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3D Atrias Simplified Model #15

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298 changes: 298 additions & 0 deletions drake/examples/Cassie/WillsCassieModel/3DURDF_Centroid.urdf
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<robot xmlns="http://drake.mit.edu"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://drake.mit.edu ../../doc/drakeURDF.xsd" name="Will1D">

<material name="green">
<color rgba=".3 .6 .4 1" />
</material>
<material name="red">
<color rgba=".9 .1 0 1" />
</material>
<material name="blue">
<color rgba="0 0 1 1" />
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="black">
<color rgba="0.0 0.0 0.0 0.0"/>
</material>

<link name="head">
<inertial>
<mass value="62" />
<inertia ixx="6.2" ixy="0" ixz="0" iyy="6.2" iyz="0" izz="6.2"/>
</inertial>
<visual>
<geometry>
<sphere radius="0.0"/>
</geometry>
<material name="red"/>
</visual>
</link>

<link name="BarForVisual1">
<visual>
<geometry>
<cylinder length="0.0" radius=".02"/>
</geometry>
<origin rpy="0 pi/2 0" xyz="0 0 0"/>
<material name="black"/>
</visual>
</link>

<joint name="Bar1" type="fixed">
<parent link="head"/>
<child link="BarForVisual1" />
<origin xyz="0 0 0" />
</joint>

<link name="BarForVisual2">
<visual>
<geometry>
<cylinder length="0.0" radius=".02"/>
</geometry>
<origin rpy="pi/2 0 0" xyz="0 0 0"/>
<material name="black"/>
</visual>
</link>

<joint name="Bar2" type="fixed">
<parent link="head"/>
<child link="BarForVisual2" />
<origin xyz="0 0 0" />
</joint>

<link name="CylinderForVisual">
<visual>
<geometry>
<cylinder length=".05" radius=".1"/>
</geometry>
<origin rpy="0 pi/2 0" xyz="0 0 0"/>
<material name="blue"/>
</visual>
</link>

<joint name="rotationIndicator" type="fixed">
<parent link="head"/>
<child link="CylinderForVisual" />
<origin xyz="0 0 0" />
</joint>

<link name="left_leg">
<visual>
<geometry>
<cylinder length="0.5" radius="0.02"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.0 0 -.25"/>
<material name="green"/>
</visual>
</link>

<link name="right_leg">
<visual>
<geometry>
<cylinder length="0.5" radius="0.02"/>
</geometry>
<origin rpy="0 0 0" xyz="0.0 0 -.25"/>
<material name="white"/>
</visual>
</link>

<joint name="shoulder_left" type="continuous">
<parent link="head"/>
<child link="left_link_virtual" />
<origin xyz="-0.0 0 0" />
<axis xyz="1 0 0" />
</joint>

<joint name="shoulder_right" type="continuous">
<parent link="head"/>
<child link="right_link_virtual" />
<origin xyz="0.0 0 0" />
<axis xyz="1 0 0" />
</joint>

<link name="left_link_virtual">
<inertial>
<mass value="1" />
<inertia ixx=".001" ixy="0" ixz="0" iyy=".001" iyz="0" izz=".001"/>
</inertial>
</link>
<joint name="shoulder_left2" type="continuous">
<parent link="left_link_virtual"/>
<child link="left_leg" />
<origin xyz="0 0 0" />
<axis xyz="0 1 0" />
</joint>

<link name="right_link_virtual">
<inertial>
<mass value="1" />
<inertia ixx=".001" ixy="0" ixz="0" iyy=".001" iyz="0" izz=".001"/>
</inertial>
</link>
<joint name="shoulder_right2" type="continuous">
<parent link="right_link_virtual"/>
<child link="right_leg" />
<origin xyz="0 0 0" />
<axis xyz="0 1 0" />
</joint>


<link name="left_foot">
<inertial>
<mass value="1" />
<inertia ixx=".001" ixy="0" ixz="0" iyy=".001" iyz="0" izz=".001"/>
</inertial>
<visual>
<geometry>
<sphere radius=".05"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<sphere radius="0.0"/>
</geometry>
</collision>
</link>


<link name="right_foot">
<inertial>
<mass value="1" />
<inertia ixx=".001" ixy="0" ixz="0" iyy=".001" iyz="0" izz=".001"/>
</inertial>
<visual>
<geometry>
<sphere radius=".05"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<sphere radius="0.0"/>
</geometry>
</collision>
</link>

<joint name="ankle_left" type="prismatic">
<parent link="left_leg"/>
<child link="left_foot" />
<origin xyz="-0.0 0 -.5" />
<axis xyz="0 0 1" />
</joint>
<joint name="ankle_right" type="prismatic">
<parent link="right_leg"/>
<child link="right_foot" />
<origin xyz="0.0 0 -.5" />
<axis xyz="0 0 1" />
</joint>


<link name="left_toe">
<inertial>
<mass value="1" />
<inertia ixx=".001" ixy="0" ixz="0" iyy=".001" iyz="0" izz=".001"/>
</inertial>
<visual>
<geometry>
<sphere radius=".05"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<geometry>
<sphere radius="0.0"/>
</geometry>
</collision>
</link>
<link name="right_toe">
<inertial>
<mass value="1" />
<inertia ixx=".001" ixy="0" ixz="0" iyy=".001" iyz="0" izz=".001"/>
</inertial>
<visual>
<geometry>
<sphere radius=".05"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<geometry>
<sphere radius="0.0"/>
</geometry>
</collision>
</link>

<joint name="right_foot_to_toe" type="prismatic">
<parent link="right_foot"/>
<child link="right_toe" />
<origin xyz="0 0 -.4" />
<axis xyz="0 0 1" />
</joint>
<force_element name="spring_right">
<linear_spring_damper stiffness="25000" damping="150" rest_length=".4">
<link1 link="right_foot" xyz="0 0 0"/>
<link2 link="right_toe" xyz="0 0 0"/>
</linear_spring_damper>
</force_element>
<joint name="left_foot_to_toe" type="prismatic">
<parent link="left_foot"/>
<child link="left_toe" />
<origin xyz="0 0 -.4" />
<axis xyz="0 0 1" />
</joint>
<force_element name="spring_left">
<linear_spring_damper stiffness="25000" damping="150" rest_length=".4">
<link1 link="left_foot" xyz="0 0 0"/>
<link2 link="left_toe" xyz="0 0 0"/>
</linear_spring_damper>
</force_element>

<transmission type="SimpleTransmission" name="ankle_left_trans">
<actuator name="shoulder" />
<joint name="ankle_left" />
<mechanicalReduction>1</mechanicalReduction>
</transmission>
<transmission type="SimpleTransmission" name="ankle_right_trans">
<actuator name="elbow" />
<joint name="ankle_right" />
<mechanicalReduction>1</mechanicalReduction>
</transmission>

<transmission type="SimpleTransmission" name="shoulder_2D_left">
<actuator name="shoulder_left" />
<joint name="shoulder_left" />
<mechanicalReduction>1</mechanicalReduction>
</transmission>
<transmission type="SimpleTransmission" name="shoulder_2D_right">
<actuator name="shoulder_right" />
<joint name="shoulder_right" />
<mechanicalReduction>1</mechanicalReduction>
</transmission>

<transmission type="SimpleTransmission" name="shoulder_3D_left">
<actuator name="shoulder_left2" />
<joint name="shoulder_left2" />
<mechanicalReduction>1</mechanicalReduction>
</transmission>
<transmission type="SimpleTransmission" name="shoulder_3D_right">
<actuator name="shoulder_right2" />
<joint name="shoulder_right2" />
<mechanicalReduction>1</mechanicalReduction>
</transmission>

<gazebo>
<plugin filename="libgazebo_ros_pub_robot_state.so" name="gazebo_ros_pub_robot_controller">
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<topicName>true_robot_state</topicName>
</plugin>
</gazebo>
</robot>


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