gurdy.urdf

<robot name="gurdy">

    <material name="blue">
        <color rgba="0 0 0.8 1"/>
    </material>
    <material name="red">
        <color rgba="0.8 0 0 1"/>
    </material>
    <material name="green">
        <color rgba="0 0.8 0 1"/>
    </material>
	<!-- * * * Link Definitions * * * -->

    <link name="base_link">
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <box size="0.01 0.01 0.01"/>
            </geometry>
        </collision>
		<visual>
		    <origin xyz="0 0 0.01" rpy="0 0 0"/>
			<geometry>
				<box size="0.01 0.01 0.01"/>
			</geometry>
		</visual>
	</link>

    <link name="head_link">
 	    <inertial>
            <origin xyz="0 0 0.02" rpy="0 0 0"/>
            <mass value="0.01" />
            <inertia ixx="7.58333333333e-07" ixy="0.0" ixz="0.0" iyy="7.58333333333e-07" iyz="0.0" izz="1.25e-06"/>
        </inertial>
        <collision>
            <origin xyz="0 0 0.02" rpy="0 0 0"/>
            <geometry>
                <cylinder radius="0.05" length="0.04"/>
            </geometry>
        </collision>
        <visual>
            <origin rpy="0.0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://gurdy_description/models/gurdy/meshes/gurdy_head_v2.dae"/>
            </geometry>
        </visual>
	</link>

    <gazebo reference="head_link">
        <mu1>10.0</mu1>
        <mu2>10.0</mu2>
    </gazebo>

    <joint name="fixed" type="fixed">
        <parent link="base_link"/>
        <child link="head_link"/>
    </joint>

    <link name="upperleg_M1_link">
 	    <inertial>
            <origin xyz="0 0 0.03" rpy="0 0 0"/>
            <mass value="0.01" />
            <inertia ixx="3.015625e-05" ixy="0.0" ixz="0.0" iyy="3.015625e-05" iyz="0.0" izz="3.125e-07"/>
        </inertial>
        <collision>
            <origin xyz="0 0 0.03" rpy="0 0 0"/>
            <geometry>
                <cylinder length="0.06" radius="0.0025"/>
            </geometry>
        </collision>
        <visual>
            <origin rpy="0.0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://gurdy_description/models/gurdy/meshes/gurdy_higherleg_v2.dae"/>
            </geometry>
        </visual>
	</link>


    <joint name="head_upperlegM1_joint" type="revolute">
    	<parent link="head_link"/>
    	<child link="upperleg_M1_link"/>
        <origin xyz="-0.02165 -0.0125 -0.008" rpy="3.14159 0 0.523599"/>
        <limit lower="-1.55" upper="0.0" effort="1.0" velocity="0.005"/>
        <axis xyz="0 1 0"/>
	</joint>


    <gazebo>
        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
        </plugin>
    </gazebo>

    <transmission name="tran1">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="head_upperlegM1_joint">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="motor1">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>

    <link name="upperleg_M2_link">
 	    <inertial>
            <origin xyz="0 0 0.03" rpy="0 0 0"/>
            <mass value="0.01" />
            <inertia ixx="3.015625e-05" ixy="0.0" ixz="0.0" iyy="3.015625e-05" iyz="0.0" izz="3.125e-07"/>
        </inertial>
        <collision>
            <origin xyz="0 0 0.03" rpy="0 0 0"/>
            <geometry>
                <cylinder length="0.06" radius="0.0025"/>
            </geometry>
        </collision>
        <visual>
            <origin rpy="0.0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://gurdy_description/models/gurdy/meshes/gurdy_higherleg_v2.dae"/>
            </geometry>
        </visual>
	</link>


    <joint name="head_upperlegM2_joint" type="revolute">
    	<parent link="head_link"/>
    	<child link="upperleg_M2_link"/>
        <origin xyz="0.02165 -0.0125 -0.008" rpy="3.14159 0 2.61799"/>
        <limit lower="-1.55" upper="0.0" effort="1.0" velocity="0.005"/>
        <axis xyz="0 1 0"/>
	</joint>

    <transmission name="tran2">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="head_upperlegM2_joint">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="motor2">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>


    <link name="upperleg_M3_link">
 	    <inertial>
            <origin xyz="0 0 0.03" rpy="0 0 0"/>
            <mass value="0.01" />
            <inertia ixx="3.015625e-05" ixy="0.0" ixz="0.0" iyy="3.015625e-05" iyz="0.0" izz="3.125e-07"/>
        </inertial>
        <collision>
            <origin xyz="0 0 0.03" rpy="0 0 0"/>
            <geometry>
                <cylinder length="0.06" radius="0.0025"/>
            </geometry>
        </collision>
        <visual>
            <origin rpy="0.0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://gurdy_description/models/gurdy/meshes/gurdy_higherleg_v2.dae"/>
            </geometry>
        </visual>
	</link>


    <joint name="head_upperlegM3_joint" type="revolute">
    	<parent link="head_link"/>
    	<child link="upperleg_M3_link"/>
        <origin xyz="0 0.025 -0.008" rpy="3.14159 0 -1.5708"/>
        <limit lower="-1.55" upper="0.0" effort="1.0" velocity="0.005"/>
        <axis xyz="0 1 0"/>
	</joint>

    <transmission name="tran3">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="head_upperlegM3_joint">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="motor3">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>


    <link name="lowerleg_M1_link">
 	    <inertial>
            <origin xyz="0 0 0.03" rpy="0 0 0"/>
            <mass value="0.01" />
            <inertia ixx="3.005625e-05" ixy="0.0" ixz="0.0" iyy="3.005625e-05" iyz="0.0" izz="1.125e-07"/>
        </inertial>
        <collision>
            <origin xyz="0 0 0.03" rpy="0 0 0"/>
            <geometry>
                <cylinder length="0.06" radius="0.0015"/>
            </geometry>
        </collision>
        <visual>
            <origin rpy="0.0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://gurdy_description/models/gurdy/meshes/gurdy_lowerleg_v2.dae"/>
            </geometry>
        </visual>
	</link>


    <joint name="upperlegM1_lowerlegM1_joint" type="continuous">
    	<parent link="upperleg_M1_link"/>
    	<child link="lowerleg_M1_link"/>
        <origin xyz="0 0.0095 0.06" rpy="0 0 3.14159"/>
        <limit lower="-2.9" upper="1.5708" effort="1.0" velocity="0.005"/>
        <axis xyz="0 1 0"/>
	</joint>

    <transmission name="tran4">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="upperlegM1_lowerlegM1_joint">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="motor4">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>

    <link name="lowerleg_M2_link">
 	    <inertial>
            <origin xyz="0 0 0.03" rpy="0 0 0"/>
            <mass value="0.01" />
            <inertia ixx="3.005625e-05" ixy="0.0" ixz="0.0" iyy="3.005625e-05" iyz="0.0" izz="1.125e-07"/>
        </inertial>
        <collision>
            <origin xyz="0 0 0.03" rpy="0 0 0"/>
            <geometry>
                <cylinder length="0.06" radius="0.0015"/>
            </geometry>
        </collision>
        <visual>
            <origin rpy="0.0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://gurdy_description/models/gurdy/meshes/gurdy_lowerleg_v2.dae"/>
            </geometry>
        </visual>
	</link>


    <joint name="upperlegM2_lowerlegM2_joint" type="revolute">
    	<parent link="upperleg_M2_link"/>
    	<child link="lowerleg_M2_link"/>
        <origin xyz="0 0.0095 0.06" rpy="0 0 3.14159"/>
        <limit lower="-2.9" upper="1.5708" effort="1.0" velocity="0.005"/>
        <axis xyz="0 1 0"/>
	</joint>

    <transmission name="tran5">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="upperlegM2_lowerlegM2_joint">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="motor5">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>

    <link name="lowerleg_M3_link">
 	    <inertial>
            <origin xyz="0 0 0.03" rpy="0 0 0"/>
            <mass value="0.01" />
            <inertia ixx="3.005625e-05" ixy="0.0" ixz="0.0" iyy="3.005625e-05" iyz="0.0" izz="1.125e-07"/>
        </inertial>
        <collision>
            <origin xyz="0 0 0.03" rpy="0 0 0"/>
            <geometry>
                <cylinder length="0.06" radius="0.0015"/>
            </geometry>
        </collision>
        <visual>
            <origin rpy="0.0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://gurdy_description/models/gurdy/meshes/gurdy_lowerleg_v2.dae"/>
            </geometry>
        </visual>
	</link>


    <joint name="upperlegM3_lowerlegM3_joint" type="revolute">
    	<parent link="upperleg_M3_link"/>
    	<child link="lowerleg_M3_link"/>
        <origin xyz="0 0.0095 0.06" rpy="0 0 3.14159"/>
        <limit lower="-2.9" upper="1.5708" effort="1.0" velocity="0.005"/>
        <axis xyz="0 1 0"/>
	</joint>

    <transmission name="tran6">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="upperlegM3_lowerlegM3_joint">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="motor6">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>


    <link name="footM1_link">
 	    <inertial>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <mass value="0.01" />
            <inertia ixx="1.28e-06" ixy="0.0" ixz="0.0" iyy="1.28e-06" iyz="0.0" izz="1.28e-06"/>
        </inertial>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.008"/>
            </geometry>
        </collision>
        <visual>
            <origin rpy="0.0 0 0" xyz="0 0 0"/>
            <geometry>
                <sphere radius="0.008"/>
            </geometry>
        </visual>
	</link>

    <gazebo reference="footM1_link">
        <kp>1000.0</kp>
        <kd>1000.0</kd>
        <mu1>0.5</mu1>
        <mu2>0.5</mu2>
        <material>Gazebo/Red</material>
    </gazebo>


    <joint name="basefoot_peg_M1_basefoot_peg_M1_joint_joint" type="fixed">
        <parent link="lowerleg_M1_link"/>
        <child link="footM1_link"/>
        <origin xyz="0 0 0.06" rpy="0 0 0"/>
    </joint>

    <link name="footM2_link">
 	    <inertial>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <mass value="0.01" />
            <inertia ixx="1.28e-06" ixy="0.0" ixz="0.0" iyy="1.28e-06" iyz="0.0" izz="1.28e-06"/>
        </inertial>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.008"/>
            </geometry>
        </collision>
        <visual>
            <origin rpy="0.0 0 0" xyz="0 0 0"/>
            <geometry>
                <sphere radius="0.008"/>
            </geometry>
        </visual>
	</link>

    <gazebo reference="footM2_link">
        <kp>1000.0</kp>
        <kd>1000.0</kd>
        <mu1>0.5</mu1>
        <mu2>0.5</mu2>
        <material>Gazebo/Green</material>
    </gazebo>

    <joint name="basefoot_peg_M2_basefoot_peg_M2_joint_joint" type="fixed">
        <parent link="lowerleg_M2_link"/>
        <child link="footM2_link"/>
        <origin xyz="0 0 0.06" rpy="0 0 0"/>
    </joint>

    <link name="footM3_link">
 	    <inertial>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <mass value="0.01" />
            <inertia ixx="1.28e-06" ixy="0.0" ixz="0.0" iyy="1.28e-06" iyz="0.0" izz="1.28e-06"/>
        </inertial>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.008"/>
            </geometry>
        </collision>
        <visual>
            <origin rpy="0.0 0 0" xyz="0 0 0"/>
            <geometry>
                <sphere radius="0.008"/>
            </geometry>
        </visual>
	</link>

    <gazebo reference="footM3_link">
        <kp>1000.0</kp>
        <kd>1000.0</kd>
        <mu1>0.5</mu1>
        <mu2>0.5</mu2>
        <material>Gazebo/Blue</material>
    </gazebo>

    <joint name="basefoot_peg_M3_basefoot_peg_M3_joint_joint" type="fixed">
        <parent link="lowerleg_M3_link"/>
        <child link="footM3_link"/>
        <origin xyz="0 0 0.06" rpy="0 0 0"/>
    </joint>


    <gazebo>
        <plugin name="gazebo_ros_imu_controller" filename="libgazebo_ros_imu.so">
          <robotNamespace>/gurdy</robotNamespace>
          <topicName>imu/data</topicName>
          <serviceName>imu/service</serviceName>
          <bodyName>base_link</bodyName>
          <gaussianNoise>0</gaussianNoise>
          <rpyOffsets>0 0 0</rpyOffsets>
          <updateRate>5.0</updateRate>
          <alwaysOn>true</alwaysOn>
          <gaussianNoise>0</gaussianNoise>
        </plugin>
    </gazebo>



</robot>