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simple_humanoid.srdf
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<?xml version="1.0" ?>
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot name="romeo">
<group_state name="half_sitting" group="all">
<joint name="root_joint" value="0. 0. 1. 0. 0. 0. 1." />
<joint name="WAIST_P" value="1.0" />
<joint name="WAIST_R" value="1.0" />
<joint name="CHEST" value="0.0" />
<joint name="LARM_SHOULDER_P" value="0.0" />
<joint name="LARM_SHOULDER_R" value="0.0" />
<joint name="LARM_SHOULDER_Y" value="0.0" />
<joint name="LARM_ELBOW" value="0.0" />
<joint name="LARM_WRIST_Y" value="0.0" />
<joint name="LARM_WRIST_P" value="0.0" />
<joint name="LARM_WRIST_R" value="0.0" />
<joint name="RARM_SHOULDER_P" value="0.0" />
<joint name="RARM_SHOULDER_R" value="0.0" />
<joint name="RARM_SHOULDER_Y" value="0.0" />
<joint name="RARM_ELBOW" value="0.0" />
<joint name="RARM_WRIST_Y" value="0.0" />
<joint name="RARM_WRIST_P" value="0.0" />
<joint name="RARM_WRIST_R" value="0.0" />
<joint name="LLEG_HIP_R" value="0.0" />
<joint name="LLEG_HIP_P" value="0.0" />
<joint name="LLEG_HIP_Y" value="0.0" />
<joint name="LLEG_KNEE" value="0.0" />
<joint name="LLEG_ANKLE_P" value="0.0" />
<joint name="LLEG_ANKLE_R" value="0.0" />
<joint name="RLEG_HIP_R" value="0.0" />
<joint name="RLEG_HIP_P" value="0.0" />
<joint name="RLEG_HIP_Y" value="0.0" />
<joint name="RLEG_KNEE" value="0.0" />
<joint name="RLEG_ANKLE_P" value="0.0" />
<joint name="RLEG_ANKLE_R" value="0.0" />
</group_state>
<group_state name="half_sitting2" group="all">
<joint name="root_joint" value="0. 0. 1. 0. 0. 0. 1." />
<joint name="WAIST_P" value="-1.0" />
<joint name="WAIST_R" value="1.0" />
<joint name="CHEST" value="0.0" />
<joint name="LARM_SHOULDER_P" value="0.0" />
<joint name="LARM_SHOULDER_R" value="0.0" />
<joint name="LARM_SHOULDER_Y" value="0.0" />
<joint name="LARM_ELBOW" value="0.0" />
<joint name="LARM_WRIST_Y" value="0.0" />
<joint name="LARM_WRIST_P" value="0.0" />
<joint name="LARM_WRIST_R" value="0.0" />
<joint name="RARM_SHOULDER_P" value="0.0" />
<joint name="RARM_SHOULDER_R" value="0.0" />
<joint name="RARM_SHOULDER_Y" value="0.0" />
<joint name="RARM_ELBOW" value="0.0" />
<joint name="RARM_WRIST_Y" value="0.0" />
<joint name="RARM_WRIST_P" value="0.0" />
<joint name="RARM_WRIST_R" value="0.0" />
<joint name="LLEG_HIP_R" value="0.0" />
<joint name="LLEG_HIP_P" value="0.0" />
<joint name="LLEG_HIP_Y" value="0.0" />
<joint name="LLEG_KNEE" value="0.0" />
<joint name="LLEG_ANKLE_P" value="0.0" />
<joint name="LLEG_ANKLE_R" value="0.0" />
<joint name="RLEG_HIP_R" value="0.0" />
<joint name="RLEG_HIP_P" value="0.0" />
<joint name="RLEG_HIP_Y" value="0.0" />
<joint name="RLEG_KNEE" value="0.0" />
<joint name="RLEG_ANKLE_P" value="0.0" />
<joint name="RLEG_ANKLE_R" value="0.0" />
</group_state>
<rotor_params>
<joint name="WAIST_P" mass="1.0" gear_ratio="0.0" />
<joint name="WAIST_R" mass="0.0" gear_ratio="1.0" />
<joint name="CHEST" mass="0.0" gear_ratio="0.0" />
<joint name="LARM_SHOULDER_P" mass="0.0" gear_ratio="0.0" />
<joint name="LARM_SHOULDER_R" mass="0.0" gear_ratio="0.0" />
<joint name="LARM_SHOULDER_Y" mass="0.0" gear_ratio="0.0" />
<joint name="LARM_ELBOW" mass="0.0" gear_ratio="0.0" />
<joint name="LARM_WRIST_Y" mass="0.0" gear_ratio="0.0" />
<joint name="LARM_WRIST_P" mass="0.0" gear_ratio="0.0" />
<joint name="LARM_WRIST_R" mass="0.0" gear_ratio="0.0" />
<joint name="RARM_SHOULDER_P" mass="0.0" gear_ratio="0.0" />
<joint name="RARM_SHOULDER_R" mass="0.0" gear_ratio="0.0" />
<joint name="RARM_SHOULDER_Y" mass="0.0" gear_ratio="0.0" />
<joint name="RARM_ELBOW" mass="0.0" gear_ratio="0.0" />
<joint name="RARM_WRIST_Y" mass="0.0" gear_ratio="0.0" />
<joint name="RARM_WRIST_P" mass="0.0" gear_ratio="0.0" />
<joint name="RARM_WRIST_R" mass="0.0" gear_ratio="0.0" />
<joint name="LLEG_HIP_R" mass="0.0" gear_ratio="0.0" />
<joint name="LLEG_HIP_P" mass="0.0" gear_ratio="0.0" />
<joint name="LLEG_HIP_Y" mass="0.0" gear_ratio="0.0" />
<joint name="LLEG_KNEE" mass="0.0" gear_ratio="0.0" />
<joint name="LLEG_ANKLE_P" mass="0.0" gear_ratio="0.0" />
<joint name="LLEG_ANKLE_R" mass="0.0" gear_ratio="0.0" />
<joint name="RLEG_HIP_R" mass="0.0" gear_ratio="0.0" />
<joint name="RLEG_HIP_P" mass="0.0" gear_ratio="0.0" />
<joint name="RLEG_HIP_Y" mass="0.0" gear_ratio="0.0" />
<joint name="RLEG_KNEE" mass="0.0" gear_ratio="0.0" />
<joint name="RLEG_ANKLE_P" mass="0.0" gear_ratio="0.0" />
<joint name="RLEG_ANKLE_R" mass="0.0" gear_ratio="0.0" />
</rotor_params>
</robot>