From 41e28e3587adacc14d0cba7b5b4833b4994bf901 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Tue, 20 Nov 2018 21:40:20 -0800
Subject: [PATCH] Add link/joint names for DeepMimic humanoid urdf

---
 .../gym/pybullet_data/humanoid/humanoid.urdf  | 128 +++++++++---------
 1 file changed, 66 insertions(+), 62 deletions(-)

diff --git a/examples/pybullet/gym/pybullet_data/humanoid/humanoid.urdf b/examples/pybullet/gym/pybullet_data/humanoid/humanoid.urdf
index 9a3d4938e..334b5eda1 100644
--- a/examples/pybullet/gym/pybullet_data/humanoid/humanoid.urdf
+++ b/examples/pybullet/gym/pybullet_data/humanoid/humanoid.urdf
@@ -1,12 +1,12 @@
 <robot name="dumpUrdf">
-	<link name="root" >
+	<link name="base" >
 		<inertial>
 				<origin rpy = "0 0 0" xyz = "0 0 0" />
 			 <mass value = "0.00100" />
 			<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
 		</inertial>
 	</link>
-	<link name="link0" >
+	<link name="root" >
 		<inertial>
 				<origin rpy = "0 0 0" xyz = "0.000000 0.280000 0.000000" />
 			 <mass value = "6.000000" />
@@ -19,12 +19,12 @@
 			</geometry>
 		</collision>
 	</link>
-	<joint name="joint0" type="fixed" >
-		<parent link = "root" />
-		<child link="link0" />
+	<joint name="root" type="fixed" >
+		<parent link = "base" />
+		<child link="root" />
 				<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.000000" />
 	</joint>
-	<link name="link1" >
+	<link name="chest" >
 		<inertial>
 				<origin rpy = "0 0 0" xyz = "0.000000 0.480000 0.000000" />
 			 <mass value = "14.000000" />
@@ -37,12 +37,12 @@
 			</geometry>
 		</collision>
 	</link>
-	<joint name="joint1" type="spherical" >
-		<parent link="link0" />
-		<child link="link1" />
+	<joint name="chest" type="spherical" >
+		<parent link="root" />
+		<child link="chest" />
 				<origin rpy = "0 0 0" xyz = "0.000000 0.944604 0.000000" />
 	</joint>
-	<link name="link2" >
+	<link name="neck" >
 		<inertial>
 				<origin rpy = "0 0 0" xyz = "0.000000 0.700000 0.000000" />
 			 <mass value = "2.000000" />
@@ -55,12 +55,12 @@
 			</geometry>
 		</collision>
 	</link>
-	<joint name="joint2" type="spherical" >
-		<parent link="link1" />
-		<child link="link2" />
+	<joint name="neck" type="spherical" >
+		<parent link="chest" />
+		<child link="neck" />
 				<origin rpy = "0 0 0" xyz = "0.000000 0.895576 0.000000" />
 	</joint>
-	<link name="link3" >
+	<link name="right_hip" >
 		<inertial>
 				<origin rpy = "0 0 0" xyz = "0.000000 -0.840000 0.000000" />
 			 <mass value = "4.500000" />
@@ -73,12 +73,12 @@
 			</geometry>
 		</collision>
 	</link>
-	<joint name="joint3" type="spherical" >
-		<parent link="link0" />
-		<child link="link3" />
+	<joint name="right_hip" type="spherical" >
+		<parent link="root" />
+		<child link="right_hip" />
 				<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.339548" />
 	</joint>
-	<link name="link4" >
+	<link name="right_knee" >
 		<inertial>
 				<origin rpy = "0 0 0" xyz = "0.000000 -0.800000 0.000000" />
 			 <mass value = "3.000000" />
@@ -91,13 +91,14 @@
 			</geometry>
 		</collision>
 	</link>
-	<joint name="joint4" type="continuous" >
-		<parent link="link3" />
-		<child link="link4" />
-				<origin rpy = "0 0 0" xyz = "0.000000 -1.686184 0.000000" />
+	<joint name="right_knee" type="revolute" >
+		<parent link="right_hip" />
+		<child link="right_knee" />
+		 <limit effort="1000.0" lower="-3.14" upper="0." velocity="0.5"/>
+			<origin rpy = "0 0 0" xyz = "0.000000 -1.686184 0.000000" />
 		<axis xyz = "0.000000 0.000000 1.000000" />
 	</joint>
-	<link name="link5" >
+	<link name="right_ankle" >
 		<inertial>
 				<origin rpy = "0 0 0" xyz = "0.180000 -0.090000 0.000000" />
 			 <mass value = "1.000000" />
@@ -110,12 +111,12 @@
 			</geometry>
 		</collision>
 	</link>
-	<joint name="joint5" type="spherical" >
-		<parent link="link4" />
-		<child link="link5" />
+	<joint name="right_ankle" type="spherical" >
+		<parent link="right_knee" />
+		<child link="right_ankle" />
 				<origin rpy = "0 0 0" xyz = "0.000000 -1.639480 0.000000" />
 	</joint>
-	<link name="link6" >
+	<link name="right_shoulder" >
 		<inertial>
 				<origin rpy = "0 0 0" xyz = "0.000000 -0.560000 0.000000" />
 			 <mass value = "1.500000" />
@@ -128,12 +129,12 @@
 			</geometry>
 		</collision>
 	</link>
-	<joint name="joint6" type="spherical" >
-		<parent link="link1" />
-		<child link="link6" />
+	<joint name="right_shoulder" type="spherical" >
+		<parent link="chest" />
+		<child link="right_shoulder" />
 				<origin rpy = "0 0 0" xyz = "-0.096200 0.974000 0.732440" />
 	</joint>
-	<link name="link7" >
+	<link name="right_elbow" >
 		<inertial>
 				<origin rpy = "0 0 0" xyz = "0.000000 -0.480000 0.000000" />
 			 <mass value = "1.000000" />
@@ -146,13 +147,14 @@
 			</geometry>
 		</collision>
 	</link>
-	<joint name="joint7" type="continuous" >
-		<parent link="link6" />
-		<child link="link7" />
+	<joint name="right_elbow" type="revolute" >
+		<parent link="right_shoulder" />
+		<child link="right_elbow" />
+		<limit effort="1000.0" lower="0" upper="3.14" velocity="0.5"/>
 				<origin rpy = "0 0 0" xyz = "0.000000 -1.099152 0.000000" />
 		<axis xyz = "0.000000 0.000000 1.000000" />
 	</joint>
-	<link name="link8" >
+	<link name="right_wrist" >
 		<inertial>
 				<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.000000" />
 			 <mass value = "0.500000" />
@@ -165,12 +167,12 @@
 			</geometry>
 		</collision>
 	</link>
-	<joint name="joint8" type="fixed" >
-		<parent link="link7" />
-		<child link="link8" />
+	<joint name="right_wrist" type="fixed" >
+		<parent link="right_elbow" />
+		<child link="right_wrist" />
 				<origin rpy = "0 0 0" xyz = "0.000000 -1.035788 0.000000" />
 	</joint>
-	<link name="link9" >
+	<link name="left_hip" >
 		<inertial>
 				<origin rpy = "0 0 0" xyz = "0.000000 -0.840000 0.000000" />
 			 <mass value = "4.500000" />
@@ -183,12 +185,12 @@
 			</geometry>
 		</collision>
 	</link>
-	<joint name="joint9" type="spherical" >
-		<parent link="link0" />
-		<child link="link9" />
+	<joint name="left_hip" type="spherical" >
+		<parent link="root" />
+		<child link="left_hip" />
 				<origin rpy = "0 0 0" xyz = "0.000000 0.000000 -0.339548" />
 	</joint>
-	<link name="link10" >
+	<link name="left_knee" >
 		<inertial>
 				<origin rpy = "0 0 0" xyz = "0.000000 -0.800000 0.000000" />
 			 <mass value = "3.000000" />
@@ -201,13 +203,14 @@
 			</geometry>
 		</collision>
 	</link>
-	<joint name="joint10" type="continuous" >
-		<parent link="link9" />
-		<child link="link10" />
+	<joint name="left_knee" type="revolute" >
+		<parent link="left_hip" />
+		<child link="left_knee" />
+		<limit effort="1000.0" lower="-3.14" upper="0." velocity="0.5"/>
 				<origin rpy = "0 0 0" xyz = "0.000000 -1.686184 0.000000" />
 		<axis xyz = "0.000000 0.000000 1.000000" />
 	</joint>
-	<link name="link11" >
+	<link name="left_ankle" >
 		<inertial>
 				<origin rpy = "0 0 0" xyz = "0.180000 -0.090000 0.000000" />
 			 <mass value = "1.000000" />
@@ -220,12 +223,12 @@
 			</geometry>
 		</collision>
 	</link>
-	<joint name="joint11" type="spherical" >
-		<parent link="link10" />
-		<child link="link11" />
+	<joint name="left_ankle" type="spherical" >
+		<parent link="left_knee" />
+		<child link="left_ankle" />
 				<origin rpy = "0 0 0" xyz = "0.000000 -1.639480 0.000000" />
 	</joint>
-	<link name="link12" >
+	<link name="left_shoulder" >
 		<inertial>
 				<origin rpy = "0 0 0" xyz = "0.000000 -0.560000 0.000000" />
 			 <mass value = "1.500000" />
@@ -238,12 +241,12 @@
 			</geometry>
 		</collision>
 	</link>
-	<joint name="joint12" type="spherical" >
-		<parent link="link1" />
-		<child link="link12" />
+	<joint name="left_shoulder" type="spherical" >
+		<parent link="chest" />
+		<child link="left_shoulder" />
 				<origin rpy = "0 0 0" xyz = "-0.096200 0.974000 -0.732440" />
 	</joint>
-	<link name="link13" >
+	<link name="left_elbow" >
 		<inertial>
 				<origin rpy = "0 0 0" xyz = "0.000000 -0.480000 0.000000" />
 			 <mass value = "1.000000" />
@@ -256,13 +259,14 @@
 			</geometry>
 		</collision>
 	</link>
-	<joint name="joint13" type="continuous" >
-		<parent link="link12" />
-		<child link="link13" />
+	<joint name="left_elbow" type="revolute" >
+		<parent link="left_shoulder" />
+		<child link="left_elbow" />
+		<limit effort="1000.0" lower="0" upper="3.14" velocity="0.5"/>
 				<origin rpy = "0 0 0" xyz = "0.000000 -1.099152 0.000000" />
 		<axis xyz = "0.000000 0.000000 1.000000" />
 	</joint>
-	<link name="link14" >
+	<link name="left_wrist" >
 		<inertial>
 				<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.000000" />
 			 <mass value = "0.500000" />
@@ -275,9 +279,9 @@
 			</geometry>
 		</collision>
 	</link>
-	<joint name="joint14" type="fixed" >
-		<parent link="link13" />
-		<child link="link14" />
+	<joint name="left_wrist" type="fixed" >
+		<parent link="left_elbow" />
+		<child link="left_wrist" />
 				<origin rpy = "0 0 0" xyz = "0.000000 -1.035788 0.000000" />
 	</joint>
 </robot>