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jonbinney/nao.urdf

Created July 1, 2014 00:30
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nao.urdf
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from src/nao_robot/nao_description/urdf/nao_robot_v4.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="nao" xmlns:xacro="http://ros.org/wiki/xacro">
<!--
ROS urdf definition of the Nao humanoid robot by Aldebaran Robotics
This is part of the Nao-Stack of University of Freiburg, available at:
http://code.google.com/p/alufr-ros-pkg/
Authors: Armin Hornung, Stefan Osswald
Joint names and properties are according to the Nao-documentation of
Aldebaran Robotics ("Kinematics 4.0" for Nao V4.0).
This file loads a basic visualization of Nao and the structure (you need both)
-->
<material name="LightGrey">
<color rgba="0.8 0.8 0.8 1.0"/>
</material>
<material name="Grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
<material name="DarkGrey">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<material name="Black">
<color rgba="0.1 0.1 0.1 1.0"/>
</material>
<link name="base_link"/>
<link name="torso">
<!--<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial> -->
<inertial>
<origin rpy="0 0 0" xyz="-0.00413 0.00009 0.04342"/>
<mass value="1.04956"/>
<inertia ixx="0.00487953284" ixy="-0.00001428591" ixz="-0.00019545651" iyy="0.00470360698" iyz="0.00002224589" izz="0.0015671352"/>
</inertial>
<visual>
<!-- one cylinder spanning over HipOffsetZ and NeckOffsetZ -->
<origin rpy="0 0 0" xyz="0 0 0.02075"/>
<geometry>
<cylinder length="0.2115" radius="0.015"/>
</geometry>
<material name="LightGrey"/>
</visual>
</link>
<link name="HeadYaw_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.00001 0.00014 -0.02742"/>
<mass value="0.06442"/>
<inertia ixx="0.00006223368" ixy="0.00000000042" ixz="0.00000007448" iyy="0.00006324431" iyz="0.00000010416" izz="0.00000549462"/>
</inertial>
</link>
<link name="HeadPitch_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.00112 -0.00003 0.05258"/>
<mass value="0.60533"/>
<inertia ixx="0.00208895741" ixy="0.00000549094" ixz="0.0001133995" iyy="1932222.63e-9" iyz="-0.00002803917" izz="0.00082257793"/>
</inertial>
<visual>
<origin rpy="1.57 0 0" xyz="0 0 0.058"/>
<geometry>
<cylinder length="0.14" radius="0.04"/>
</geometry>
<material name="LightGrey"/>
</visual>
</link>
<link name="gaze"/>
<link name="CameraTop_frame">
</link>
<link name="CameraBottom_frame">
</link>
<link name="l_wrist"/>
<link name="r_wrist"/>
<link name="l_gripper">
</link>
<link name="r_gripper">
</link>
<link name="LShoulderPitch_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.00165 0.02663 0.00014"/>
<mass value="0.07504"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<link name="LElbowYaw_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.02744 0.00000 -0.00014"/>
<mass value="0.06483"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<link name="LElbowRoll_link">
<inertial>
<origin rpy="0 0 0" xyz="0.02552 0.00281 0.00090"/>
<mass value="0.07778"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.025325 0 0"/>
<geometry>
<cylinder length="0.05065" radius="0.015"/>
</geometry>
<material name="LightGrey"/>
</visual>
</link>
<link name="LWristYaw_link">
<inertial>
<origin rpy="0 0 0" xyz="0.03434 0.00088 -0.00308"/>
<mass value="0.18533"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.029 0 0"/>
<geometry>
<cylinder length="0.058" radius="0.015"/>
</geometry>
<material name="LightGrey"/>
</visual>
</link>
<link name="RShoulderPitch_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.00165 -0.02663 0.00014"/>
<mass value="0.07504"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<link name="RElbowYaw_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.02744 0.00000 -0.00014"/>
<mass value="0.06483"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<link name="RElbowRoll_link">
<inertial>
<origin rpy="0 0 0" xyz="0.02552 -0.00281 0.00090"/>
<mass value="0.07778"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.025325 0 0"/>
<geometry>
<cylinder length="0.05065" radius="0.015"/>
</geometry>
<material name="LightGrey"/>
</visual>
</link>
<link name="RWristYaw_link">
<inertial>
<origin rpy="0 0 0" xyz="0.03434 -0.00088 -0.00308"/>
<mass value="0.18533"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.029 0 0"/>
<geometry>
<cylinder length="0.058" radius="0.015"/>
</geometry>
<material name="LightGrey"/>
</visual>
</link>
<link name="RShoulderRoll_link">
<inertial>
<origin rpy="0 0 0" xyz="0.02429 -0.00952 0.00320"/>
<mass value="0.15794"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.045 0 0"/>
<geometry>
<cylinder length="0.09" radius="0.015"/>
</geometry>
<material name="LightGrey"/>
</visual>
</link>
<link name="LShoulderRoll_link">
<inertial>
<origin rpy="0 0 0" xyz="0.02455 0.00563 0.00330"/>
<mass value="0.15777"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.045 0 0"/>
<geometry>
<cylinder length="0.09" radius="0.015"/>
</geometry>
<material name="LightGrey"/>
</visual>
</link>
<link name="l_ankle"/>
<link name="r_ankle"/>
<link name="l_sole">
<visual>
<origin rpy="0 0 0" xyz="0.02 0 0.0075"/>
<geometry>
<box size="0.16 0.06 0.015"/>
</geometry>
<material name="LightGrey"/>
</visual>
</link>
<link name="r_sole">
<visual>
<origin rpy="0 0 0" xyz="0.02 0 0.0075"/>
<geometry>
<box size="0.16 0.06 0.015"/>
</geometry>
<material name="LightGrey"/>
</visual>
</link>
<link name="LHipYawPitch_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.00773 -0.0115 0.0269"/>
<mass value="0.07050"/>
<!-- +/-0.00068 -->
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<link name="LHipRoll_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.01549 0.00029 -0.00516"/>
<mass value="0.13053"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<link name="LHipPitch_link">
<inertial>
<origin rpy="0 0 0" xyz="0.00139 0.00223 -0.05373"/>
<mass value="0.38972"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.05"/>
<geometry>
<cylinder length="0.1" radius="0.015"/>
</geometry>
<material name="LightGrey"/>
</visual>
</link>
<link name="LKneePitch_link">
<inertial>
<origin rpy="0 0 0" xyz="0.00423 0.00223 -0.04937"/>
<mass value="0.29152"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.05"/>
<geometry>
<cylinder length="0.1" radius="0.015"/>
</geometry>
<material name="LightGrey"/>
</visual>
</link>
<link name="LAnklePitch_link">
<inertial>
<origin rpy="0 0 0" xyz="0.00045 0.00029 0.00684"/>
<mass value="0.13415"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<link name="LAnkleRoll_link">
<inertial>
<origin rpy="0 0 0" xyz="0.02541 0.00331 -0.03239"/>
<mass value="0.16178"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.023"/>
<geometry>
<cylinder length="0.046" radius="0.015"/>
</geometry>
<material name="LightGrey"/>
</visual>
</link>
<link name="RHipYawPitch_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.00773 0.0115 0.0269"/>
<mass value="0.07050"/>
<!-- +/-0.00068 -->
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<link name="RHipRoll_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.01549 -0.00029 -0.00516"/>
<mass value="0.13053"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<link name="RHipPitch_link">
<inertial>
<origin rpy="0 0 0" xyz="0.00139 -0.00223 -0.05373"/>
<mass value="0.38972"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.05"/>
<geometry>
<cylinder length="0.1" radius="0.015"/>
</geometry>
<material name="LightGrey"/>
</visual>
</link>
<link name="RKneePitch_link">
<inertial>
<origin rpy="0 0 0" xyz="0.00423 -0.00223 -0.04937"/>
<mass value="0.29152"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.05"/>
<geometry>
<cylinder length="0.1" radius="0.015"/>
</geometry>
<material name="LightGrey"/>
</visual>
</link>
<link name="RAnklePitch_link">
<inertial>
<origin rpy="0 0 0" xyz="0.00045 -0.00029 0.00684"/>
<mass value="0.13415"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<link name="RAnkleRoll_link">
<inertial>
<origin rpy="0 0 0" xyz="0.02541 -0.00331 -0.03239"/>
<mass value="0.16178"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.023"/>
<geometry>
<cylinder length="0.046" radius="0.015"/>
</geometry>
<material name="LightGrey"/>
</visual>
</link>
<joint name="base_joint" type="fixed">
<child link="torso"/>
<parent link="base_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<joint name="HeadYaw" type="revolute">
<parent link="torso"/>
<child link="HeadYaw_link"/>
<!-- NeckOffsetZ -->
<origin rpy="0 0 0" xyz="0 0 0.1265"/>
<axis xyz="0 0 1"/>
<limit effort="30" lower="-2.0857" upper="2.0857" velocity="3.0"/>
</joint>
<joint name="HeadPitch" type="revolute">
<parent link="HeadYaw_link"/>
<child link="HeadPitch_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="30" lower="-0.6720" upper="0.5149" velocity="3.0"/>
</joint>
<joint name="gaze_joint" type="fixed">
<parent link="HeadPitch_link"/>
<child link="gaze"/>
<origin xyz="0.0539 0 0.05"/>
</joint>
<joint name="CameraTop" type="fixed">
<parent link="HeadPitch_link"/>
<child link="CameraTop_frame"/>
<!-- rotated by 1.2 degress -->
<origin rpy="-1.59174 0 -1.57079632679" xyz="0.05871 0 0.06364"/>
</joint>
<joint name="CameraBottom" type="fixed">
<parent link="HeadPitch_link"/>
<child link="CameraBottom_frame"/>
<!-- rotated by 39.7 degrees -->
<origin rpy="-2.263692 0 -1.57079632679" xyz="0.05071 0 0.01774"/>
</joint>
<joint name="l_wrist_joint" type="fixed">
<parent link="LWristYaw_link"/>
<child link="l_wrist"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="r_wrist_joint" type="fixed">
<parent link="RWristYaw_link"/>
<child link="r_wrist"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="l_gripper_joint" type="fixed">
<parent link="l_wrist"/>
<child link="l_gripper"/>
<origin xyz="0.058 0 -0.0159"/>
</joint>
<joint name="r_gripper_joint" type="fixed">
<parent link="r_wrist"/>
<child link="r_gripper"/>
<origin xyz="0.058 0 -0.0159"/>
</joint>
<joint name="LElbowRoll" type="revolute">
<parent link="LElbowYaw_link"/>
<child link="LElbowRoll_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="30" lower="-1.5446" upper="-0.0349" velocity="3.0"/>
</joint>
<joint name="RElbowRoll" type="revolute">
<parent link="RElbowYaw_link"/>
<child link="RElbowRoll_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="30" lower="0.0349" upper="1.5446" velocity="3.0"/>
</joint>
<joint name="LShoulderRoll" type="revolute">
<parent link="LShoulderPitch_link"/>
<child link="LShoulderRoll_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="30" lower="-0.3142" upper="1.3265" velocity="3.0"/>
</joint>
<joint name="RShoulderRoll" type="revolute">
<parent link="RShoulderPitch_link"/>
<child link="RShoulderRoll_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="30" lower="-1.3265" upper="0.3142" velocity="3.0"/>
</joint>
<joint name="LShoulderPitch" type="revolute">
<parent link="torso"/>
<child link="LShoulderPitch_link"/>
<origin rpy="0 0 0" xyz="0 0.098 0.1"/>
<axis xyz="0 1 0"/>
<limit effort="30" lower="-2.0857" upper="2.0857" velocity="3.0"/>
</joint>
<joint name="LElbowYaw" type="revolute">
<parent link="LShoulderRoll_link"/>
<child link="LElbowYaw_link"/>
<origin rpy="0 0 0" xyz="0.105 0.015 0"/>
<axis xyz="1 0 0"/>
<limit effort="30" lower="-2.0857" upper="2.0857" velocity="3.0"/>
</joint>
<joint name="LWristYaw" type="revolute">
<parent link="LElbowRoll_link"/>
<child link="LWristYaw_link"/>
<origin rpy="0 0 0" xyz="0.05595 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="30" lower="-1.8238" upper="1.8238" velocity="3.0"/>
</joint>
<joint name="RShoulderPitch" type="revolute">
<parent link="torso"/>
<child link="RShoulderPitch_link"/>
<origin rpy="0 0 0" xyz="0 -0.098 0.1"/>
<axis xyz="0 1 0"/>
<limit effort="30" lower="-2.0857" upper="2.0857" velocity="3.0"/>
</joint>
<joint name="RElbowYaw" type="revolute">
<parent link="RShoulderRoll_link"/>
<child link="RElbowYaw_link"/>
<origin rpy="0 0 0" xyz="0.105 -0.015 0"/>
<axis xyz="1 0 0"/>
<limit effort="30" lower="-2.0857" upper="2.0857" velocity="3.0"/>
</joint>
<joint name="RWristYaw" type="revolute">
<parent link="RElbowRoll_link"/>
<child link="RWristYaw_link"/>
<origin rpy="0 0 0" xyz="0.05595 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="30" lower="-1.8238" upper="1.8238" velocity="3.0"/>
</joint>
<joint name="LHipYawPitch" type="revolute">
<parent link="torso"/>
<child link="LHipYawPitch_link"/>
<origin rpy="0 0 0" xyz="0 0.05 -0.085"/>
<axis xyz="0 0.707106 -0.707106"/>
<limit effort="30" lower="-1.145303" upper="0.740810" velocity="3.0"/>
</joint>
<joint name="RHipYawPitch" type="revolute">
<parent link="torso"/>
<child link="RHipYawPitch_link"/>
<origin rpy="0 0 0" xyz="0 -0.05 -0.085"/>
<axis xyz="0 0.707106 0.707106"/>
<limit effort="30" lower="-1.145303" upper="0.740810" velocity="3.0"/>
<mimic joint="LHipYawPitch" multiplier="1" offset="0"/>
</joint>
<joint name="LHipRoll" type="revolute">
<parent link="LHipYawPitch_link"/>
<child link="LHipRoll_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="30" lower="-0.379472" upper="0.790477" velocity="3.0"/>
</joint>
<joint name="RHipRoll" type="revolute">
<parent link="RHipYawPitch_link"/>
<child link="RHipRoll_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="30" lower="-0.738321" upper="0.414754" velocity="3.0"/>
</joint>
<joint name="LAnkleRoll" type="revolute">
<parent link="LAnklePitch_link"/>
<child link="LAnkleRoll_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="30" lower="-0.769001" upper="0.397880" velocity="3.0"/>
</joint>
<joint name="RAnkleRoll" type="revolute">
<parent link="RAnklePitch_link"/>
<child link="RAnkleRoll_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="30" lower="-0.388676" upper="0.785875" velocity="3.0"/>
</joint>
<joint name="l_ankle_joint" type="fixed">
<parent link="LAnkleRoll_link"/>
<child link="l_ankle"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="r_ankle_joint" type="fixed">
<parent link="RAnkleRoll_link"/>
<child link="r_ankle"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="l_sole_joint" type="fixed">
<parent link="l_ankle"/>
<child link="l_sole"/>
<origin xyz="0 0 -0.04519"/>
</joint>
<joint name="r_sole_joint" type="fixed">
<parent link="r_ankle"/>
<child link="r_sole"/>
<origin xyz="0 0 -0.04519"/>
</joint>
<joint name="LHipPitch" type="revolute">
<parent link="LHipRoll_link"/>
<child link="LHipPitch_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
<!--Nao V3 and V4-->
<!-- LHipPitch limits: -1.773912 .. 0.484090 -->
<!-- RHipPitch limits: -1.772308 .. 0.485624 -->
<limit effort="30" lower="-1.772308" upper="0.484090" velocity="3.0"/>
</joint>
<joint name="LKneePitch" type="revolute">
<parent link="LHipPitch_link"/>
<child link="LKneePitch_link"/>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
<axis xyz="0 1 0"/>
<!-- LKneePitch limits: -0.092346 .. 2.112528 -->
<!-- RKneePitch limits: -0.103083 .. 2.120198 -->
<limit effort="30" lower="-0.092346" upper="2.112528" velocity="3.0"/>
</joint>
<joint name="LAnklePitch" type="revolute">
<parent link="LKneePitch_link"/>
<child link="LAnklePitch_link"/>
<origin rpy="0 0 0" xyz="0 0 -0.10290"/>
<axis xyz="0 1 0"/>
<!-- LAnklePitch limits: -1.189516 .. 0.922747 -->
<!-- RAnklePitch limits: -1.186448 .. 0.932056 -->
<limit effort="30" lower="-1.186448" upper="0.922747" velocity="3.0"/>
</joint>
<joint name="RHipPitch" type="revolute">
<parent link="RHipRoll_link"/>
<child link="RHipPitch_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
<!--Nao V3 and V4-->
<!-- LHipPitch limits: -1.773912 .. 0.484090 -->
<!-- RHipPitch limits: -1.772308 .. 0.485624 -->
<limit effort="30" lower="-1.772308" upper="0.484090" velocity="3.0"/>
</joint>
<joint name="RKneePitch" type="revolute">
<parent link="RHipPitch_link"/>
<child link="RKneePitch_link"/>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
<axis xyz="0 1 0"/>
<!-- LKneePitch limits: -0.092346 .. 2.112528 -->
<!-- RKneePitch limits: -0.103083 .. 2.120198 -->
<limit effort="30" lower="-0.092346" upper="2.112528" velocity="3.0"/>
</joint>
<joint name="RAnklePitch" type="revolute">
<parent link="RKneePitch_link"/>
<child link="RAnklePitch_link"/>
<origin rpy="0 0 0" xyz="0 0 -0.10290"/>
<axis xyz="0 1 0"/>
<!-- LAnklePitch limits: -1.189516 .. 0.922747 -->
<!-- RAnklePitch limits: -1.186448 .. 0.932056 -->
<limit effort="30" lower="-1.186448" upper="0.922747" velocity="3.0"/>
</joint>
</robot>
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