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Olympian-PROTO/olympian.urdf
Ram Vempati 7cdf18c8e0
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2021-11-01 14:29:56 -04:00

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<?xml version="1.0" ?>
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<inertial>
<origin rpy="0 0 0" xyz="3.3306690738754696e-16 -0.014239102534719106 0.03"/>
<mass value="0.02966359637804546"/>
<inertia ixx="3.134717230673467e-05" ixy="-1.0842021724855044e-19" ixz="1.0842021724855044e-19" iyy="1.4582407636995302e-05" iyz="-8.131516293641283e-20" izz="2.6914982867942694e-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.25 -0.0856 -0.07"/>
<geometry>
<mesh filename="meshes/Ankle_Link_v5_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
<material/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.25 -0.0856 -0.07"/>
<geometry>
<mesh filename="meshes/Ankle_Link_v5_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="Foot_v4_2">
<inertial>
<origin rpy="0 0 0" xyz="-0.020314478830258637 -0.040394010047884774 0.03625642783112962"/>
<mass value="0.8921618023336354"/>
<inertia ixx="0.0055148019028652545" ixy="-1.2922841769041904e-06" ixz="2.766319069126555e-06" iyy="0.007237252277354292" iyz="0.00014898811458507587" izz="0.001976748372483461"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.27 -0.0506 -0.1"/>
<geometry>
<mesh filename="meshes/Foot_v4_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
<material/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.27 -0.0506 -0.1"/>
<geometry>
<mesh filename="meshes/Foot_v4_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="Rev1" type="continuous">
<origin rpy="0 0 0" xyz="0.05 0.912 0.1"/>
<parent link="base_link"/>
<child link="Pelvis_v7_1"/>
<axis xyz="1.0 -0.0 -0.0"/>
</joint>
<transmission name="Rev1_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev1">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev1_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev2" type="continuous">
<origin rpy="0 0 0" xyz="0.05 0.075 -0.0375"/>
<parent link="Pelvis_v7_1"/>
<child link="Chest_v13_1"/>
<axis xyz="-0.0 -0.0 -1.0"/>
</joint>
<transmission name="Rev2_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev2">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev2_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev11" type="continuous">
<origin rpy="0 0 0" xyz="0.0 0.5664 0.0375"/>
<parent link="Chest_v13_1"/>
<child link="Box_Head_v5_1"/>
<axis xyz="0.0 1.0 -0.0"/>
</joint>
<transmission name="Rev11_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev11">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev11_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev3" type="continuous">
<origin rpy="0 0 0" xyz="-0.275 0.5164 0.0375"/>
<parent link="Chest_v13_1"/>
<child link="Upper_Arm_Link_type_b_v9_1"/>
<axis xyz="-1.0 0.0 0.0"/>
</joint>
<transmission name="Rev3_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev3">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev3_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev4" type="continuous">
<origin rpy="0 0 0" xyz="-0.075 -0.0125 -0.05"/>
<parent link="Upper_Arm_Link_type_b_v9_1"/>
<child link="Upper_Arm_Roll_Link_v5_1"/>
<axis xyz="0.0 -0.0 -1.0"/>
</joint>
<transmission name="Rev4_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev4">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev4_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev5" type="continuous">
<origin rpy="0 0 0" xyz="0.0 -0.05635 0.05"/>
<parent link="Upper_Arm_Roll_Link_v5_1"/>
<child link="Upper_Arm_v10_1"/>
<axis xyz="-0.0 -1.0 0.0"/>
</joint>
<transmission name="Rev5_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev5">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev5_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev6" type="continuous">
<origin rpy="0 0 0" xyz="0.0 -0.3675 0.05"/>
<parent link="Upper_Arm_v10_1"/>
<child link="Lower_Arm_v8_1"/>
<axis xyz="0.0 -0.0 -1.0"/>
</joint>
<transmission name="Rev6_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev6">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev6_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev7" type="continuous">
<origin rpy="0 0 0" xyz="0.275 0.5164 0.0375"/>
<parent link="Chest_v13_1"/>
<child link="Upper_Arm_Link_type_b_v9_2"/>
<axis xyz="1.0 -0.0 -0.0"/>
</joint>
<transmission name="Rev7_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev7">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev7_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev8" type="continuous">
<origin rpy="0 0 0" xyz="0.075 -0.0125 -0.05"/>
<parent link="Upper_Arm_Link_type_b_v9_2"/>
<child link="Upper_Arm_Roll_Link_v5_2"/>
<axis xyz="0.0 -0.0 -1.0"/>
</joint>
<transmission name="Rev8_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev8">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev8_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev9" type="continuous">
<origin rpy="0 0 0" xyz="0.0 -0.05635 0.05"/>
<parent link="Upper_Arm_Roll_Link_v5_2"/>
<child link="Upper_Arm_v10_3"/>
<axis xyz="0.0 -1.0 0.0"/>
</joint>
<transmission name="Rev9_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev9">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev9_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev10" type="continuous">
<origin rpy="0 0 0" xyz="0.0 -0.3675 -0.05"/>
<parent link="Upper_Arm_v10_3"/>
<child link="Lower_Arm_v8_2"/>
<axis xyz="-0.0 0.0 1.0"/>
</joint>
<transmission name="Rev10_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev10">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev10_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev12" type="continuous">
<origin rpy="0 0 0" xyz="0.0 0.812 0.1"/>
<parent link="base_link"/>
<child link="Leg_Pitch_v5_1"/>
<axis xyz="-1.0 0.0 0.0"/>
</joint>
<transmission name="Rev12_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev12">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev12_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev13" type="continuous">
<origin rpy="0 0 0" xyz="-0.05 0.0 -0.075"/>
<parent link="Leg_Pitch_v5_1"/>
<child link="Leg_Roll_v4_1"/>
<axis xyz="0.0 0.0 -1.0"/>
</joint>
<transmission name="Rev13_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev13">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev13_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev14" type="continuous">
<origin rpy="0 0 0" xyz="0.0 -0.075 0.075"/>
<parent link="Leg_Roll_v4_1"/>
<child link="Upper_Leg_v4_1"/>
<axis xyz="0.0 -1.0 0.0"/>
</joint>
<transmission name="Rev14_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev14">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev14_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev15" type="continuous">
<origin rpy="0 0 0" xyz="-0.05 -0.2982 0.0"/>
<parent link="Upper_Leg_v4_1"/>
<child link="Lower_Leg_v6_1"/>
<axis xyz="1.0 -0.0 -0.0"/>
</joint>
<transmission name="Rev15_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev15">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev15_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev16" type="continuous">
<origin rpy="0 0 0" xyz="0.05 -0.3532 -0.03"/>
<parent link="Lower_Leg_v6_1"/>
<child link="Ankle_Link_v5_1"/>
<axis xyz="-0.0 0.0 1.0"/>
</joint>
<transmission name="Rev16_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev16">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev16_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev19" type="continuous">
<origin rpy="0 0 0" xyz="-0.02 -0.035 0.03"/>
<parent link="Ankle_Link_v5_1"/>
<child link="Foot_v4_1"/>
<axis xyz="-1.0 0.0 0.0"/>
</joint>
<transmission name="Rev19_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev19">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev19_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev20" type="continuous">
<origin rpy="0 0 0" xyz="0.2 0.812 0.1"/>
<parent link="base_link"/>
<child link="Leg_Pitch_v5_2"/>
<axis xyz="1.0 -0.0 -0.0"/>
</joint>
<transmission name="Rev20_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev20">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev20_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev21" type="continuous">
<origin rpy="0 0 0" xyz="0.05 0.0 -0.075"/>
<parent link="Leg_Pitch_v5_2"/>
<child link="Leg_Roll_v4_2"/>
<axis xyz="-0.0 -0.0 -1.0"/>
</joint>
<transmission name="Rev21_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev21">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev21_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev22" type="continuous">
<origin rpy="0 0 0" xyz="0.0 -0.075 0.075"/>
<parent link="Leg_Roll_v4_2"/>
<child link="Upper_Leg_v4_2"/>
<axis xyz="0.0 -1.0 0.0"/>
</joint>
<transmission name="Rev22_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev22">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev22_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev23" type="continuous">
<origin rpy="0 0 0" xyz="0.05 -0.2982 0.0"/>
<parent link="Upper_Leg_v4_2"/>
<child link="Lower_Leg_v6_2"/>
<axis xyz="-1.0 0.0 0.0"/>
</joint>
<transmission name="Rev23_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev23">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev23_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev24" type="continuous">
<origin rpy="0 0 0" xyz="-0.05 -0.3532 -0.03"/>
<parent link="Lower_Leg_v6_2"/>
<child link="Ankle_Link_v5_2"/>
<axis xyz="-0.0 0.0 1.0"/>
</joint>
<transmission name="Rev24_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev24">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev24_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="Rev25" type="continuous">
<origin rpy="0 0 0" xyz="0.02 -0.035 0.03"/>
<parent link="Ankle_Link_v5_2"/>
<child link="Foot_v4_2"/>
<axis xyz="1.0 -0.0 -0.0"/>
</joint>
<transmission name="Rev25_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev25">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev25_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot>
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