<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from /root/ibrido_ws/src/iit-centauro-ros-pkg/centauro_srdf/srdf/centauro.srdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<!--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="centauro">
  <!-- none, ball, dagana_fixed, dagana -->
  <!-- <virtual_joint name="root_joint" type="floating" parent_frame="world_frame" child_link="pelvis"/> -->

  <group name="base">
    <link name="pelvis"/>
  </group>
  <group name="imu_sensors">
    <link name="imu_link"/>
  </group>
  <group name="front_left_leg">
    <chain base_link="pelvis" tip_link="wheel_1"/>
  </group>
  <group name="front_right_leg">
    <chain base_link="pelvis" tip_link="wheel_2"/>
  </group>
  <group name="rear_right_leg">
    <chain base_link="pelvis" tip_link="wheel_4"/>
  </group>
  <group name="rear_left_leg">
    <chain base_link="pelvis" tip_link="wheel_3"/>
  </group>
  <group name="left_arm">
    <chain base_link="torso_2" tip_link="arm1_8"/>
  </group>
  <group name="right_arm">
    <chain base_link="torso_2" tip_link="arm2_8"/>
  </group>
  <group name="torso">
    <chain base_link="pelvis" tip_link="torso_2"/>
  </group>
  <group name="velodyne">
    <chain base_link="torso_2" tip_link="velodyne_motor"/>
  </group>
  <group name="d435_head">
    <chain base_link="torso_2" tip_link="d435_head_motor"/>
  </group>
  <group name="chains">
    <group name="front_left_leg"/>
    <group name="front_right_leg"/>
    <group name="rear_right_leg"/>
    <group name="rear_left_leg"/>
    <group name="left_arm"/>
    <group name="right_arm"/>
    <group name="torso"/>
    <group name="velodyne"/>
    <group name="d435_head"/>
  </group>

  <!-- Homing posture -->
  <group_state name="homing_nominal" group="chains">
    <joint name="hip_yaw_1" value="-0.746874"/>
    <joint name="hip_pitch_1" value="-1.25409"/>
    <joint name="knee_pitch_1" value="-1.55576"/>
    <joint name="ankle_pitch_1" value="-0.301666"/>
    <joint name="ankle_yaw_1" value="0.746874"/>
    <joint name="hip_yaw_2" value="0.746874"/>
    <joint name="hip_pitch_2" value="1.25409"/>
    <joint name="knee_pitch_2" value="1.55576"/>
    <joint name="ankle_pitch_2" value="0.301666"/>
    <joint name="ankle_yaw_2" value="-0.746874"/>
    <joint name="hip_yaw_3" value="0.746874"/>
    <joint name="hip_pitch_3" value="1.25409"/>
    <joint name="knee_pitch_3" value="1.55576"/>
    <joint name="ankle_pitch_3" value="0.301667"/>
    <joint name="ankle_yaw_3" value="-0.746874"/>
    <joint name="hip_yaw_4" value="-0.746874"/>
    <joint name="hip_pitch_4" value="-1.25409"/>
    <joint name="knee_pitch_4" value="-1.55576"/>
    <joint name="ankle_pitch_4" value="-0.301667"/>
    <joint name="ankle_yaw_4" value="0.746874"/>
    <joint name="torso_yaw" value="3.56617e-13"/>
    <joint name="velodyne_joint" value="0"/>
    <joint name="d435_head_joint" value="0"/>
    <joint name="j_arm1_1" value="0.520149"/>
    <joint name="j_arm1_2" value="0.320865"/>
    <joint name="j_arm1_3" value="0.274669"/>
    <joint name="j_arm1_4" value="-2.23604"/>
    <joint name="j_arm1_5" value="0.0500815"/>
    <joint name="j_arm1_6" value="-0.781461"/>
    <joint name="j_arm2_1" value="0.520149"/>
    <joint name="j_arm2_2" value="-0.320865"/>
    <joint name="j_arm2_3" value="-0.274669"/>
    <joint name="j_arm2_4" value="-2.23604"/>
    <joint name="j_arm2_5" value="-0.0500815"/>
    <joint name="j_arm2_6" value="-0.781461"/>
    <joint name="j_wheel_1" value="0.0"/>
    <joint name="j_wheel_2" value="0.0"/>
    <joint name="j_wheel_3" value="0.0"/>
    <joint name="j_wheel_4" value="0.0"/>
  </group_state>
  <!-- Balanced weight homing -->
  <group_state group="chains" name="homing_balanced">
    <joint name="hip_yaw_1" value="-0.5"/>
    <joint name="hip_pitch_1" value="-1.37"/>
    <joint name="knee_pitch_1" value="-1.34"/>
    <joint name="ankle_pitch_1" value="-0.03"/>
    <joint name="ankle_yaw_1" value="0.6"/>
    <joint name="hip_yaw_2" value="0.5"/>
    <joint name="hip_pitch_2" value="1.37"/>
    <joint name="knee_pitch_2" value="1.34"/>
    <joint name="ankle_pitch_2" value="-0.03"/>
    <joint name="ankle_yaw_2" value="-0.6"/>
    <joint name="hip_yaw_3" value="1.28"/>
    <joint name="hip_pitch_3" value="1.29"/>
    <joint name="knee_pitch_3" value="1.71"/>
    <joint name="ankle_pitch_3" value="0.43"/>
    <joint name="ankle_yaw_3" value="-1.3"/>
    <joint name="hip_yaw_4" value="-1.28"/>
    <joint name="hip_pitch_4" value="-1.29"/>
    <joint name="knee_pitch_4" value="-1.71"/>
    <joint name="ankle_pitch_4" value="-0.43"/>
    <joint name="ankle_yaw_4" value="1.3"/>
    <joint name="torso_yaw" value="3.56617e-13"/>
    <joint name="velodyne_joint" value="0"/>
    <joint name="d435_head_joint" value="0"/>
    <joint name="j_arm1_1" value="0.520149"/>
    <joint name="j_arm1_2" value="0.320865"/>
    <joint name="j_arm1_3" value="0.274669"/>
    <joint name="j_arm1_4" value="-2.23604"/>
    <joint name="j_arm1_5" value="0.0500815"/>
    <joint name="j_arm1_6" value="-0.781461"/>
    <joint name="j_arm2_1" value="0.520149"/>
    <joint name="j_arm2_2" value="-0.320865"/>
    <joint name="j_arm2_3" value="-0.274669"/>
    <joint name="j_arm2_4" value="-2.23604"/>
    <joint name="j_arm2_5" value="-0.0500815"/>
    <joint name="j_arm2_6" value="-0.781461"/>
    <joint name="j_wheel_1" value="0.0"/>
    <joint name="j_wheel_2" value="0.0"/>
    <joint name="j_wheel_3" value="0.0"/>
    <joint name="j_wheel_4" value="0.0"/>
  </group_state>
</robot>
