From 3b380371f449b0e30c1d4ed96bb7aa762cb43d29 Mon Sep 17 00:00:00 2001
From: Ram Vempati <63425932+APetabyteOfRAM@users.noreply.github.com>
Date: Wed, 10 Nov 2021 08:23:33 -0500
Subject: [PATCH] Add files via upload

---
 bullet.py                             |  20 +
 hello_bullet.py                       |  82 +++
 meshes/Ankle_Link_v5_1.stl            | Bin 0 -> 49484 bytes
 meshes/Ankle_Link_v5_2.stl            | Bin 0 -> 49484 bytes
 meshes/Box_Head_v5_1.stl              | Bin 0 -> 4884 bytes
 meshes/Chest_v13_1.stl                | Bin 0 -> 309284 bytes
 meshes/Foot_v4_1.stl                  | Bin 0 -> 24684 bytes
 meshes/Foot_v4_2.stl                  | Bin 0 -> 24684 bytes
 meshes/Leg_Pitch_v5_1.stl             | Bin 0 -> 14384 bytes
 meshes/Leg_Pitch_v5_2.stl             | Bin 0 -> 14384 bytes
 meshes/Leg_Roll_v4_1.stl              | Bin 0 -> 16684 bytes
 meshes/Leg_Roll_v4_2.stl              | Bin 0 -> 16684 bytes
 meshes/Lower_Arm_v8_1.stl             | Bin 0 -> 161884 bytes
 meshes/Lower_Arm_v8_2.stl             | Bin 0 -> 161884 bytes
 meshes/Lower_Leg_v6_1.stl             | Bin 0 -> 150284 bytes
 meshes/Lower_Leg_v6_2.stl             | Bin 0 -> 150284 bytes
 meshes/Pelvis_v7_1.stl                | Bin 0 -> 42984 bytes
 meshes/Upper_Arm_Link_type_b_v9_1.stl | Bin 0 -> 19484 bytes
 meshes/Upper_Arm_Link_type_b_v9_2.stl | Bin 0 -> 19484 bytes
 meshes/Upper_Arm_Roll_Link_v5_1.stl   | Bin 0 -> 46084 bytes
 meshes/Upper_Arm_Roll_Link_v5_2.stl   | Bin 0 -> 46084 bytes
 meshes/Upper_Arm_v10_1.stl            | Bin 0 -> 147984 bytes
 meshes/Upper_Arm_v10_3.stl            | Bin 0 -> 147984 bytes
 meshes/Upper_Leg_v4_1.stl             | Bin 0 -> 187484 bytes
 meshes/Upper_Leg_v4_2.stl             | Bin 0 -> 187484 bytes
 meshes/base_link.stl                  | Bin 0 -> 18484 bytes
 olympian.pdf                          | Bin 0 -> 34125 bytes
 olympian.urdf                         | 927 ++++++++++++++++++++++++++
 28 files changed, 1029 insertions(+)
 create mode 100644 bullet.py
 create mode 100644 hello_bullet.py
 create mode 100644 meshes/Ankle_Link_v5_1.stl
 create mode 100644 meshes/Ankle_Link_v5_2.stl
 create mode 100644 meshes/Box_Head_v5_1.stl
 create mode 100644 meshes/Chest_v13_1.stl
 create mode 100644 meshes/Foot_v4_1.stl
 create mode 100644 meshes/Foot_v4_2.stl
 create mode 100644 meshes/Leg_Pitch_v5_1.stl
 create mode 100644 meshes/Leg_Pitch_v5_2.stl
 create mode 100644 meshes/Leg_Roll_v4_1.stl
 create mode 100644 meshes/Leg_Roll_v4_2.stl
 create mode 100644 meshes/Lower_Arm_v8_1.stl
 create mode 100644 meshes/Lower_Arm_v8_2.stl
 create mode 100644 meshes/Lower_Leg_v6_1.stl
 create mode 100644 meshes/Lower_Leg_v6_2.stl
 create mode 100644 meshes/Pelvis_v7_1.stl
 create mode 100644 meshes/Upper_Arm_Link_type_b_v9_1.stl
 create mode 100644 meshes/Upper_Arm_Link_type_b_v9_2.stl
 create mode 100644 meshes/Upper_Arm_Roll_Link_v5_1.stl
 create mode 100644 meshes/Upper_Arm_Roll_Link_v5_2.stl
 create mode 100644 meshes/Upper_Arm_v10_1.stl
 create mode 100644 meshes/Upper_Arm_v10_3.stl
 create mode 100644 meshes/Upper_Leg_v4_1.stl
 create mode 100644 meshes/Upper_Leg_v4_2.stl
 create mode 100644 meshes/base_link.stl
 create mode 100644 olympian.pdf
 create mode 100644 olympian.urdf

diff --git a/bullet.py b/bullet.py
new file mode 100644
index 0000000..e18069e
--- /dev/null
+++ b/bullet.py
@@ -0,0 +1,20 @@
+import pybullet as p
+import time
+import pybullet_data
+physicsClient = p.connect(p.GUI)#or p.DIRECT for non-graphical version
+p.setAdditionalSearchPath(pybullet_data.getDataPath()) #optionally
+p.setGravity(0,0,-10)
+planeId = p.loadURDF("plane.urdf")
+cubeStartPos = [0,0,0]
+cubeStartOrientation = p.getQuaternionFromEuler([0,0,0])
+robotId = p.loadURDF("olympian.urdf",cubeStartPos, cubeStartOrientation, 
+                   # useMaximalCoordinates=1, ## New feature in Pybullet
+                   flags=p.URDF_USE_INERTIA_FROM_FILE)
+for i in range (100000):
+    p.stepSimulation()
+    time.sleep(1./240.)
+cubePos, cubeOrn = p.getBasePositionAndOrientation(robotId)
+print(cubePos,cubeOrn)
+p.disconnect()
+
+    
\ No newline at end of file
diff --git a/hello_bullet.py b/hello_bullet.py
new file mode 100644
index 0000000..8416a21
--- /dev/null
+++ b/hello_bullet.py
@@ -0,0 +1,82 @@
+import pybullet as p
+import time
+import pybullet_data
+import math
+physicsClient = p.connect(p.GUI)#or p.DIRECT for non-graphical version
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath()) #optionally
+p.setGravity(0,0,-10)
+planeId = p.loadURDF("plane.urdf")
+startPos = [0,0,0]
+startOrientation = p.getQuaternionFromEuler([0,0,0])
+robotId = p.loadURDF("olympian.urdf",startPos, startOrientation, 
+                   # useMaximalCoordinates=1, ## New feature in Pybullet
+                   flags=p.URDF_USE_INERTIA_FROM_FILE)
+
+print("==========SIMULATION ENABLED================")
+
+#GET JOINT INFO
+
+print(p.getNumJoints(robotId))
+for i in range(0, p.getNumJoints(robotId)-1):
+    print(p.getJointInfo(robotId, i)[0:13])
+    
+
+#ACTUATE LINK 4  0.5 * pi RADIANS with 15NM of TORQUE
+p.setJointMotorControl2(robotId, 4, controlMode = p.POSITION_CONTROL, targetPosition = 0.5 * math.pi, force = 15)
+
+
+
+listOfJointIndeces = []
+for i in range(0, p.getNumJoints(robotId)):
+    listOfJointIndeces.append(i)
+
+#INVERSE KINEMATICS 
+#GET JOINT ANGLES NEEDED TO MOVE LINK 10 to (0. 0.6, 2)
+#FORCE IS 25NM for every link bc im too lazy to custom set it for every link
+#IT FALLS BECAUSE its a lot of torque exerted in a small amount of time
+
+ikList = p.calculateInverseKinematics(robotId, 10, [0,0.6,2] )
+p.setJointMotorControlArray(robotId, listOfJointIndeces, p.POSITION_CONTROL, 
+                            targetPositions = ikList, forces = [25]*23)
+
+
+
+#CALCULATE COM
+masstimesxpossum = 0.0
+masstimesypossum = 0.0
+masstimeszpossum = 0.0
+masssum = 0.0
+for i in range(0, p.getNumJoints(robotId) -1):
+    
+    if(i >= 0):
+        print(p.getJointInfo(robotId, i)[0:13])
+    
+    wheight = p.getDynamicsInfo(robotId, i)[0]
+    xpos = p.getLinkState(robotId, i)[0][0]
+    ypos = p.getLinkState(robotId, i)[0][1]
+    zpos = p.getLinkState(robotId, i)[0][2]
+    
+    masstimesxpossum += (wheight * xpos)
+    masstimesypossum += (wheight * ypos)
+    masstimeszpossum += (wheight * zpos)
+    masssum += wheight
+    
+    print(wheight)
+    print(xpos)
+    print(ypos)
+    print(zpos)
+    print("\n")
+
+com = (masstimesxpossum/masssum, masstimesypossum/masssum, masstimeszpossum/masssum)
+print("==========COM APROX EQUALS===========")
+print(com)
+print("\n")
+#STEP SIMULATION
+for i in range(0,10000):
+    p.stepSimulation()
+    time.sleep(1./240.)
+    
+
+print("========REALTIME SIMULATION DISABLED===============")
+# p.calculateInverseKinematics(robotId, )
diff --git a/meshes/Ankle_Link_v5_1.stl b/meshes/Ankle_Link_v5_1.stl
new file mode 100644
index 0000000000000000000000000000000000000000..32d19ba34c9e324097699717dbce3adfe42bf33e
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diff --git a/meshes/Box_Head_v5_1.stl b/meshes/Box_Head_v5_1.stl
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diff --git a/meshes/Foot_v4_1.stl b/meshes/Foot_v4_1.stl
new file mode 100644
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diff --git a/meshes/Foot_v4_2.stl b/meshes/Foot_v4_2.stl
new file mode 100644
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diff --git a/meshes/Leg_Pitch_v5_1.stl b/meshes/Leg_Pitch_v5_1.stl
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diff --git a/meshes/Leg_Roll_v4_1.stl b/meshes/Leg_Roll_v4_1.stl
new file mode 100644
index 0000000000000000000000000000000000000000..4e1ac8b8d60a38d247da1e6c1df4b5c0f2394ffd
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diff --git a/meshes/Leg_Roll_v4_2.stl b/meshes/Leg_Roll_v4_2.stl
new file mode 100644
index 0000000000000000000000000000000000000000..0e209be3784549e3bffe8f3f51465ba7d6786de6
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diff --git a/meshes/Lower_Arm_v8_1.stl b/meshes/Lower_Arm_v8_1.stl
new file mode 100644
index 0000000000000000000000000000000000000000..779efbfe8f50fff43124271f2ae787156d77a997
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diff --git a/meshes/Lower_Arm_v8_2.stl b/meshes/Lower_Arm_v8_2.stl
new file mode 100644
index 0000000000000000000000000000000000000000..464ae21e2fe190005593ad7bf0c0dfb50cb848de
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diff --git a/meshes/Upper_Arm_Link_type_b_v9_1.stl b/meshes/Upper_Arm_Link_type_b_v9_1.stl
new file mode 100644
index 0000000000000000000000000000000000000000..72ee7bcc7143c8561f44b7247104c2b6bfe61ae8
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diff --git a/meshes/Upper_Arm_Link_type_b_v9_2.stl b/meshes/Upper_Arm_Link_type_b_v9_2.stl
new file mode 100644
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GIT binary patch
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diff --git a/meshes/Upper_Arm_Roll_Link_v5_2.stl b/meshes/Upper_Arm_Roll_Link_v5_2.stl
new file mode 100644
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diff --git a/meshes/Upper_Arm_v10_1.stl b/meshes/Upper_Arm_v10_1.stl
new file mode 100644
index 0000000000000000000000000000000000000000..cc37d115d12faff4085ff204aa42ad5677640db2
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diff --git a/meshes/base_link.stl b/meshes/base_link.stl
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diff --git a/olympian.urdf b/olympian.urdf
new file mode 100644
index 0000000..a88c253
--- /dev/null
+++ b/olympian.urdf
@@ -0,0 +1,927 @@
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+    <geometry>
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+    </geometry>
+  </collision>
+</link>
+
+<link name="Leg_Pitch_v5_2">
+  <inertial>
+    <origin rpy="0 0 0" xyz="2.3869795029440866e-15 0.046835088760228516 0.003164911239771251"/>
+    <mass value="0.3280666863874879"/>
+    <inertia ixx="0.0009464761938969557" ixy="-8.673617379884035e-19" ixz="3.469446951953614e-18" iyy="0.001088363133924991" iyz="-5.307553597740794e-05" izz="0.0010883631339250258"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 -0.1 -0.815"/>
+    <geometry>
+      <mesh filename="meshes/Leg_Pitch_v5_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver"/>
+    <material/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.1 -0.1 -0.815"/>
+    <geometry>
+      <mesh filename="meshes/Leg_Pitch_v5_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Leg_Roll_v4_2">
+  <inertial>
+    <origin rpy="0 0 0" xyz="0.07500000000000273 -2.7755575615628914e-16 -0.03522306705344391"/>
+    <mass value="1.3532798434145876"/>
+    <inertia ixx="0.002693883608054115" ixy="-6.938893903907228e-18" ixz="1.3877787807814457e-17" iyy="0.008928053332240782" iyz="0.0" izz="0.008372644528454966"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.025 -0.15 -0.815"/>
+    <geometry>
+      <mesh filename="meshes/Leg_Roll_v4_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver"/>
+    <material/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.025 -0.15 -0.815"/>
+    <geometry>
+      <mesh filename="meshes/Leg_Roll_v4_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Upper_Leg_v4_2">
+  <inertial>
+    <origin rpy="0 0 0" xyz="2.5118795932144167e-15 -1.1102230246251565e-16 -0.15757232755407302"/>
+    <mass value="1.7214182603818151"/>
+    <inertia ixx="0.02456431452088903" ixy="0.0" ixz="-1.3877787807814457e-17" iyy="0.023647064861463618" iyz="0.0" izz="0.012028681141913286"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 -0.15 -0.74"/>
+    <geometry>
+      <mesh filename="meshes/Upper_Leg_v4_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver"/>
+    <material/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.1 -0.15 -0.74"/>
+    <geometry>
+      <mesh filename="meshes/Upper_Leg_v4_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Lower_Leg_v6_2">
+  <inertial>
+    <origin rpy="0 0 0" xyz="2.761679773755077e-15 -0.05000000000000848 -0.14147821247779996"/>
+    <mass value="1.4272888897799032"/>
+    <inertia ixx="0.020278823604420404" ixy="-2.1961599205866378e-15" ixz="1.3877787807814457e-17" iyy="0.02027203031763286" iyz="-1.2906342661267445e-15" izz="0.003070799531336904"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 -0.2 -0.4418"/>
+    <geometry>
+      <mesh filename="meshes/Lower_Leg_v6_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver"/>
+    <material/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.1 -0.2 -0.4418"/>
+    <geometry>
+      <mesh filename="meshes/Lower_Leg_v6_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Ankle_Link_v5_2">
+  <inertial>
+    <origin rpy="0 0 0" xyz="0.030000000000002913 1.6653345369377348e-16 -0.014239102534719814"/>
+    <mass value="0.02966359637804546"/>
+    <inertia ixx="2.6914982867941284e-05" ixy="1.0842021724855044e-19" ixz="-1.0842021724855044e-19" iyy="3.13471723067344e-05" iyz="0.0" izz="1.4582407636994869e-05"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.07 -0.15 -0.0886"/>
+    <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="-0.07 -0.15 -0.0886"/>
+    <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="0.03625642783113234 -0.02031447883025933 -0.04039401004788552"/>
+    <mass value="0.8921618023336354"/>
+    <inertia ixx="0.001976748372483454" ixy="2.7663190691230855e-06" ixz="0.00014898811458507067" iyy="0.00551480190286522" iyz="-1.2922841769050578e-06" izz="0.007237252277354382"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 -0.17 -0.0536"/>
+    <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="-0.1 -0.17 -0.0536"/>
+    <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="0.1 -0.05 0.915"/>
+  <parent link="base_link"/>
+  <child link="Pelvis_v7_1"/>
+  <axis xyz="-0.0 1.0 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="-0.0375 0.05 0.075"/>
+  <parent link="Pelvis_v7_1"/>
+  <child link="Chest_v13_1"/>
+  <axis xyz="-1.0 -0.0 -0.0"/>
+</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="0.0375 0.0 0.5664"/>
+  <parent link="Chest_v13_1"/>
+  <child link="Box_Head_v5_1"/>
+  <axis xyz="-0.0 -0.0 1.0"/>
+</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="0.0375 -0.275 0.5164"/>
+  <parent link="Chest_v13_1"/>
+  <child link="Upper_Arm_Link_type_b_v9_1"/>
+  <axis xyz="0.0 -1.0 -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="-0.05 -0.075 -0.0125"/>
+  <parent link="Upper_Arm_Link_type_b_v9_1"/>
+  <child link="Upper_Arm_Roll_Link_v5_1"/>
+  <axis xyz="-1.0 -0.0 0.0"/>
+</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="0.05 0.0 -0.05635"/>
+  <parent link="Upper_Arm_Roll_Link_v5_1"/>
+  <child link="Upper_Arm_v10_1"/>
+  <axis xyz="0.0 0.0 -1.0"/>
+</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="0.05 0.0 -0.3675"/>
+  <parent link="Upper_Arm_v10_1"/>
+  <child link="Lower_Arm_v8_1"/>
+  <axis xyz="-1.0 -0.0 0.0"/>
+</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="0.0375 0.275 0.5164"/>
+  <parent link="Chest_v13_1"/>
+  <child link="Upper_Arm_Link_type_b_v9_2"/>
+  <axis xyz="-0.0 1.0 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="-0.05 0.075 -0.0125"/>
+  <parent link="Upper_Arm_Link_type_b_v9_2"/>
+  <child link="Upper_Arm_Roll_Link_v5_2"/>
+  <axis xyz="-1.0 -0.0 -0.0"/>
+</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="0.05 0.0 -0.05635"/>
+  <parent link="Upper_Arm_Roll_Link_v5_2"/>
+  <child link="Upper_Arm_v10_3"/>
+  <axis xyz="0.0 0.0 -1.0"/>
+</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="-0.05 0.0 -0.3675"/>
+  <parent link="Upper_Arm_v10_3"/>
+  <child link="Lower_Arm_v8_2"/>
+  <axis xyz="1.0 0.0 0.0"/>
+</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="0.1 -0.1 0.815"/>
+  <parent link="base_link"/>
+  <child link="Leg_Pitch_v5_1"/>
+  <axis xyz="0.0 -1.0 -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="-0.075 -0.05 0.0"/>
+  <parent link="Leg_Pitch_v5_1"/>
+  <child link="Leg_Roll_v4_1"/>
+  <axis xyz="-1.0 -0.0 0.0"/>
+</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="0.075 0.0 -0.075"/>
+  <parent link="Leg_Roll_v4_1"/>
+  <child link="Upper_Leg_v4_1"/>
+  <axis xyz="0.0 0.0 -1.0"/>
+</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="0.0 -0.05 -0.2982"/>
+  <parent link="Upper_Leg_v4_1"/>
+  <child link="Lower_Leg_v6_1"/>
+  <axis xyz="-0.0 1.0 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="-0.03 0.05 -0.3532"/>
+  <parent link="Lower_Leg_v6_1"/>
+  <child link="Ankle_Link_v5_1"/>
+  <axis xyz="1.0 0.0 -0.0"/>
+</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="0.03 -0.02 -0.035"/>
+  <parent link="Ankle_Link_v5_1"/>
+  <child link="Foot_v4_1"/>
+  <axis xyz="0.0 -1.0 -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="0.1 0.1 0.815"/>
+  <parent link="base_link"/>
+  <child link="Leg_Pitch_v5_2"/>
+  <axis xyz="-0.0 1.0 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="-0.075 0.05 0.0"/>
+  <parent link="Leg_Pitch_v5_2"/>
+  <child link="Leg_Roll_v4_2"/>
+  <axis xyz="-1.0 -0.0 -0.0"/>
+</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="0.075 0.0 -0.075"/>
+  <parent link="Leg_Roll_v4_2"/>
+  <child link="Upper_Leg_v4_2"/>
+  <axis xyz="0.0 0.0 -1.0"/>
+</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="0.0 0.05 -0.2982"/>
+  <parent link="Upper_Leg_v4_2"/>
+  <child link="Lower_Leg_v6_2"/>
+  <axis xyz="0.0 -1.0 -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="-0.03 -0.05 -0.3532"/>
+  <parent link="Lower_Leg_v6_2"/>
+  <child link="Ankle_Link_v5_2"/>
+  <axis xyz="1.0 0.0 0.0"/>
+</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="0.03 0.02 -0.035"/>
+  <parent link="Ankle_Link_v5_2"/>
+  <child link="Foot_v4_2"/>
+  <axis xyz="-0.0 1.0 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>