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old_model.sdf
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="simplified_biped">
<link name="lower_leg">
<self_collide>1</self_collide>
<pose> 0 0 0.21 0 0 0 </pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.0038</ixx>
<iyy>0.0038</iyy>
<izz>0.0003</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="base_collision">
<geometry>
<box>
<size> 0.06 0.06 0.3 </size>
</box>
</geometry>
</collision>
<visual name="base_visual">
<geometry>
<box>
<size> 0.06 0.06 0.3 </size>
</box>
</geometry>
</visual>
</link>
<link name="knee">
<self_collide>1</self_collide>
<pose>0 0 0.415 0 1.570796 0</pose>
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.0009</ixx>
<iyy>0.0009</iyy>
<izz>0.0012</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="knee_collision">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.06</length>
</cylinder>
</geometry>
</collision>
<visual name="knee_visual">
<pose> 0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.06</length>
</cylinder>
</geometry>
</visual>
</link>
<link name="upper_leg">
<self_collide>1</self_collide>
<pose> 0 0 0.62 0 0 0 </pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.0038</ixx>
<iyy>0.0038</iyy>
<izz>0.0003</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<!-- To make them perfectly stacked: 0.65m height-->
<collision name="upper_leg_collision">
<geometry>
<box>
<size> 0.06 0.06 0.3 </size>
</box>
</geometry>
</collision>
<visual name="upper_leg_visual">
<geometry>
<box>
<size> 0.06 0.06 0.3 </size>
</box>
</geometry>
</visual>
</link>
<link name="foot_base">
<self_collide>1</self_collide>
<pose>0 0.02 0 0 0 0</pose>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>0.0002</ixx>
<iyy>0.00004</iyy>
<izz>0.00023</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="foot_base_collision">
<geometry>
<box>
<size> 0.08 0.18 0.02</size>
</box>
</geometry>
</collision>
<visual name="foot_base_visual">
<geometry>
<box>
<size> 0.08 0.18 0.02</size>
</box>
</geometry>
</visual>
</link>
<link name="ankle">
<self_collide>1</self_collide>
<pose> 0 0 0.04 0 1.570796 0 </pose>
<inertial>
<mass>0.03</mass>
<inertia>
<ixx>0.0000048</ixx>
<iyy>0.0000048</iyy>
<izz>0.0000008</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="ankle_collision">
<geometry>
<cylinder>
<radius>0.008</radius>
<length>0.06</length>
</cylinder>
</geometry>
</collision>
<visual name="ankle_visual">
<geometry>
<cylinder>
<radius>0.008</radius>
<length>0.06</length>
</cylinder>
</geometry>
</visual>
</link>
<link name="hip_axis_1">
<self_collide>1</self_collide>
<pose> 0 0 0.825 0 1.570796 0 </pose>
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.0009</ixx>
<iyy>0.0009</iyy>
<izz>0.0012</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="hip_axis_1_collision">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.06</length>
</cylinder>
</geometry>
</collision>
<visual name="hip_axis_1_visual">
<pose> 0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.06</length>
</cylinder>
</geometry>
</visual>
</link>
<link name="hip_axis_2">
<self_collide>1</self_collide>
<pose>0 0 0.97 0 1.570796 1.570796 </pose>
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.0009</ixx>
<iyy>0.0009</iyy>
<izz>0.0012</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="hip_axis_2_collision">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.06</length>
</cylinder>
</geometry>
</collision>
<visual name="hip_axis_2_visual">
<pose> 0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.06</length>
</cylinder>
</geometry>
</visual>
</link>
<link name="hip_axis_3">
<self_collide>1</self_collide>
<pose> 0 0 1.115 0 0 0 </pose> <!--145mm from center of hip axis 2-->
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.0009</ixx>
<iyy>0.0009</iyy>
<izz>0.0012</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="hip_axis_3_collision">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.06</length>
</cylinder>
</geometry>
</collision>
<visual name="hip_axis_3_visual">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.06</length>
</cylinder>
</geometry>
</visual>
</link>
<joint type="revolute" name="knee_lower_leg_joint">
<pose> 0 0 0.205 0 0 0 </pose>
<parent>knee</parent>
<child>lower_leg</child>
<axis>
<xyz>1 0 0 </xyz>
</axis>
</joint>
<joint type="revolute" name="hip_axis_1_upper_leg_joint">
<pose> 0 0 0.205 0 0 0 </pose>
<parent>hip_axis_1</parent>
<child>upper_leg</child>
<axis>
<xyz>1 0 0 </xyz>
</axis>
</joint>
<joint type="revolute" name="hip_axis_2_hip_axis_1_joint">
<pose> -0.145 0 0 0 -1.570796 0 </pose>
<parent>hip_axis_2</parent>
<child>hip_axis_1</child>
<axis>
<xyz> 0 1 0 </xyz>
</axis>
</joint>
<joint type="revolute" name="hip_axis_3_hip_axis_2_joint">
<pose> -0.105 0 0 0 -1.5707 0 </pose>
<parent>hip_axis_3</parent>
<child>hip_axis_2</child>
<axis>
<xyz> 0 0 1 </xyz>
</axis>
</joint>
<joint type="revolute" name="ankle_foot_base_joint">
<pose> 0 -0.02 0.04 0 0 0 </pose>
<parent>ankle</parent>
<child>foot_base</child>
<axis>
<xyz>1 0 0 </xyz>
</axis>
</joint>
<joint type="fixed" name="knee_upper_leg_joint">
<pose>0 0 0 0 0 0 </pose>
<parent>upper_leg</parent>
<child>knee</child>
</joint>
<joint type="fixed" name="ankle_lower_leg_joint">
<pose> 0 0 0 0 0 0 </pose>
<parent>lower_leg</parent>
<child>ankle</child>
</joint>
</model>
</sdf>