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
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
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