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minor changes in human urdf for axis of rotation conventions #317

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Merged
merged 3 commits into from
Aug 19, 2025
Merged

minor changes in human urdf for axis of rotation conventions #317

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24f071f
changes in axis of rotation (and bounds values) to match the model de…
Aug 19, 2025
2f37817
put visual of torso after thoracic joint
Aug 19, 2025
7912a50
fix mesh scaling function
Aug 19, 2025
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4 changes: 2 additions & 2 deletions python/example_robot_data/human.py
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Original file line number Diff line number Diff line change
Expand Up @@ -911,7 +911,7 @@ def get_dict_meshes_scale(
"left_lowerleg_1",
"left_foot_0",
"middle_abdomen_0",
"middle_abdomen_1",
"middle_thorax_0",
"middle_head_0",
"middle_head_1",
"left_upperarm_0",
Expand Down Expand Up @@ -1020,7 +1020,7 @@ def get_dict_meshes_scale(
)
scales.append(scale)
elif (
name == "middle_abdomen_1"
name == "middle_thorax_0"
): # torso mesh size is : X = 36.991m, Y = 35m, Z = 40.029m
scale = np.round(
np.array(
Expand Down
42 changes: 21 additions & 21 deletions robots/human_description/robots/human.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -40,10 +40,10 @@
<link name="left_upperleg_virtual_2"/>
<joint name="left_hip_Y" type="revolute">
<origin xyz="0 0 0" rpy="0 -0 0" />
<axis xyz="0 1 0" />
<axis xyz="0 -1 0" />
<parent link="left_upperleg_virtual_2" />
<child link="left_upperleg" />
<limit effort="60" velocity="12.0" lower="-1.047196667" upper="1.570795" />
<limit effort="60" velocity="12.0" lower="-1.570795" upper="1.047196667" />
</joint>
<link name="left_upperleg">
<inertial>
Expand Down Expand Up @@ -122,7 +122,7 @@
<axis xyz="0 0 -1" />
<parent link="middle_pelvis" />
<child link="middle_abdomen_virtual" />
<limit effort="190" velocity="5.2" lower="-3.14159" upper="0.785398" />
<limit effort="190" velocity="5.2" lower="-0.785398" upper="3.14159" />
</joint>
<link name="middle_abdomen_virtual" />
<joint name="middle_lumbar_X" type="revolute">
Expand All @@ -146,21 +146,13 @@
</geometry>
<material name="body_color"/>
</visual>
<visual>
<origin xyz="-0.0 -0.1 0.0" rpy="0 -0 0" />
<geometry>
<!--<box size="0.15 0.356643 0.329994" />-->
<mesh filename="package://example-robot-data/robots/human_description/meshes/torso_mesh.STL" scale="0.007 0.007 0.007"/>
</geometry>
<material name="body_color"/>
</visual>
</link>
<joint name="middle_thoracic_Z" type="revolute">
<origin xyz="0 0.223 0" rpy="0 -0 0" />
<axis xyz="0 0 -1" />
<parent link="middle_abdomen" />
<child link="middle_thorax_virtual" />
<limit effort="190" velocity="5.2" lower="-1.0472" upper="0.392699" />
<limit effort="190" velocity="5.2" lower="-0.392699" upper="1.0472" />
</joint>
<link name="middle_thorax_virtual" />
<joint name="middle_thoracic_X" type="revolute">
Expand All @@ -184,6 +176,14 @@
<origin xyz="-0.009 0.127 -0.001" rpy="0 -0 0" />
<inertia ixx="0.05463" ixy="0.02428" ixz="-0.0003" iyy="0.04683" iyz="-0.0012" izz="0.05875" />
</inertial>
<visual>
<origin xyz="-0.0 -0.32 0.0" rpy="0 -0 0" />
<geometry>
<!--<box size="0.15 0.356643 0.329994" />-->
<mesh filename="package://example-robot-data/robots/human_description/meshes/torso_mesh.STL" scale="0.007 0.007 0.007"/>
</geometry>
<material name="body_color"/>
</visual>
</link>
<joint name="middle_cervical_Z" type="revolute">
<origin xyz="0 0.25 0" rpy="0 -0 0" />
Expand Down Expand Up @@ -234,7 +234,7 @@
<axis xyz="1 0 0" />
<parent link="middle_thorax" />
<child link="left_clavicle" />
<limit effort="100" velocity="14.0" lower="-1.0472" upper="0.349066" />
<limit effort="100" velocity="14.0" lower="-0.349066" upper="1.0472" />
</joint>
<link name="left_clavicle">
<inertial>
Expand All @@ -261,7 +261,7 @@
<link name="left_upperarm_virtual_2" />
<joint name="left_shoulder_Y" type="revolute">
<origin xyz="0 0 0" rpy="0 -0 0" />
<axis xyz="0 1 0" />
<axis xyz="0 -1 0" />
<parent link="left_upperarm_virtual_2" />
<child link="left_upperarm" />
<limit effort="52" velocity="6.0" lower="-1.5708" upper="3.14159" />
Expand Down Expand Up @@ -297,10 +297,10 @@
<link name="left_lowerarm_virtual"/>
<joint name="left_elbow_Y" type="revolute">
<origin xyz="0 0 0" rpy="0 -0 0" />
<axis xyz="0 1 0" />
<axis xyz="0 -1 0" />
<parent link="left_lowerarm_virtual" />
<child link="left_lowerarm" />
<limit effort="15" velocity="6.0" lower="-3.14159" upper="0.349066" />
<limit effort="15" velocity="6.0" lower="-0.349066" upper="3.14159" />
</joint>
<link name="left_lowerarm">
<inertial>
Expand Down Expand Up @@ -333,7 +333,7 @@
<link name="left_hand_virtual" />
<joint name="left_wrist_X" type="revolute">
<origin xyz="0 0 0" rpy="0 -0 0" />
<axis xyz="-1 0 0" />
<axis xyz="1 0 0" />
<parent link="left_hand_virtual" />
<child link="left_hand" />
<limit effort="100" velocity="6.0" lower="-0.785398" upper="0.785398" />
Expand Down Expand Up @@ -385,7 +385,7 @@
<link name="right_upperarm_virtual_2" />
<joint name="right_shoulder_Y" type="revolute">
<origin xyz="0 0 0" rpy="0 -0 0" />
<axis xyz="0 -1 0" />
<axis xyz="0 1 0" />
<parent link="right_upperarm_virtual_2" />
<child link="right_upperarm" />
<limit effort="52" velocity="6.0" lower="-1.5708" upper="3.14159" />
Expand Down Expand Up @@ -457,7 +457,7 @@
<link name="right_hand_virtual" />
<joint name="right_wrist_X" type="revolute">
<origin xyz="0 0 0" rpy="0 -0 0" />
<axis xyz="1 0 0" />
<axis xyz="-1 0 0" />
<parent link="right_hand_virtual" />
<child link="right_hand" />
<limit effort="100" velocity="6.0" lower="-0.785398" upper="0.785398" />
Expand Down Expand Up @@ -487,10 +487,10 @@
<link name="right_upperleg_virtual" />
<joint name="right_hip_X" type="revolute">
<origin xyz="0 0 0" rpy="0 -0 0" />
<axis xyz="1 0 0" />
<axis xyz="-1 0 0" />
<parent link="right_upperleg_virtual" />
<child link="right_upperleg_virtual_2" />
<limit effort="120" velocity="6.0" lower="-1.570795" upper="1.047196667" />
<limit effort="120" velocity="6.0" lower="-1.047196667" upper="1.570795" />
</joint>
<link name="right_upperleg_virtual_2"/>
<joint name="right_hip_Y" type="revolute">
Expand Down
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