human 모델

기본 정보

66 자유도를 가진 Human 모델

Subject	Mass [kg]	Height [cm]	Foot size [cm]	Arm span [cm]	Ankle height [cm]	Hip height [cm]	Hip width [cm]	Knee height [cm]	Shoulder width [cm]	Shoulder height [cm]	Sole height [cm]
1	62.2	168	24	163	8	91	25	48.5	35.4	140

모델링 결과

출처: https://github.com/donghee/wearable_robot_eval/blob/main/wearable_robot_description/urdf/human_66dof.xacro

참고: Xsens MVN Biomechanical Model

링크 설명

링크 이름	설명	조인트와 연결
Pelvis	골반	jL5S1과과 jHip 조인트에 연결
L5	허리뼈 Lumbar Spine L5번 부터 L3번	jL5S1과 jL4L3 조인트에 연결
L3	허리뼈 Lumbar Spine L3번 부터 L1번	jL4L3과 jL1T12 조인트에 연결
T12	등뼈 Thoracic Spline T12번 부터 T8번	jL1T12와 jT9T8 조인트에 연결
T8	등뼈 Thoracic Spline T8번 부터 T1번	jT9T8과 jT1C7 조인트에 연결
Neck	목	jT1C7과 JC1Head 조인트에 연결
Head	머리	jC1Head 조인트에 연결
Right Shoulder	오른쪽 어깨	jRightC7Shoulder와 jRightUpperArm 조인트에 연결
Right Upper Arm	오른팔 상완	jRightUpperArm과 jRightElbow 조인트에 연결
Right Fore Arm	오른팔 전완	jRightElbow와 jRightWrist 조인트에 연결
Right Hand	오른손	jRightWrist 조인트에 연결
Left Shoulder	왼쪽 어깨	jLeftC7Shoulder와 jLeftUpperArm 조인트에 연결
Left Upper Arm	왼팔 상완	jLeftUpperArm과 jLeftElbow 조인트에 연결
Left Fore Arm	왼팔 전완	jLeftElbow와 jLeftWrist 조인트에 연결
Left Hand	왼손	jLeftWrist 조인트에 연결
Right Upper Leg	오른쪽 대퇴골	jRightHip과 jRightKnee 조인트에 연결
Right Lower Leg	오른족 경골	jRightKnee와 jRightAnkle 조인트에 연결
Right Foot	오른발	jRightAnkle와 jRightToe 조인트에 연결
Right Toe	오른발가락	jRightToe 조인트에 연결
Left Upper Leg	왼쪽 대퇴골	jLeftHip과 jLeftKnee 조인트에 연결
Left Lower Leg	왼족 경골	jLeftKnee와 jLeftAnkle 조인트에 연결
Left Foot	왼발	jLeftAnkle와 jLeftToe 조인트에 연결
Left Toe	왼발가락	jLeftToe 조인트에 연결

URDF

<!--URDF MODEL 66 DoFs-->

<robot name="human" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!-- Import all Gazebo-customization elements, including Gazebo colors -->
  <!-- <xacro:include filename="$(find wearable_robot_description)/urdf/human_66dof.gazebo"/> -->
  <!-- Import Rviz colors -->
  <!-- 색 정의 -->
  <xacro:include filename="$(find wearable_robot_description)/urdf/materials.xacro"/>

  <!--To open this model with Gazebo replace the null masses, inertias and dimensions of the 'fake links f1 and f2'-->
  <!--LINKS-->
  <!--Link base (1)-->
  <!-- 골반 -->
  <link name="Pelvis">
    <!-- 골반의 질량과 관성모멘트 -->
    <inertial>
      <mass value="4.976"/>
      <!--COM origin wrt pHipOrigin-->
      <origin xyz="0           0    0.049743" rpy="0 0 0" />
      <inertia ixx="0.029678" iyy="0.011854" izz="0.033653" ixy="0" ixz="0" iyz="0"/>
    </inertial>
    <!-- 골반 시각화 -->
    <visual>
      <!--box origin wrt pHipOrigin-->
      <origin xyz="0           0    0.049743" rpy="0 0 0" />
      <geometry>
        <box size="0.13815     0.24914    0.097469"/>
      </geometry>
      <material name="color"/>
    </visual>

    <!-- 골반 충돌 모델 -->
    <collision>
      <!--box origin wrt pHipOrigin-->
      <origin xyz="0           0    0.049743" rpy="0 0 0" />
      <geometry>
        <box size="0.13815     0.24914    0.097469"/>
      </geometry>
    </collision>

  </link>

  <!--Chain from (2) to (7)-->
  <!-- 허리뼈 Lumbar Spine L5번 부터 L3번 까지 -->
  <!-- _f1, _f2로 끝나는 링크는 x, y축 조인트 회전을 위한 링크이고, _f1, _f2가 표시가 없는 링크는 z축 회전을 위한 링크이다. _f1, _f2 링크는 회전을 위해 만들어진 Fake Link 이다. -->
  <link name="L5_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="L5_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="L5">
    <inertial>
      <mass value="6.3444"/>
      <!--COM origin wrt jL5S1-->
      <origin xyz="0           0    0.047552" rpy="0 0 0" />
      <inertia ixx="0.018868" iyy="0.014872" izz="0.024177" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--box origin origin wrt jL5S1-->
      <origin xyz="0           0    0.047552" rpy="0 0 0" />
      <geometry>
        <box size="0.13815     0.16323    0.095104"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--box origin origin wrt jL5S1-->
      <origin xyz="0           0    0.047552" rpy="0 0 0" />
      <geometry>
        <box size="0.13815     0.16323    0.095104"/>
      </geometry>
    </collision>
  </link>

  <!-- 허리뼈 Lumbar L3번 부터 L1번 까지 -->
  <link name="L3_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="L3_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="L3">
    <inertial>
      <mass value="6.3444"/>
      <!--COM origin wrt jL4L3-->
      <origin xyz="0           0    0.042958" rpy="0 0 0" />
      <inertia ixx="0.017989" iyy="0.013993" izz="0.024177" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--box origin origin wrt jL4L3-->
      <origin xyz="0           0    0.042958" rpy="0 0 0" />
      <geometry>
        <box size="0.13815     0.16323    0.085916"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--box origin origin wrt jL4L3-->
      <origin xyz="0           0    0.042958" rpy="0 0 0" />
      <geometry>
        <box size="0.13815     0.16323    0.085916"/>
      </geometry>
    </collision>
  </link>

  <!-- 등뼈 Thoracic Spline T12번 부터 T8번 까지 -->
  <link name="T12_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="T12_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="T12">
    <inertial>
      <mass value="6.3444"/>
      <!--COM origin wrt jL1T12-->
      <origin xyz="0           0    0.042958" rpy="0 0 0" />
      <inertia ixx="0.017989" iyy="0.013993" izz="0.024177" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--box origin origin wrt jL1T12-->
      <origin xyz="0           0    0.042958" rpy="0 0 0" />
      <geometry>
        <box size="0.13815     0.16323    0.085916"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--box origin origin wrt jL1T12-->
      <origin xyz="0           0    0.042958" rpy="0 0 0" />
      <geometry>
        <box size="0.13815     0.16323    0.085916"/>
      </geometry>
    </collision>
  </link>

  <!-- 등뼈 Thoracic Spline T8번 부터 T1번 까지 -->
  <link name="T8_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="T8_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="T8">
    <inertial>
      <mass value="2.488"/>
      <!--COM origin wrt jT9T8-->
      <origin xyz="0           0    0.059874" rpy="0 0 0" />
      <inertia ixx="0.0035473" iyy="0.0067278" izz="0.0043289" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--box origin wrt jT9T8-->
      <origin xyz="0           0    0.059874" rpy="0 0 0" />
      <geometry>
        <box size="0.13457    0.052626     0.11975"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--box origin wrt jT9T8-->
      <origin xyz="0           0    0.059874" rpy="0 0 0" />
      <geometry>
        <box size="0.13457    0.052626     0.11975"/>
      </geometry>
    </collision>

  </link>

  <!-- 목 -->
  <link name="Neck_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="Neck_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="Neck">
    <inertial>
      <mass value="0.7464"/>
      <!--COM origin wrt jT1C7-->
      <origin xyz="0           0    0.044626" rpy="0 0 0" />
      <inertia ixx="0.0006461" iyy="0.0006461" izz="0.00030124" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--box origin wrt jT1C7-->
      <origin xyz="0           0    0.044626" rpy="0 0 0" />
      <geometry>
	<cylinder length="0.089252" radius="0.014205"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--box origin wrt jT1C7-->
      <origin xyz="0           0    0.044626" rpy="0 0 0" />
      <geometry>
        <cylinder length="0.089252" radius="0.014205"/>
      </geometry>
    </collision>
  </link>

  <!-- 머리 -->
  <link name="Head_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="Head_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="Head">
    <inertial>
      <mass value="2.2392"/>
      <!--COM origin wrt jC1Head-->
      <origin xyz="0           0    0.089005" rpy="0 0 0" />
      <inertia ixx="0.0070955" iyy="0.0070955" izz="0.0070955" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--boc origin wrt jC1Head-->
      <origin xyz="0           0    0.089005" rpy="0 0 0" />
      <geometry>
        <sphere radius="0.089005"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--box origin wrt jC1Head-->
      <origin xyz="0           0    0.089005" rpy="0 0 0" />
      <geometry>
        <sphere radius="0.089005"/>
      </geometry>
    </collision>

  </link>

  <!-- 오른쪽 어깨 -->
  <!--Chain from (8) to (11)-->
  <link name="RightShoulder_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="RightShoulder_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="RightShoulder">
    <inertial>
      <mass value="1.9282"/>
      <!--COM origin wrt jRightC7Shoulder-->
      <origin xyz="0   -0.065233           0" rpy="0 0 0" />
      <inertia ixx="0.0030029" iyy="0.00053578" izz="0.0030029" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--box origin wrt jRightC7Shoulder. RPY rotated of pi/2.-->
      <origin xyz="0   -0.065233           0" rpy="1.5708 0 0" />
      <geometry>
        <cylinder length="0.13047" radius="0.023574"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--box origin wrt jRightC7Shoulder. RPY rotated of pi/2.-->
      <origin xyz="0   -0.065233           0" rpy="1.5708 0 0" />
      <geometry>
        <cylinder length="0.13047" radius="0.023574"/>
      </geometry>
    </collision>

  </link>

  <!-- 오른쪽 상완 -->
  <link name="RightUpperArm_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="RightUpperArm_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="RightUpperArm">
    <inertial>
      <mass value="1.866"/>
      <!--COM origin wrt jRightShoulder-->
      <origin xyz="0    -0.13497           0" rpy="0 0 0" />
      <inertia ixx="0.011736" iyy="0.00080917" izz="0.011736" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--box origin wrt jRightShoulder. RPY rotated of pi/2.-->
      <origin xyz="0    -0.13497           0" rpy="1.5708 0 0" />
      <geometry>
        <cylinder length="0.26994" radius="0.029449"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--box origin wrt jRightShoulder. RPY rotated of pi/2.-->
      <origin xyz="0    -0.13497           0" rpy="1.5708 0 0" />
      <geometry>
        <cylinder length="0.26994" radius="0.029449"/>
      </geometry>
    </collision>

  </link>

  <!-- 오른쪽 전완 -->
  <link name="RightForeArm_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="RightForeArm_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="RightForeArm">
    <inertial>
      <mass value="1.244"/>
      <!--COM origin wrt jRightElbow-->
      <origin xyz="0    -0.11124           0" rpy="0 0 0" />
      <inertia ixx="0.0052508" iyy="0.00023975" izz="0.0052508" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--box origin wrt jRightElbow. RPY rotated of pi/2.-->
      <origin xyz="0    -0.11124           0" rpy="1.5708 0 0" />
      <geometry>
        <cylinder length="0.22247" radius="0.019633"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--box origin wrt jRightElbow. RPY rotated of pi/2.-->
      <origin xyz="0    -0.11124           0" rpy="1.5708 0 0" />
      <geometry>
        <cylinder length="0.22247" radius="0.019633"/>
      </geometry>
    </collision>

  </link>

  <!-- 오른손 -->
  <link name="RightHand_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="RightHand_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="RightHand">
    <inertial>
      <mass value="0.3732"/>
      <!--COM origin wrt jRightWrist-->
      <origin xyz="0   -0.083588           0" rpy="0 0 0" />
      <inertia ixx="0.00091713" iyy="0.00043425" izz="0.0012555" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--box origin wrt jRightWrist-->
      <origin xyz="0   -0.083588           0" rpy="0 0 0" />
      <geometry>
        <box size="0.11145     0.16718    0.039266"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--box origin wrt jRightWrist-->
      <origin xyz="0   -0.083588           0" rpy="0 0 0" />
      <geometry>
      <!--  <box size="0.11145     0.16718    0.039266"/> -->
      </geometry>
      <!-- <contact_coefficients mu="2.0" kp="2.0" kd="2.0" /> -->
      <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
    </collision>
  </link>
  <!-- 오른손가락 -->
  <link name="RightHandCOM">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
    </inertial>
    <visual>
      <!--box origin wrt jRightWrist-->
      <origin xyz="0   0           0" rpy="0 0 0" />
      <geometry>
        <box size="0     0    0"/>
      </geometry>
      <material name="color"/>
    </visual>
  </link>


  <!--Chain from (12) to (15)-->
  <!-- 왼쪽 어깨 -->
  <link name="LeftShoulder_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="LeftShoulder_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="LeftShoulder">
    <inertial>
      <mass value="1.9282"/>
      <!--COM origin wrt jLeftC7Shoulder-->
      <origin xyz="0    0.065233           0" rpy="0 0 0" />
      <inertia ixx="0.0030029" iyy="0.00053578" izz="0.0030029" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--box origin wrt jLeftC7Shoulder. RPY rotated of pi/2.-->
      <origin xyz="0    0.065233           0" rpy="1.5708 0 0" />
      <geometry>
        <cylinder length="0.13047" radius="0.023574"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--box origin wrt jLeftC7Shoulder. RPY rotated of pi/2.-->
      <origin xyz="0    0.065233           0" rpy="1.5708 0 0" />
      <geometry>
        <cylinder length="0.13047" radius="0.023574"/>
      </geometry>
    </collision>

  </link>

  <!-- 왼쪽 상완 -->
  <link name="LeftUpperArm_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="LeftUpperArm_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="LeftUpperArm">
    <inertial>
      <mass value="1.866"/>
      <!--COM origin wrt jLeftShoulder-->
      <origin xyz="0     0.13497           0" rpy="0 0 0" />
      <inertia ixx="0.011736" iyy="0.00080917" izz="0.011736" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--box origin wrt jLeftShoulder. RPY rotated of pi/2.-->
      <origin xyz="0     0.13497           0" rpy="1.5708 0 0" />
      <geometry>
        <cylinder length="0.26994" radius="0.029449"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--box origin wrt jLeftShoulder. RPY rotated of pi/2.-->
      <origin xyz="0     0.13497           0" rpy="1.5708 0 0" />
      <geometry>
        <cylinder length="0.26994" radius="0.029449"/>
      </geometry>
    </collision>

  </link>

  <!-- 왼쪽 전완 -->
  <link name="LeftForeArm_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="LeftForeArm_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="LeftForeArm">
    <inertial>
      <mass value="1.244"/>
      <!--COM origin wrt jLeftElbow-->
      <origin xyz="0     0.11124           0" rpy="0 0 0" />
      <inertia ixx="0.0052508" iyy="0.00023975" izz="0.0052508" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--box origin wrt jLeftElbow. RPY rotated of pi/2.-->
      <origin xyz="0     0.11124           0" rpy="1.5708 0 0" />
      <geometry>
        <cylinder length="0.22247" radius="0.019633"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--box origin wrt jLeftElbow. RPY rotated of pi/2.-->
      <origin xyz="0     0.11124           0" rpy="1.5708 0 0" />
      <geometry>
        <cylinder length="0.22247" radius="0.019633"/>
      </geometry>
    </collision>

  </link>

  <!-- 왼손 -->
  <link name="LeftHand_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="LeftHand_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="LeftHand">
    <inertial>
      <mass value="0.3732"/>
      <!--COM origin wrt jLeftWrist-->
      <origin xyz="0    0.083588           0" rpy="0 0 0" />
      <inertia ixx="0.00091713" iyy="0.00043425" izz="0.0012555" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--COM origin wrt jLeftWrist-->
      <origin xyz="0    0.083588           0" rpy="0 0 0" />
      <geometry>
        <box size="0.11145     0.16718    0.039266"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--COM origin wrt jLeftWrist-->
      <origin xyz="0    0.083588           0" rpy="0 0 0" />
      <geometry>
        <box size="0.11145     0.16718    0.039266"/>
      </geometry>
    </collision>

  </link>
  <!-- 왼손가락 -->
  <link name="LeftHandCOM">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
    </inertial>
    <visual>
      <!--COM origin wrt jLeftWrist-->
      <origin xyz="0    0           0" rpy="0 0 0" />
      <geometry>
        <box size="0     0    0"/>
      </geometry>
      <material name="color"/>
    </visual>
  </link>

  <!--Chain from (16) to (19)-->
  <!-- 오른쪽 대퇴골 -->
  <link name="RightUpperLeg_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="RightUpperLeg_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="RightUpperLeg">
    <inertial>
      <mass value="7.775"/>
      <!--COM origin wrt jRightHip-->
      <origin xyz="0           0    -0.22449" rpy="0 0 0" />
      <inertia ixx="0.13681" iyy="0.13681" izz="0.01241" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--box origin wrt jRightHip-->
      <origin xyz="0           0    -0.22449" rpy="0 0 0" />
      <geometry>
        <cylinder length="0.44898" radius="0.0565"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--box origin wrt jRightHip-->
      <origin xyz="0           0    -0.22449" rpy="0 0 0" />
      <geometry>
        <cylinder length="0.44898" radius="0.0565"/>
      </geometry>
    </collision>

  </link>

  <!-- 오른쪽 경골 -->
  <link name="RightLowerLeg_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="RightLowerLeg_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="RightLowerLeg">
    <inertial>
      <mass value="2.2703"/>
      <!--COM origin wrt jRightKnee-->
      <origin xyz="0           0    -0.20304" rpy="0 0 0" />
      <inertia ixx="0.031992" iyy="0.031992" izz="0.0015867" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--box origin wrt jRightKnee-->
      <origin xyz="0           0    -0.20304" rpy="0 0 0" />
      <geometry>
        <cylinder length="0.40608" radius="0.037388"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--box origin wrt jRightKnee-->
      <origin xyz="0           0    -0.20304" rpy="0 0 0" />
      <geometry>
        <cylinder length="0.40608" radius="0.037388"/>
      </geometry>
    </collision>

  </link>

  <!-- 오른발 -->
  <link name="RightFoot_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="RightFoot_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="RightFoot">
    <inertial>
      <mass value="0.8086"/>
      <!--COM origin wrt jRightAnkle-->
      <origin xyz="0.054652           0   -0.039254" rpy="0 0 0" />
      <inertia ixx="0.00079209" iyy="0.0025944" izz="0.0025558" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--box origin wrt jRightAnkle-->
      <origin xyz="0.054652           0   -0.039254" rpy="0 0 0" />
      <geometry>
        <box size="0.17983    0.074775    0.078509"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--box origin wrt jRightAnkle-->
      <origin xyz="0.054652           0   -0.039254" rpy="0 0 0" />
      <geometry>
        <box size="0.17983    0.074775    0.078509"/>
      </geometry>
    </collision>

  </link>

  <!-- 오른발가락 -->
  <link name="RightToe_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="RightToe_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="RightToe">
    <inertial>
      <mass value="0.0933"/>
      <!--COM origin wrt jRightBallFoot-->
      <origin xyz="0.030086           0           0" rpy="0 0 0" />
      <inertia ixx="4.5038e-05" iyy="2.9717e-05" izz="7.1624e-05" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--box origin wrt jRightBallFoot-->
      <origin xyz="0.030086           0           0" rpy="0 0 0" />
      <geometry>
        <box size="0.060173    0.074775    0.014191"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--box origin wrt jRightBallFoot-->
      <origin xyz="0.030086           0           0" rpy="0 0 0" />
      <geometry>
        <box size="0.060173    0.074775    0.014191"/>
      </geometry>
    </collision>
  </link>
  <!--Chain from (20) to (23)-->
  <!-- 왼쪽 대퇴골 -->
  <link name="LeftUpperLeg_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="LeftUpperLeg_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="LeftUpperLeg">
    <inertial>
      <mass value="7.775"/>
      <!--COM origin wrt jLeftHip-->
      <origin xyz="0           0    -0.22449" rpy="0 0 0" />
      <inertia ixx="0.13681" iyy="0.13681" izz="0.01241" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--box origin wrt jLeftHip-->
      <origin xyz="0           0    -0.22449" rpy="0 0 0" />
      <geometry>
        <cylinder length="0.44898" radius="0.0565"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--box origin wrt jLeftHip-->
      <origin xyz="0           0    -0.22449" rpy="0 0 0" />
      <geometry>
        <cylinder length="0.44898" radius="0.0565"/>
      </geometry>
    </collision>

  </link>
  <!-- 왼쪽 경골 -->
  <link name="LeftLowerLeg_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="LeftLowerLeg_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="LeftLowerLeg">
    <inertial>
      <mass value="2.2703"/>
      <!--COM origin wrt jLeftKnee-->
      <origin xyz="0           0    -0.20304" rpy="0 0 0" />
      <inertia ixx="0.031992" iyy="0.031992" izz="0.0015867" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--box origin wrt jLeftKnee-->
      <origin xyz="0           0    -0.20304" rpy="0 0 0" />
      <geometry>
        <cylinder length="0.40608" radius="0.037388"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--box origin wrt jLeftKnee-->
      <origin xyz="0           0    -0.20304" rpy="0 0 0" />
      <geometry>
        <cylinder length="0.40608" radius="0.037388"/>
      </geometry>
    </collision>

  </link>
  <!-- 왼발 -->
  <link name="LeftFoot_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="LeftFoot_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="LeftFoot">
    <inertial>
      <mass value="0.8086"/>
      <!--COM origin wrt jLeftAnkle-->
      <origin xyz="0.054652           0   -0.039254" rpy="0 0 0" />
      <inertia ixx="0.00079209" iyy="0.0025944" izz="0.0025558" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--box origin wrt jLeftAnkle-->
      <origin xyz="0.054652           0   -0.039254" rpy="0 0 0" />
      <geometry>
        <box size="0.17983    0.074775    0.078509"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--box origin wrt jLeftAnkle-->
      <origin xyz="0.054652           0   -0.039254" rpy="0 0 0" />
      <geometry>
        <box size="0.17983    0.074775    0.078509"/>
      </geometry>
    </collision>

  </link>
  <!-- 왼발가락 -->
  <link name="LeftToe_f1">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="LeftToe_f2">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="1e-2" iyy="1e-2" izz="1e-2" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <link name="LeftToe">
    <inertial>
      <mass value="0.0933"/>
      <!--COM origin wrt jLeftBallFoot-->
      <origin xyz="0.030086           0           0" rpy="0 0 0" />
      <inertia ixx="4.5038e-05" iyy="2.9717e-05" izz="7.1624e-05" ixy="0" ixz="0" iyz="0"/>
    </inertial>

    <visual>
      <!--box origin wrt jLeftBallFoot-->
      <origin xyz="0.030086           0           0" rpy="0 0 0" />
      <geometry>
        <box size="0.060173    0.074775    0.014191"/>
      </geometry>
      <material name="color"/>
    </visual>

    <collision>
      <!--box origin wrt jLeftBallFoot-->
      <origin xyz="0.030086           0           0" rpy="0 0 0" />
      <geometry>
        <box size="0.060173    0.074775    0.014191"/>
      </geometry>
    </collision>
  </link>

  <!-- 관절 -->
  <!--JOINTS-->
  <!--Chain from (2) to (7)-->
  <!-- 골반과 허리뼈 L5 사이의 조인트 X, Y, Z-->
  <joint name="jL5S1_rotx" type="fixed">
    <origin xyz="-0.000206           0    0.098478" rpy="0 0 0"/>
    <parent link="Pelvis"/>
    <child link="L5_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jL5S1_roty" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="L5_f1"/>
    <child link="L5_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jL5S1_rotz" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="L5_f2"/>
    <child link="L5"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>
  <!-- 허리뼈 L4 허리뼈 L3 사이의 조인트 X, Y, Z-->
  <joint name="jL4L3_rotx" type="fixed">
    <origin xyz="0.000374           0    0.095104" rpy="0 0 0"/>
    <parent link="L5"/>
    <child link="L3_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jL4L3_roty" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="L3_f1"/>
    <child link="L3_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jL4L3_rotz" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="L3_f2"/>
    <child link="L3"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>
  <!-- 허리뼈 L1와 등뼈 T12 사이의 조인트 X, Y, Z-->
  <joint name="jL1T12_rotx" type="fixed">
    <origin xyz="0           0    0.085916" rpy="0 0 0"/>
    <parent link="L3"/>
    <child link="T12_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jL1T12_roty" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="T12_f1"/>
    <child link="T12_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jL1T12_rotz" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="T12_f2"/>
    <child link="T12"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>
  <!-- 등뼈 T9와 등뼈 T8 사이의 조인트 X, Y, Z-->
  <joint name="jT9T8_rotx" type="fixed">
    <origin xyz="0           0    0.085916" rpy="0 0 0"/>
    <parent link="T12"/>
    <child link="T8_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jT9T8_roty" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="T8_f1"/>
    <child link="T8_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jT9T8_rotz" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="T8_f2"/>
    <child link="T8"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>
  <!-- 허리뼈 T1와 경추 C7 사이의 조인트 X, Y, Z-->
  <joint name="jT1C7_rotx" type="fixed">
    <origin xyz="0           0     0.11975" rpy="0 0 0"/>
    <parent link="T8"/>
    <child link="Neck_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jT1C7_roty" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="Neck_f1"/>
    <child link="Neck_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jT1C7_rotz" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="Neck_f2"/>
    <child link="Neck"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>
  <!-- 경추 C1과 머리 사이의 조인트 X, Y, Z-->
  <joint name="jC1Head_rotx" type="fixed">
    <origin xyz="0.000152           0    0.089252" rpy="0 0 0"/>
    <parent link="Neck"/>
    <child link="Head_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jC1Head_roty" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="Head_f1"/>
    <child link="Head_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jC1Head_rotz" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="Head_f2"/>
    <child link="Head"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>
  <!--Chain from (8) to (11)-->
  <!-- Shouler -->
  <!-- 경추 C7과 오른쪽 어깨 사이의 조인트 X, Y, Z-->
  <joint name="jRightC7Shoulder_rotx" type="fixed">
    <origin xyz="0   -0.026313    0.067052" rpy="0 0 0"/>
    <parent link="T8"/>
    <child link="RightShoulder_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jRightC7Shoulder_roty" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="RightShoulder_f1"/>
    <child link="RightShoulder_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jRightC7Shoulder_rotz" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="RightShoulder_f2"/>
    <child link="RightShoulder"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>
  <!-- 오른쪽 어깨와 상완 사이의 조인트 X, Y, Z-->
  <joint name="jRightShoulder_rotx" type="revolute">
    <origin xyz="0    -0.13047           0" rpy="0 0 0"/>
    <parent link="RightShoulder"/>
    <child link="RightUpperArm_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jRightShoulder_roty" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="RightUpperArm_f1"/>
    <child link="RightUpperArm_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jRightShoulder_rotz" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="RightUpperArm_f2"/>
    <child link="RightUpperArm"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>
  <!-- 오른쪽 상완과 전완 사이의 조인트 X, Y, Z-->
  <joint name="jRightElbow_rotx" type="revolute">
    <origin xyz="0    -0.26994           0" rpy="0 0 0"/>
    <parent link="RightUpperArm"/>
    <child link="RightForeArm_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jRightElbow_roty" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="RightForeArm_f1"/>
    <child link="RightForeArm_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jRightElbow_rotz" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="RightForeArm_f2"/>
    <child link="RightForeArm"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>
  <!-- 오른쪽 전완과 손사이의 조인트 X, Y, Z: 오른쪽 팔목 -->
  <joint name="jRightWrist_rotx" type="fixed">
    <origin xyz="7.7e-05    -0.22247           0" rpy="0 0 0"/>
    <parent link="RightForeArm"/>
    <child link="RightHand_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jRightWrist_roty" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="RightHand_f1"/>
    <child link="RightHand_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jRightWrist_rotz" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="RightHand_f2"/>
    <child link="RightHand"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>
  <!-- 오른손과 손가락 사이의 조인트 -->
  <joint name="jRightHandCOM" type="fixed">
    <origin xyz="0 -0.096206 0" rpy="0 0 0"/>
    <parent link="RightHand"/>
    <child link="RightHandCOM"/>
    <axis xyz="0 0 0" />
  </joint>
  <!--Chain from (12) to (15)-->
  <!-- 경추 C7과 왼쪽 어깨 사이의 조인트 X, Y, Z-->
  <joint name="jLeftC7Shoulder_rotx" type="fixed">
    <origin xyz="0    0.026313    0.067052" rpy="0 0 0"/>
    <parent link="T8"/>
    <child link="LeftShoulder_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jLeftC7Shoulder_roty" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="LeftShoulder_f1"/>
    <child link="LeftShoulder_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jLeftC7Shoulder_rotz" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="LeftShoulder_f2"/>
    <child link="LeftShoulder"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>
  <!-- 왼쪽 어깨와 상완 사이의 조인트 X, Y, Z-->
  <joint name="jLeftShoulder_rotx" type="revolute">
    <origin xyz="0     0.13047           0" rpy="0 0 0"/>
    <parent link="LeftShoulder"/>
    <child link="LeftUpperArm_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jLeftShoulder_roty" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="LeftUpperArm_f1"/>
    <child link="LeftUpperArm_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jLeftShoulder_rotz" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="LeftUpperArm_f2"/>
    <child link="LeftUpperArm"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>
  <!-- 왼쪽 상완과 전완 사이의 조인트 X, Y, Z-->
  <joint name="jLeftElbow_rotx" type="revolute">
    <origin xyz="0     0.26994           0" rpy="0 0 0"/>
    <parent link="LeftUpperArm"/>
    <child link="LeftForeArm_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jLeftElbow_roty" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="LeftForeArm_f1"/>
    <child link="LeftForeArm_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jLeftElbow_rotz" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="LeftForeArm_f2"/>
    <child link="LeftForeArm"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>
  <!-- 왼쪽 전완과 손사이의 조인트 X, Y, Z: 왼쪽 팔목 -->
  <joint name="jLeftWrist_rotx" type="revolute">
    <origin xyz="7.7e-05     0.22247           0" rpy="0 0 0"/>
    <parent link="LeftForeArm"/>
    <child link="LeftHand_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jLeftWrist_roty" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="LeftHand_f1"/>
    <child link="LeftHand_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jLeftWrist_rotz" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="LeftHand_f2"/>
    <child link="LeftHand"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>
  <!-- 왼손과 손가락 사이의 조인트 -->
  <joint name="jLeftHandCOM" type="fixed">
    <origin xyz="0 0.096206 0" rpy="0 0 0"/>
    <parent link="LeftHand"/>
    <child link="LeftHandCOM"/>
    <axis xyz="0 0 0" />
  </joint>
  <!--Chain from (16) to (19)-->
  <!-- 골반과 오른쪽 대퇴골 사이의 조인트 X, Y, Z: 엉덩이 -->
  <joint name="jRightHip_rotx" type="revolute">
    <origin xyz="0.000103   -0.081614    0.001009" rpy="0 0 0"/>
    <parent link="Pelvis"/>
    <child link="RightUpperLeg_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jRightHip_roty" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="RightUpperLeg_f1"/>
    <child link="RightUpperLeg_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jRightHip_rotz" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="RightUpperLeg_f2"/>
    <child link="RightUpperLeg"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>
  <!-- 오른쪽 대쾌골과 경골 사이의 조인트 X, Y, Z: 오른 무릎 -->
  <joint name="jRightKnee_rotx" type="revolute">
    <origin xyz="3.6e-05           0    -0.44898" rpy="0 0 0"/>
    <parent link="RightUpperLeg"/>
    <child link="RightLowerLeg_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jRightKnee_roty" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="RightLowerLeg_f1"/>
    <child link="RightLowerLeg_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jRightKnee_rotz" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="RightLowerLeg_f2"/>
    <child link="RightLowerLeg"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>
  <!-- 오른쪽 경골과 발 사이의 조인트 X, Y, Z: 오른 발목 -->
  <joint name="jRightAnkle_rotx" type="revolute">
    <origin xyz="0.000205           0    -0.40608" rpy="0 0 0"/>
    <parent link="RightLowerLeg"/>
    <child link="RightFoot_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jRightAnkle_roty" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="RightFoot_f1"/>
    <child link="RightFoot_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jRightAnkle_rotz" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="RightFoot_f2"/>
    <child link="RightFoot"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>
  <!-- 오른발과 발가락 사이의 조인트 X, Y, Z -->
  <joint name="jRightBallFoot_rotx" type="revolute">
    <origin xyz="0.14456           0   -0.064752" rpy="0 0 0"/>
    <parent link="RightFoot"/>
    <child link="RightToe_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jRightBallFoot_roty" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="RightToe_f1"/>
    <child link="RightToe_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jRightBallFoot_rotz" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="RightToe_f2"/>
    <child link="RightToe"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>
  <!--Chain from (20) to (23)-->
  <!-- 골반과 왼쪽 대퇴골 사이의 조인트 X, Y, Z: 엉덩이 -->
  <joint name="jLeftHip_rotx" type="revolute">
    <origin xyz="0.000103    0.081614    0.001009" rpy="0 0 0"/>
    <parent link="Pelvis"/>
    <child link="LeftUpperLeg_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jLeftHip_roty" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="LeftUpperLeg_f1"/>
    <child link="LeftUpperLeg_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jLeftHip_rotz" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="LeftUpperLeg_f2"/>
    <child link="LeftUpperLeg"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>
  <!-- 왼쪽 대쾌골과 경골 사이의 조인트 X, Y, Z: 왼 무릎 -->
  <joint name="jLeftKnee_rotx" type="revolute">
    <origin xyz="3.6e-05           0    -0.44898" rpy="0 0 0"/>
    <parent link="LeftUpperLeg"/>
    <child link="LeftLowerLeg_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jLeftKnee_roty" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="LeftLowerLeg_f1"/>
    <child link="LeftLowerLeg_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jLeftKnee_rotz" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="LeftLowerLeg_f2"/>
    <child link="LeftLowerLeg"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>
  <!-- 왼쪽 경골과 발 사이의 조인트 X, Y, Z: 왼 발목 -->
  <joint name="jLeftAnkle_rotx" type="revolute">
    <origin xyz="0.000205           0    -0.40608" rpy="0 0 0"/>
    <parent link="LeftLowerLeg"/>
    <child link="LeftFoot_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jLeftAnkle_roty" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="LeftFoot_f1"/>
    <child link="LeftFoot_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jLeftAnkle_rotz" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="LeftFoot_f2"/>
    <child link="LeftFoot"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>
  <!-- 왼발과 발가락 사이의 조인트 X, Y, Z -->
  <joint name="jLeftBallFoot_rotx" type="revolute">
    <origin xyz="0.14456           0   -0.064752" rpy="0 0 0"/>
    <parent link="LeftFoot"/>
    <child link="LeftToe_f1"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="1 0 0" />
  </joint>
  <joint name="jLeftBallFoot_roty" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="LeftToe_f1"/>
    <child link="LeftToe_f2"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 1 0" />
  </joint>
  <joint name="jLeftBallFoot_rotz" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="LeftToe_f2"/>
    <child link="LeftToe"/>
    <dynamics damping="0.1" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
    <axis xyz="0 0 1" />
  </joint>

  <!-- 월드 기준 -->
  <link name="world"/>

  <!-- 월드와 골반 고정 -->
  <joint name="human_fixed_joint" type="fixed">
    <parent link="world" />
    <child  link = "Pelvis" />
    <origin xyz="1 1 0.95" rpy="0 0 ${-0.5*pi}" />
  </joint>

  <ros2_control name="GazeboSystem" type="system">
    <hardware>
      <plugin>gazebo_ros2_control/GazeboSystem</plugin>
    </hardware>
    <joint name="jRightElbow_rotx">
      <command_interface name="position">
        <param name="min">1.79</param>
        <param name="max">6.28</param>
      </command_interface>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
    </joint>
  </ros2_control>

</robot>

참고

- Xsens MVN BBiomechanical Model: https://base.xsens.com/s/article/MVN-Biomechanical-Model?language=en_US