#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# documentation url: https://www.cyberbotics.com/doc/guide/atlas
# The "Atlas" is a humanoid robot developed by Boston Dynamics with funding and oversight from DARPA.
# Extracted from: https://bitbucket.org/osrf/drcsim/src/c69ecab26a55/ros/atlas_description/urdf/atlas_simple_shapes.urdf
PROTO Atlas [
field SFVec3f translation 0 1 0 # Is `Transform.translation`.
field SFRotation rotation 1 0 0 -1.5708 # Is `Transform.rotation`.
field SFString name "Atlas" # Is `Solid.name`.
field SFString controller "hello_world_demo" # Is `Robot.controller`.
field MFString controllerArgs [] # Is `Robot.controllerArgs`.
field SFString customData "" # Is `Robot.customData`.
field SFBool supervisor FALSE # Is `Robot.supervisor`.
field SFBool synchronization TRUE # Is `Robot.synchronization`.
field MFNode pelvisSlot [] # Extends the robot with new nodes in the pelvis slot.
]
{
Robot {
translation IS translation
rotation IS rotation
children [
Group {
children IS pelvisSlot
}
PelvisSolid {
}
DEF BackLbz HingeJoint {
device RotationalMotor {
name "BackLbz"
maxVelocity 12
minPosition -0.610865
maxPosition 0.610865
maxTorque 124.016
}
jointParameters HingeJointParameters {
axis 0 0 1
anchor -0.0125 0 0
dampingConstant 0.1
}
endPoint Solid {
translation -0.0125 0 0
rotation 0 0 1 0
children [
LtorsoSolid {
}
DEF BackMby HingeJoint {
device RotationalMotor {
name "BackMby"
maxVelocity 12
minPosition -1.2
maxPosition 1.28
maxTorque 206.843
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0 0 0.09
dampingConstant 0.1
}
endPoint Solid {
translation 0 0 0.09
rotation 0 1 0 0
children [
MtorsoSolid {
}
DEF BackUbx HingeJoint {
device RotationalMotor {
name "BackUbx"
maxVelocity 12
minPosition -0.790809
maxPosition 0.790809
maxTorque 94.91
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 0 0.05
dampingConstant 0.1
}
endPoint Solid {
translation 0 0 0.05
rotation 1 0 0 0
children [
UtorsoSolid {
}
DEF LArmUsy HingeJoint {
device RotationalMotor {
name "LArmUsy"
maxVelocity 12
minPosition -1.9635
maxPosition 1.9635
maxTorque 212
}
jointParameters HingeJointParameters {
axis 0 0.5 0.866025
anchor 0.024 0.221 0.289
dampingConstant 0.1
}
endPoint Solid {
translation 0.024 0.221 0.289
rotation 0 0.5 0.866025 0
children [
LClavSolid {
}
DEF LArmShx HingeJoint {
device RotationalMotor {
name "LArmShx"
maxVelocity 12
minPosition -1.39626
maxPosition 1.74533
maxTorque 170
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 0.075 0.036
dampingConstant 0.1
}
endPoint Solid {
translation 0 0.075 0.036
rotation 1 0 0 0
children [
LScapSolid {
}
DEF LArmEly HingeJoint {
device RotationalMotor {
name "LArmEly"
maxVelocity 12
minPosition 0
maxPosition 3.14159
maxTorque 114
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0 0.185 0
dampingConstant 0.1
}
endPoint Solid {
translation 0 0.185 0
rotation 0 1 0 0
children [
LUarmSolid {
}
DEF LArmElx HingeJoint {
device RotationalMotor {
name "LArmElx"
maxVelocity 12
minPosition 0
maxPosition 2.35619
maxTorque 114
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 0.121 0.013
dampingConstant 0.1
}
endPoint Solid {
translation 0 0.121 0.013
rotation 1 0 0 0
children [
LLarmSolid {
}
DEF LArmUwy HingeJoint {
device RotationalMotor {
name "LArmUwy"
maxVelocity 12
minPosition -1.571
maxPosition 1.571
maxTorque 114
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0 0.188 -0.013
dampingConstant 0.1
}
endPoint Solid {
translation 0 0.188 -0.013
rotation 0 1 0 0
children [
LFarmSolid {
}
DEF LArmMwx HingeJoint {
device RotationalMotor {
name "LArmMwx"
maxVelocity 12
minPosition -0.436
maxPosition 1.571
maxTorque 60
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 0.058 0
dampingConstant 0.1
}
endPoint Solid {
translation 0 0.058 0
rotation 1 0 0 0
children [
LHandSolid {
}
]
physics DEF DEFAULT_PHYSICS Physics {
density -1
mass 0.001
inertiaMatrix [ 1 1 1 0 0 0]
centerOfMass [0 0 0]
}
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
name "LArmUsy"
physics USE DEFAULT_PHYSICS
}
}
DEF NeckAy HingeJoint {
device RotationalMotor {
name "NeckAy"
maxVelocity 12
minPosition -0.610865238
maxPosition 1.13446401
maxTorque 5
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0.01 0 0.43
dampingConstant 0.1
}
endPoint Solid {
translation 0.01 0 0.43
rotation 0 1 0 0
children [
HeadMesh {
}
]
name "NeckAy"
physics USE DEFAULT_PHYSICS
}
}
DEF RArmUsy HingeJoint {
device RotationalMotor {
name "RArmUsy"
maxVelocity 12
minPosition -1.9635
maxPosition 1.9635
maxTorque 212
}
jointParameters HingeJointParameters {
axis 0 0.5 -0.866025
anchor 0.024 -0.221 0.289
dampingConstant 0.1
}
endPoint Solid {
translation 0.024 -0.221 0.289
rotation 0 0.5 -0.866025 0
children [
RClavSolid {
}
DEF RArmShx HingeJoint {
device RotationalMotor {
name "RArmShx"
maxVelocity 12
minPosition -1.74533
maxPosition 1.39626
maxTorque 170
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 -0.075 0.036
dampingConstant 0.1
}
endPoint Solid {
translation 0 -0.075 0.036
rotation 1 0 0 0
children [
RScapSolid {
}
DEF RArmEly HingeJoint {
device RotationalMotor {
name "RArmEly"
maxVelocity 12
minPosition 0
maxPosition 3.14159
maxTorque 114
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0 -0.185 0
dampingConstant 0.1
}
endPoint Solid {
translation 0 -0.185 0
rotation 0 1 0 0
children [
RUarmSolid {
}
DEF RArmElx HingeJoint {
device RotationalMotor {
name "RArmElx"
maxVelocity 12
minPosition -2.35619
maxPosition 0
maxTorque 114
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 -0.121 0.013
dampingConstant 0.1
}
endPoint Solid {
translation 0 -0.121 0.013
rotation 1 0 0 0
children [
RLarmSolid {
}
DEF RArmUwy HingeJoint {
device RotationalMotor {
name "RArmUwy"
maxVelocity 12
minPosition -1.571
maxPosition 1.571
maxTorque 114
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0 -0.188 -0.013
dampingConstant 0.1
}
endPoint Solid {
translation 0 -0.188 -0.013
rotation 0 1 0 0
children [
RFarmSolid {
}
DEF RArmMwx HingeJoint {
device RotationalMotor {
name "RArmMwx"
maxVelocity 12
minPosition -1.571
maxPosition 0.436
maxTorque 60
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 -0.058 0
dampingConstant 0.1
}
endPoint Solid {
translation 0 -0.058 0
rotation 1 0 0 0
children [
RHandSolid {
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
name "RArmUsy"
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
name "BackLbz"
physics USE DEFAULT_PHYSICS
}
}
DEF LLegUhz HingeJoint {
device RotationalMotor {
name "LLegUhz"
maxVelocity 12
minPosition -0.32
maxPosition 1.14
maxTorque 110
}
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0 0.089 0
dampingConstant 0.1
}
endPoint Solid {
translation 0 0.089 0
rotation 0 0 1 0
children [
LUglutSolid {
}
DEF LLegMhx HingeJoint {
device RotationalMotor {
name "LLegMhx"
maxVelocity 12
minPosition -0.47
maxPosition 0.495
maxTorque 180
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 0 0
dampingConstant 0.1
}
endPoint Solid {
translation 0 0 0
rotation 1 0 0 0
children [
LLglutSolid {
}
DEF LLegLhy HingeJoint {
device RotationalMotor {
name "LLegLhy"
maxVelocity 12
minPosition -1.75
maxPosition 0.524
maxTorque 260
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0.05 0 -0.05
dampingConstant 0.1
}
endPoint Solid {
translation 0.05 0 -0.05
rotation 0 1 0 0
children [
LUlegSolid {
}
DEF LLegKny HingeJoint {
device RotationalMotor {
name "LLegKny"
maxVelocity 12
minPosition 0
maxPosition 2.45
maxTorque 220
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor -0.05 0 -0.374
dampingConstant 0.1
}
endPoint Solid {
translation -0.05 0 -0.374
rotation 0 1 0 0
children [
LLlegSolid {
}
DEF LLegUay HingeJoint {
device RotationalMotor {
name "LLegUay"
maxVelocity 12
minPosition -0.698
maxPosition 0.698
maxTorque 220
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0 0 -0.422
dampingConstant 0.1
}
endPoint Solid {
translation 0 0 -0.422
rotation 0 1 0 0
children [
LTalusSolid {
}
DEF LLegLax HingeJoint {
device RotationalMotor {
name "LLegLax"
maxVelocity 12
minPosition -0.436
maxPosition 0.436
maxTorque 90
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 0 0
dampingConstant 0.1
}
endPoint Solid {
translation 0 0 0
rotation 1 0 0 0
children [
LFootSolid {
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
name "LLegUhz"
physics USE DEFAULT_PHYSICS
}
}
DEF RLegUhz HingeJoint {
device RotationalMotor {
name "RLegUhz"
maxVelocity 12
minPosition -1.14
maxPosition 0.32
maxTorque 260
}
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0 -0.089 0
dampingConstant 0.1
}
endPoint Solid {
translation 0 -0.089 0
rotation 0 0 1 0
children [
RUglutSolid {
}
DEF RLegMhx HingeJoint {
device RotationalMotor {
name "RLegMhx"
maxVelocity 12
minPosition -0.495
maxPosition 0.47
maxTorque 180
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 0 0
dampingConstant 0.1
}
endPoint Solid {
translation 0 0 0
rotation 1 0 0 0
children [
RLglutSolid {
}
DEF RLegLhy HingeJoint {
device RotationalMotor {
name "RLegLhy"
maxVelocity 12
minPosition -1.745
maxPosition 0.524
maxTorque 260
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0.05 0 -0.05
dampingConstant 0.1
}
endPoint Solid {
translation 0.05 0 -0.05
rotation 0 1 0 0
children [
RUlegSolid {
}
DEF RLegKny HingeJoint {
device RotationalMotor {
name "RLegKny"
maxVelocity 12
minPosition 0
maxPosition 2.45
maxTorque 220
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor -0.05 0 -0.374
dampingConstant 0.1
}
endPoint Solid {
translation -0.05 0 -0.374
rotation 0 1 0 0
children [
RLlegSolid {
}
DEF RLegUay HingeJoint {
device RotationalMotor {
name "RLegUay"
maxVelocity 12
minPosition -0.698
maxPosition 0.698
maxTorque 220
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0 0 -0.422
dampingConstant 0.1
}
endPoint Solid {
translation 0 0 -0.422
rotation 0 1 0 0
children [
RTalusSolid {
}
DEF RLegLax HingeJoint {
device RotationalMotor {
name "RLegLax"
maxVelocity 12
minPosition -0.436
maxPosition 0.436
maxTorque 90
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 0 0
dampingConstant 0.1
}
endPoint Solid {
translation 0 0 0
rotation 1 0 0 0
children [
RFootSolid {
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
name "RLegUhz"
physics USE DEFAULT_PHYSICS
}
}
]
name IS name
model "Boston Dynamics Atlas"
controller IS controller
controllerArgs IS controllerArgs
customData IS customData
supervisor IS supervisor
synchronization IS synchronization
physics USE DEFAULT_PHYSICS
}
}