw_hipTrans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_yaw_hipJoint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="l_yaw_hipMotor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanismReduction>1</mechanismReduction>
</actuator>
</transmission>
<link name="l_yaw_hipLink">
<inertial>
<mass value="0.108149"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="3.9598421e-05" ixy="0.0" ixz="0.0" iyy="3.9598427e-05" iyz="0.0" izz="5.0357027e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/stl/hip_Zaxis_link.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="meshes/stl/hip_Zaxis_link.stl"/>
</geometry>
</collision>
</link>
<joint name="l_roll_hipJoint" type="revolute">
<parent link="l_yaw_hipLink"/>
<child link="l_roll_hipLink"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<!--dynamics damping="0.05"/-->
<dynamics friction="0.05"/>
<limit effort="8.0" lower="-2.5" upper="2.5" velocity="6.0"/>
</joint>
<transmission name="l_roll_hipTrans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_roll_hipJoint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="l_roll_hipMotor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanismReduction>1</mechanismReduction>
</actuator>
</transmission>
<link name="l_roll_hipLink">
<inertial>
<mass value="0.108149"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="5.0357027e-05" ixy="0.0" ixz="0.0" iyy="3.9598427e-05" iyz="0.0" izz="3.9598421e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/stl/hip_Xaxis_link.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="meshes/stl/hip_Xaxis_link.stl"/>
</geometry>
</collision>
</link>
<joint name="l_pitch_hipJoint" type="revolute">
<parent link="l_roll_hipLink"/>
<child link="l_thighLink"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<!--dynamics damping="0.05"/-->
<dynamics friction="0.05"/>
<limit effort="8.0" lower="-2.5" upper="2.5" velocity="6.0"/>
</joint>
<transmission name="l_pitch_hipTrans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_pitch_hipJoint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="l_pitch_hipMotor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanismReduction>1</mechanismReduction>
</actuator>
</transmission>
<link name="l_thighLink">
<inertial>
<mass value="0.12805"/>
<origin rpy="0 0 0" xyz="0 0 -0.09"/>
<inertia ixx="0.000525492139" ixy="0.0" ixz="0.0" iyy="0.000525518548" iyz="0.0" izz="2.4541119e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/stl/thigh_link.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="meshes/stl/thigh_link.stl"/>
</geometry>
</collision>
</link>
<joint name="l_kneeJoint" type="revolute">
<parent link="l_thighLink"/>
<child link="l_kneeLink"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.18"/>
<!--dynamics damping="0.05"/-->
<dynamics friction="0.05"/>
<limit effort="8.0" lower="-2.5" upper="2.5" velocity="6.0"/>
</joint>
<transmission name="l_kneeTrans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_kneeJoint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="l_kneeMotor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanismReduction>1</mechanismReduction>
</actuator>
</transmission>
<link name="l_kneeLink">
<inertial>
<mass value="0.123672"/>
<origin rpy="0 0 0" xyz="0 0 -0.09"/>
<inertia ixx="0.000345322965" ixy="0.0" ixz="0.0" iyy="0.000345322962" iyz="0.0" izz="2.2817471e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/stl/knee_link.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="meshes/stl/knee_link.stl"/>
</geometry>
</collision>
</link>
<joint name="l_pitch_ankleJoint" type="revolute">
<parent link="l_kneeLink"/>
<child link="l_ankleLink"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.18"/>
<!--dynamics damping="0.05"/-->
<dynamics friction="0.05"/>
<limit effort="8.0" lower="-2.5" upper="2.5" velocity="6.0"/>
</joint>
<transmission name="l_pitch_ankleTrans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_pitch_ankleJoint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="l_pitch_ankleMotor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanismReduction>1</mechanismReduction>
</actuator>
</transmission>
<link name="l_ankleLink">
<inertial>
<mass value="0.0972"/>
<origin rpy="0 0 0" xyz="0 0 0.01"/>
<inertia ixx="2.025e-05" ixy="0.0" ixz="0.0" iyy="2.025e-05" iyz="0.0" izz="1.458e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/stl/ankle_link.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="meshes/stl/ankle_link.stl"/>
</geometry>
</collision>
</link>
<joint name="l_roll_ankleJoint" type="revolute">
<parent link="l_ankleLink"/>
<child link="l_tipLink"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<!--dynamics damping="0.05"/-->
<dynamics friction="0.05"/>
<limit effort="8.0" lower="-2.5" upper="2.5" velocity="6.0"/>
</joint>
<transmission name="l_roll_ankleTrans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_roll_ankleJoint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="l_roll_ankleMotor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanismReduction>1</mechanismReduction>
</actuator>
</transmission>
<link name="l_tipLink">
<inertial>
<mass value="0.139622"/>
<origin rpy="0 0 0" xyz="0.002639 0.0 -0.011265"/>
<inertia ixx="8.1336818e-05" ixy="0.0" ixz="7.800852e-06" iyy="0.000185289302" iyz="0.0" izz="0.000251133962"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/stl/tip_link.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="meshes/stl/tip_link.stl"/>
</geometry>
</collision>
</link>
</robot>