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pybullet-resources/olympian.urdf
Ram Vempati 3b380371f4
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2021-11-10 08:23:33 -05:00

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<?xml version="1.0" ?>
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<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>
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