From af71c2518d9b473143f35136840998d9c3314cf1 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 31 Oct 2024 14:52:53 -0700
Subject: [PATCH 1/3] fixing mmm.xml (warning: unknown tag)
---
data/RobotAPI/robots/MMM/mmm.xml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/data/RobotAPI/robots/MMM/mmm.xml b/data/RobotAPI/robots/MMM/mmm.xml
index 862cd928c..6741a69eb 100644
--- a/data/RobotAPI/robots/MMM/mmm.xml
+++ b/data/RobotAPI/robots/MMM/mmm.xml
@@ -25,7 +25,7 @@
<row2 c1='0' c2='1' c3='0' c4='-38.9454' />
<row3 c1='0' c2='0' c3='1' c4='-0.688374' />
<row4 c1='0' c2='0' c3='0' c4='1' />
- </Matrix4x4>BLNsegment_joint
+ </Matrix4x4>
</Transform>
</Sensor>
<Sensor type='position' name='MARKER_CLAV'>
--
GitLab
From 5217e2e1982a7864d3df5b50b1b6c11baca05004 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 31 Oct 2024 14:53:52 -0700
Subject: [PATCH 2/3] formatting mmm xml file
---
data/RobotAPI/robots/MMM/mmm.xml | 3025 +++++++++++++++---------------
1 file changed, 1542 insertions(+), 1483 deletions(-)
diff --git a/data/RobotAPI/robots/MMM/mmm.xml b/data/RobotAPI/robots/MMM/mmm.xml
index 6741a69eb..c386d1b81 100644
--- a/data/RobotAPI/robots/MMM/mmm.xml
+++ b/data/RobotAPI/robots/MMM/mmm.xml
@@ -12,11 +12,11 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='1'/>
- <limits lo='0' hi='22' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='1' />
+ <limits lo='0' hi='22' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Sensor type='position' name='MARKER_C7'>
<Transform>
@@ -25,7 +25,7 @@
<row2 c1='0' c2='1' c3='0' c4='-38.9454' />
<row3 c1='0' c2='0' c3='1' c4='-0.688374' />
<row4 c1='0' c2='0' c3='0' c4='1' />
- </Matrix4x4>
+ </Matrix4x4>
</Transform>
</Sensor>
<Sensor type='position' name='MARKER_CLAV'>
@@ -38,53 +38,53 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='BLNx_joint'/>
+ <Child name='BLNx_joint' />
</RobotNode>
<RobotNode name='BLNx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.785398' hi='0.261799' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.785398' hi='0.261799' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='BLNz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='BLNz_joint' />
</RobotNode>
<RobotNode name='BLNy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.349066' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.349066' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='BUNsegment_joint'/>
+ <Child name='BUNsegment_joint' />
</RobotNode>
<RobotNode name='BLNz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-0.261799' hi='0.261799' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-0.261799' hi='0.261799' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='BLNy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='BLNy_joint' />
</RobotNode>
@@ -98,19 +98,19 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='1'/>
- <limits lo='0' hi='40' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='1' />
+ <limits lo='0' hi='40' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.11'/>
- <CoM location='Custom' x='0' y='3.33729e-08' z='-35.8'/>
+ <Mass unit='kg' value='0.11' />
+ <CoM location='Custom' x='0' y='3.33729e-08' z='-35.8' />
<InertiaMatrix>
- <row1 c1='0.000454' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0003637' c3='0'/>
- <row3 c1='0' c2='0' c3='0.0004191'/>
+ <row1 c1='0.000454' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0003637' c3='0' />
+ <row3 c1='0' c2='0' c3='0.0004191' />
</InertiaMatrix>
</Physics>
<Sensor type='position' name='MARKER_L3'>
@@ -123,53 +123,53 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='BPx_joint'/>
+ <Child name='BPx_joint' />
</RobotNode>
<RobotNode name='BPx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.872665' hi='0.610865' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.872665' hi='0.610865' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='BPz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='BPz_joint' />
</RobotNode>
<RobotNode name='BPy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.349066' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.349066' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='BTSegment_joint'/>
+ <Child name='BTSegment_joint' />
</RobotNode>
<RobotNode name='BPz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='BPy_joint'/>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='BPy_joint' />
</RobotNode>
@@ -183,76 +183,77 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='1'/>
- <limits lo='0' hi='60' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='1' />
+ <limits lo='0' hi='60' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.1'/>
- <CoM location='Custom' x='0' y='3.33729e-08' z='-33.6'/>
+ <Mass unit='kg' value='0.1' />
+ <CoM location='Custom' x='0' y='3.33729e-08' z='-33.6' />
<InertiaMatrix>
- <row1 c1='1.024' c2='0' c3='0'/>
- <row2 c1='0' c2='0.81796' c3='0'/>
- <row3 c1='0' c2='0' c3='0.676'/>
+ <row1 c1='1.024' c2='0' c3='0' />
+ <row2 c1='0' c2='0.81796' c3='0' />
+ <row3 c1='0' c2='0' c3='0.676' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/BTSegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='BTx_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='BTx_joint' />
</RobotNode>
<RobotNode name='BTx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.610865' hi='0.471239' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.610865' hi='0.471239' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='BTz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='BTz_joint' />
</RobotNode>
<RobotNode name='BTy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.349066' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.349066' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='collarSegment_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='collarSegment_joint' />
</RobotNode>
<RobotNode name='BTz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-0.628319' hi='0.628319' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-0.628319' hi='0.628319' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='BTy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='BTy_joint' />
</RobotNode>
@@ -266,72 +267,73 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='1'/>
- <limits lo='0' hi='30' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='1' />
+ <limits lo='0' hi='30' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.024'/>
- <CoM location='Custom' x='0' y='3.33729e-08' z='-15'/>
+ <Mass unit='kg' value='0.024' />
+ <CoM location='Custom' x='0' y='3.33729e-08' z='-15' />
<InertiaMatrix>
- <row1 c1='0.0287585' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0287585' c3='0'/>
- <row3 c1='0' c2='0' c3='0.0139392'/>
+ <row1 c1='0.0287585' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0287585' c3='0' />
+ <row3 c1='0' c2='0' c3='0.0139392' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/BUNsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='BUNx_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='BUNx_joint' />
</RobotNode>
<RobotNode name='BUNx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.349066' hi='0.523599' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.349066' hi='0.523599' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='BUNz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='BUNz_joint' />
</RobotNode>
<RobotNode name='BUNy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.261799' hi='0.261799' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.261799' hi='0.261799' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='MidHeadSegment_joint'/>
- <Child name='HeadSegment_joint'/>
+ <Child name='MidHeadSegment_joint' />
+ <Child name='HeadSegment_joint' />
</RobotNode>
<RobotNode name='BUNz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-0.349066' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-0.349066' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='BUNy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='BUNy_joint' />
</RobotNode>
@@ -345,24 +347,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='1'/>
- <limits lo='0' hi='130' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='1' />
+ <limits lo='0' hi='130' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.07'/>
- <CoM location='Custom' x='0' y='3.33729e-08' z='-65'/>
+ <Mass unit='kg' value='0.07' />
+ <CoM location='Custom' x='0' y='3.33729e-08' z='-65' />
<InertiaMatrix>
- <row1 c1='0.612157' c2='0' c3='0'/>
- <row2 c1='0' c2='0.5733' c3='0'/>
- <row3 c1='0' c2='0' c3='0.430612'/>
+ <row1 c1='0.612157' c2='0' c3='0' />
+ <row2 c1='0' c2='0.5733' c3='0' />
+ <row3 c1='0' c2='0' c3='0.430612' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/HeadSegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LBHD'>
<Transform>
<Matrix4x4 units='mm'>
@@ -416,24 +419,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='246' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='246' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.04'/>
- <CoM location='Custom' x='-2.75474e-12' y='1.04413e-05' z='139.5'/>
+ <Mass unit='kg' value='0.04' />
+ <CoM location='Custom' x='-2.75474e-12' y='1.04413e-05' z='139.5' />
<InertiaMatrix>
- <row1 c1='0.237419' c2='0' c3='0'/>
- <row2 c1='0' c2='0.256481' c3='0'/>
- <row3 c1='0' c2='0' c3='0.040572'/>
+ <row1 c1='0.237419' c2='0' c3='0' />
+ <row2 c1='0' c2='0.256481' c3='0' />
+ <row3 c1='0' c2='0' c3='0.040572' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/LAsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LTIP'>
<Transform>
<Matrix4x4 units='mm'>
@@ -444,38 +448,39 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='LAx_joint'/>
+ <Child name='LAx_joint' />
</RobotNode>
<RobotNode name='LAx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.698132' hi='0.523599' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.698132' hi='0.523599' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='LAz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='LAz_joint' />
</RobotNode>
<RobotNode name='LAy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.349066' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.349066' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LAy_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LANK'>
<Transform>
<Matrix4x4 units='mm'>
@@ -496,25 +501,25 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='LeftFootHeight_joint'/>
- <Child name='LMrot_joint'/>
+ <Child name='LeftFootHeight_joint' />
+ <Child name='LMrot_joint' />
</RobotNode>
<RobotNode name='LAz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-0.523599' hi='0.523599' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-0.523599' hi='0.523599' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='LAy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='LAy_joint' />
</RobotNode>
@@ -528,24 +533,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='188' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='188' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.027'/>
- <CoM location='Custom' x='-8.25728e-12' y='3.81383e-05' z='106'/>
+ <Mass unit='kg' value='0.027' />
+ <CoM location='Custom' x='-8.25728e-12' y='3.81383e-05' z='106' />
<InertiaMatrix>
- <row1 c1='0.0837755' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0940772' c3='0'/>
- <row3 c1='0' c2='0' c3='0.0287506'/>
+ <row1 c1='0.0837755' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0940772' c3='0' />
+ <row3 c1='0' c2='0' c3='0.0287506' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/LEsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LAEL'>
<Transform>
<Matrix4x4 units='mm'>
@@ -576,36 +582,36 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='LEx_joint'/>
+ <Child name='LEx_joint' />
</RobotNode>
<RobotNode name='LEx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='2.79253' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='2.79253' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='LEz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='LEz_joint' />
</RobotNode>
<RobotNode name='LEz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-1.5708' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-1.5708' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LWsegment_joint'/>
+ <Child name='LWsegment_joint' />
</RobotNode>
@@ -619,15 +625,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.785398' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.785398' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LFx_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LTOE'>
<Transform>
<Matrix4x4 units='mm'>
@@ -651,15 +658,16 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='-1' y='0' z='0'/>
- <limits lo='0' hi='52' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='-1' y='0' z='0' />
+ <limits lo='0' hi='52' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LHsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LASI'>
<Transform>
<Matrix4x4 units='mm'>
@@ -690,53 +698,53 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='LHx_joint'/>
+ <Child name='LHx_joint' />
</RobotNode>
<RobotNode name='LHx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.872665' hi='1.65806' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.872665' hi='1.65806' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='LHz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='LHz_joint' />
</RobotNode>
<RobotNode name='LHy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.349066' hi='1.13446' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.349066' hi='1.13446' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LKsegment_joint'/>
+ <Child name='LKsegment_joint' />
</RobotNode>
<RobotNode name='LHz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='LHy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='LHy_joint' />
</RobotNode>
@@ -750,24 +758,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='245' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='245' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.14'/>
- <CoM location='Custom' x='-2.75474e-12' y='1.04413e-05' z='121.6'/>
+ <Mass unit='kg' value='0.14' />
+ <CoM location='Custom' x='-2.75474e-12' y='1.04413e-05' z='121.6' />
<InertiaMatrix>
- <row1 c1='3.0625' c2='0' c3='0'/>
- <row2 c1='0' c2='3.0625' c3='0'/>
- <row3 c1='0' c2='0' c3='0.636804'/>
+ <row1 c1='3.0625' c2='0' c3='0' />
+ <row2 c1='0' c2='3.0625' c3='0' />
+ <row3 c1='0' c2='0' c3='0.636804' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/LKsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LKNE'>
<Transform>
<Matrix4x4 units='mm'>
@@ -788,19 +797,19 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='LKx_joint'/>
+ <Child name='LKx_joint' />
</RobotNode>
<RobotNode name='LKx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-2.26893' hi='0' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-2.26893' hi='0' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LAsegment_joint'/>
+ <Child name='LAsegment_joint' />
</RobotNode>
@@ -814,15 +823,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.261799' hi='0.261799' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.261799' hi='0.261799' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LMrot_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LMT1'>
<Transform>
<Matrix4x4 units='mm'>
@@ -843,7 +853,7 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='LFx_joint'/>
+ <Child name='LFx_joint' />
</RobotNode>
@@ -857,15 +867,16 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='-1' y='0' z='0'/>
- <limits lo='0' hi='87' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='-1' y='0' z='0' />
+ <limits lo='0' hi='87' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LSCsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LBAK'>
<Transform>
<Matrix4x4 units='mm'>
@@ -876,53 +887,53 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='LSCx_joint'/>
+ <Child name='LSCx_joint' />
</RobotNode>
<RobotNode name='LSCx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='0' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='0' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='LSCz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='LSCz_joint' />
</RobotNode>
<RobotNode name='LSCy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.349066' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.349066' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LSsegment_joint'/>
+ <Child name='LSsegment_joint' />
</RobotNode>
<RobotNode name='LSCz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-0.349066' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-0.349066' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='LSCy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='LSCy_joint' />
</RobotNode>
@@ -936,24 +947,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='-1' y='0' z='0'/>
- <limits lo='0' hi='23' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='-1' y='0' z='0' />
+ <limits lo='0' hi='23' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.021'/>
- <CoM location='Custom' x='10' y='4.16334e-14' z='0'/>
+ <Mass unit='kg' value='0.021' />
+ <CoM location='Custom' x='10' y='4.16334e-14' z='0' />
<InertiaMatrix>
- <row1 c1='0.0298116' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0063504' c3='0'/>
- <row3 c1='0' c2='0' c3='0.0298116'/>
+ <row1 c1='0.0298116' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0063504' c3='0' />
+ <row3 c1='0' c2='0' c3='0.0298116' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/LSsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LSHO'>
<Transform>
<Matrix4x4 units='mm'>
@@ -964,53 +976,53 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='LSx_joint'/>
+ <Child name='LSx_joint' />
</RobotNode>
<RobotNode name='LSx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-1.22173' hi='3.31613' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-1.22173' hi='3.31613' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='LSz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='LSz_joint' />
</RobotNode>
<RobotNode name='LSy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='0' hi='2.79253' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='0' hi='2.79253' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LEsegment_joint'/>
+ <Child name='LEsegment_joint' />
</RobotNode>
<RobotNode name='LSz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-1.22173' hi='1.0472' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-1.22173' hi='1.0472' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='LSy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='LSy_joint' />
</RobotNode>
@@ -1024,24 +1036,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='145' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='145' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.016'/>
- <CoM location='Custom' x='-8.25728e-12' y='3.81383e-05' z='82.6'/>
+ <Mass unit='kg' value='0.016' />
+ <CoM location='Custom' x='-8.25728e-12' y='3.81383e-05' z='82.6' />
<InertiaMatrix>
- <row1 c1='0.0319821' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0340787' c3='0'/>
- <row3 c1='0' c2='0' c3='0.0065229'/>
+ <row1 c1='0.0319821' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0340787' c3='0' />
+ <row3 c1='0' c2='0' c3='0.0065229' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/LWsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LFRA'>
<Transform>
<Matrix4x4 units='mm'>
@@ -1072,44 +1085,45 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='LWx_joint'/>
+ <Child name='LWx_joint' />
</RobotNode>
<RobotNode name='LWx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.523599' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.523599' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='LWy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='LWy_joint' />
</RobotNode>
<RobotNode name='LWy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-1.22173' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-1.22173' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LWy_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftHandSegment_joint'/>
- <Child name='LeftFingerJoint50y_joint'/>
- <Child name='LeftFingerJoint31x_joint'/>
- <Child name='LeftFingerJoint21x_joint'/>
- <Child name='LeftFingerJoint11z_joint'/>
- <Child name='LeftFingerJoint40y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftHandSegment_joint' />
+ <Child name='LeftFingerJoint50y_joint' />
+ <Child name='LeftFingerJoint31x_joint' />
+ <Child name='LeftFingerJoint21x_joint' />
+ <Child name='LeftFingerJoint11z_joint' />
+ <Child name='LeftFingerJoint40y_joint' />
</RobotNode>
@@ -1123,13 +1137,13 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='-1' y='0' z='0'/>
- <limits lo='0' hi='15' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='-1' y='0' z='0' />
+ <limits lo='0' hi='15' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LeftEyeSegmentY_joint'/>
+ <Child name='LeftEyeSegmentY_joint' />
</RobotNode>
@@ -1143,15 +1157,16 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='1' z='0'/>
- <limits lo='0' hi='30' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='1' z='0' />
+ <limits lo='0' hi='30' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftEyeSegmentY_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -1165,16 +1180,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint11y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint12y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint12y_joint' />
</RobotNode>
@@ -1188,13 +1204,13 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LeftFingerJoint11y_joint'/>
+ <Child name='LeftFingerJoint11y_joint' />
</RobotNode>
@@ -1208,16 +1224,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint12y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint13y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint13y_joint' />
</RobotNode>
@@ -1231,15 +1248,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint13y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -1253,28 +1271,29 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LeftFingerJoint21y_joint'/>
+ <Child name='LeftFingerJoint21y_joint' />
</RobotNode>
<RobotNode name='LeftFingerJoint21y_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint21y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint22y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint22y_joint' />
</RobotNode>
@@ -1288,16 +1307,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint22y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint23y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint23y_joint' />
</RobotNode>
@@ -1311,15 +1331,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint23y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -1333,28 +1354,29 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LeftFingerJoint31y_joint'/>
+ <Child name='LeftFingerJoint31y_joint' />
</RobotNode>
<RobotNode name='LeftFingerJoint31y_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint31y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint32y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint32y_joint' />
</RobotNode>
@@ -1368,16 +1390,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint32y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint33y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint33y_joint' />
</RobotNode>
@@ -1391,15 +1414,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint33y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -1413,16 +1437,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='0.0872665' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='0.0872665' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint40y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint41x_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint41x_joint' />
</RobotNode>
@@ -1436,28 +1461,29 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LeftFingerJoint41y_joint'/>
+ <Child name='LeftFingerJoint41y_joint' />
</RobotNode>
<RobotNode name='LeftFingerJoint41y_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint41y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint42y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint42y_joint' />
</RobotNode>
@@ -1471,16 +1497,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint42y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint43y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint43y_joint' />
</RobotNode>
@@ -1494,15 +1521,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint43y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -1516,16 +1544,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='0.174533' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='0.174533' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint50y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint51x_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint51x_joint' />
</RobotNode>
@@ -1539,28 +1568,29 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LeftFingerJoint51y_joint'/>
+ <Child name='LeftFingerJoint51y_joint' />
</RobotNode>
<RobotNode name='LeftFingerJoint51y_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint51y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint52y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint52y_joint' />
</RobotNode>
@@ -1574,16 +1604,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint52y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint53y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint53y_joint' />
</RobotNode>
@@ -1597,15 +1628,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint53y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -1619,19 +1651,19 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='39' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='39' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.013'/>
- <CoM location='Custom' x='-8.35798e-08' y='25.225' z='19'/>
+ <Mass unit='kg' value='0.013' />
+ <CoM location='Custom' x='-8.35798e-08' y='25.225' z='19' />
<InertiaMatrix>
- <row1 c1='0.0036504' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0111794' c3='0'/>
- <row3 c1='0' c2='0' c3='0.0096393'/>
+ <row1 c1='0.0036504' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0111794' c3='0' />
+ <row3 c1='0' c2='0' c3='0.0096393' />
</InertiaMatrix>
</Physics>
</RobotNode>
@@ -1647,24 +1679,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='108' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='108' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.006'/>
- <CoM location='Custom' x='-8.25728e-12' y='3.81383e-05' z='53.4'/>
+ <Mass unit='kg' value='0.006' />
+ <CoM location='Custom' x='-8.25728e-12' y='3.81383e-05' z='53.4' />
<InertiaMatrix>
- <row1 c1='0.0021869' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0033304' c3='0'/>
- <row3 c1='0' c2='0' c3='0.001283'/>
+ <row1 c1='0.0021869' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0033304' c3='0' />
+ <row3 c1='0' c2='0' c3='0.001283' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/LeftHandSegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LHPS'>
<Transform>
<Matrix4x4 units='mm'>
@@ -1708,14 +1741,14 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='1'/>
- <limits lo='0' hi='66' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='1' />
+ <limits lo='0' hi='66' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LeftEyeSegmentX_joint'/>
- <Child name='RightEyeSegmentX_joint'/>
+ <Child name='LeftEyeSegmentX_joint' />
+ <Child name='RightEyeSegmentX_joint' />
</RobotNode>
@@ -1729,24 +1762,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='246' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='246' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.04'/>
- <CoM location='Custom' x='-3.88578e-13' y='1.04413e-05' z='139.5'/>
+ <Mass unit='kg' value='0.04' />
+ <CoM location='Custom' x='-3.88578e-13' y='1.04413e-05' z='139.5' />
<InertiaMatrix>
- <row1 c1='0.237419' c2='0' c3='0'/>
- <row2 c1='0' c2='0.256481' c3='0'/>
- <row3 c1='0' c2='0' c3='0.040572'/>
+ <row1 c1='0.237419' c2='0' c3='0' />
+ <row2 c1='0' c2='0.256481' c3='0' />
+ <row3 c1='0' c2='0' c3='0.040572' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/RAsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_RTIP'>
<Transform>
<Matrix4x4 units='mm'>
@@ -1757,38 +1791,39 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='RAx_joint'/>
+ <Child name='RAx_joint' />
</RobotNode>
<RobotNode name='RAx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.698132' hi='0.523599' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.698132' hi='0.523599' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='RAz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='RAz_joint' />
</RobotNode>
<RobotNode name='RAy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.349066' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.349066' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RAy_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_RANK'>
<Transform>
<Matrix4x4 units='mm'>
@@ -1809,25 +1844,25 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='RightFootHeight_joint'/>
- <Child name='RMrot_joint'/>
+ <Child name='RightFootHeight_joint' />
+ <Child name='RMrot_joint' />
</RobotNode>
<RobotNode name='RAz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-0.523599' hi='0.523599' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-0.523599' hi='0.523599' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='RAy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='RAy_joint' />
</RobotNode>
@@ -1841,24 +1876,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='188' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='188' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.027'/>
- <CoM location='Custom' x='0.0203848' y='3.81383e-05' z='106'/>
+ <Mass unit='kg' value='0.027' />
+ <CoM location='Custom' x='0.0203848' y='3.81383e-05' z='106' />
<InertiaMatrix>
- <row1 c1='0.0837755' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0940772' c3='0'/>
- <row3 c1='0' c2='0' c3='0.0287506'/>
+ <row1 c1='0.0837755' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0940772' c3='0' />
+ <row3 c1='0' c2='0' c3='0.0287506' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/REsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_RAEL'>
<Transform>
<Matrix4x4 units='mm'>
@@ -1889,36 +1925,36 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='REx_joint'/>
+ <Child name='REx_joint' />
</RobotNode>
<RobotNode name='REx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='2.79253' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='2.79253' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='REz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='REz_joint' />
</RobotNode>
<RobotNode name='REz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-1.5708' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-1.5708' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='RWsegment_joint'/>
+ <Child name='RWsegment_joint' />
</RobotNode>
@@ -1932,15 +1968,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.785398' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.785398' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RFx_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_RTOE'>
<Transform>
<Matrix4x4 units='mm'>
@@ -1964,15 +2001,16 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='1' y='0' z='0'/>
- <limits lo='0' hi='52' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='1' y='0' z='0' />
+ <limits lo='0' hi='52' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RHsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_RASI'>
<Transform>
<Matrix4x4 units='mm'>
@@ -2003,53 +2041,53 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='RHx_joint'/>
+ <Child name='RHx_joint' />
</RobotNode>
<RobotNode name='RHx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.872665' hi='1.65806' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.872665' hi='1.65806' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='RHz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='RHz_joint' />
</RobotNode>
<RobotNode name='RHy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-1.13446' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-1.13446' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='RKsegment_joint'/>
+ <Child name='RKsegment_joint' />
</RobotNode>
<RobotNode name='RHz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='RHy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='RHy_joint' />
</RobotNode>
@@ -2063,24 +2101,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='245' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='245' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.14'/>
- <CoM location='Custom' x='0.0456274' y='1.04413e-05' z='121.6'/>
+ <Mass unit='kg' value='0.14' />
+ <CoM location='Custom' x='0.0456274' y='1.04413e-05' z='121.6' />
<InertiaMatrix>
- <row1 c1='3.0625' c2='0' c3='0'/>
- <row2 c1='0' c2='3.0625' c3='0'/>
- <row3 c1='0' c2='0' c3='0.636804'/>
+ <row1 c1='3.0625' c2='0' c3='0' />
+ <row2 c1='0' c2='3.0625' c3='0' />
+ <row3 c1='0' c2='0' c3='0.636804' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/RKsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_RKNE'>
<Transform>
<Matrix4x4 units='mm'>
@@ -2101,19 +2140,19 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='RKx_joint'/>
+ <Child name='RKx_joint' />
</RobotNode>
<RobotNode name='RKx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-2.26893' hi='0' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-2.26893' hi='0' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='RAsegment_joint'/>
+ <Child name='RAsegment_joint' />
</RobotNode>
@@ -2127,15 +2166,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.261799' hi='0.261799' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.261799' hi='0.261799' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RMrot_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_RMT1'>
<Transform>
<Matrix4x4 units='mm'>
@@ -2156,7 +2196,7 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='RFx_joint'/>
+ <Child name='RFx_joint' />
</RobotNode>
@@ -2170,15 +2210,16 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='1' y='0' z='0'/>
- <limits lo='0' hi='87' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='1' y='0' z='0' />
+ <limits lo='0' hi='87' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RSCsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_RBAK'>
<Transform>
<Matrix4x4 units='mm'>
@@ -2189,53 +2230,53 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='RSCx_joint'/>
+ <Child name='RSCx_joint' />
</RobotNode>
<RobotNode name='RSCx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='0' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='0' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='RSCz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='RSCz_joint' />
</RobotNode>
<RobotNode name='RSCy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.349066' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.349066' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='RSsegment_joint'/>
+ <Child name='RSsegment_joint' />
</RobotNode>
<RobotNode name='RSCz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-0.349066' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-0.349066' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='RSCy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='RSCy_joint' />
</RobotNode>
@@ -2249,24 +2290,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='1' y='0' z='0'/>
- <limits lo='0' hi='23' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='1' y='0' z='0' />
+ <limits lo='0' hi='23' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.021'/>
- <CoM location='Custom' x='-10' y='4.16334e-14' z='0'/>
+ <Mass unit='kg' value='0.021' />
+ <CoM location='Custom' x='-10' y='4.16334e-14' z='0' />
<InertiaMatrix>
- <row1 c1='0.0298116' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0063504' c3='0'/>
- <row3 c1='0' c2='0' c3='0.0298116'/>
+ <row1 c1='0.0298116' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0063504' c3='0' />
+ <row3 c1='0' c2='0' c3='0.0298116' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/RSsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_RSHO'>
<Transform>
<Matrix4x4 units='mm'>
@@ -2277,53 +2319,53 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='RSx_joint'/>
+ <Child name='RSx_joint' />
</RobotNode>
<RobotNode name='RSx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-1.22173' hi='3.31613' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-1.22173' hi='3.31613' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='RSz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='RSz_joint' />
</RobotNode>
<RobotNode name='RSy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-2.79253' hi='0' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-2.79253' hi='0' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='REsegment_joint'/>
+ <Child name='REsegment_joint' />
</RobotNode>
<RobotNode name='RSz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-1.0472' hi='1.22173' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-1.0472' hi='1.22173' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='RSy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='RSy_joint' />
</RobotNode>
@@ -2337,24 +2379,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='145' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='145' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.016'/>
- <CoM location='Custom' x='0.0203848' y='3.81383e-05' z='82.6'/>
+ <Mass unit='kg' value='0.016' />
+ <CoM location='Custom' x='0.0203848' y='3.81383e-05' z='82.6' />
<InertiaMatrix>
- <row1 c1='0.0319821' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0340787' c3='0'/>
- <row3 c1='0' c2='0' c3='0.0065229'/>
+ <row1 c1='0.0319821' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0340787' c3='0' />
+ <row3 c1='0' c2='0' c3='0.0065229' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/RWsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_RFRA'>
<Transform>
<Matrix4x4 units='mm'>
@@ -2385,44 +2428,45 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='RWx_joint'/>
+ <Child name='RWx_joint' />
</RobotNode>
<RobotNode name='RWx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.523599' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.523599' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='RWy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='RWy_joint' />
</RobotNode>
<RobotNode name='RWy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-1.5708' hi='1.22173' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-1.5708' hi='1.22173' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RWy_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint21x_joint'/>
- <Child name='RightHandSegment_joint'/>
- <Child name='RightFingerJoint11z_joint'/>
- <Child name='RightFingerJoint31x_joint'/>
- <Child name='RightFingerJoint40y_joint'/>
- <Child name='RightFingerJoint50y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint21x_joint' />
+ <Child name='RightHandSegment_joint' />
+ <Child name='RightFingerJoint11z_joint' />
+ <Child name='RightFingerJoint31x_joint' />
+ <Child name='RightFingerJoint40y_joint' />
+ <Child name='RightFingerJoint50y_joint' />
</RobotNode>
@@ -2436,13 +2480,13 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='1' y='0' z='0'/>
- <limits lo='0' hi='15' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='1' y='0' z='0' />
+ <limits lo='0' hi='15' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='RightEyeSegmentY_joint'/>
+ <Child name='RightEyeSegmentY_joint' />
</RobotNode>
@@ -2456,15 +2500,16 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='1' z='0'/>
- <limits lo='0' hi='30' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='1' z='0' />
+ <limits lo='0' hi='30' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightEyeSegmentY_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -2478,16 +2523,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint11y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint12y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint12y_joint' />
</RobotNode>
@@ -2501,13 +2547,13 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='RightFingerJoint11y_joint'/>
+ <Child name='RightFingerJoint11y_joint' />
</RobotNode>
@@ -2521,16 +2567,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint12y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint13y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint13y_joint' />
</RobotNode>
@@ -2544,15 +2591,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint13y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -2566,28 +2614,29 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='RightFingerJoint21y_joint'/>
+ <Child name='RightFingerJoint21y_joint' />
</RobotNode>
<RobotNode name='RightFingerJoint21y_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint21y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint22y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint22y_joint' />
</RobotNode>
@@ -2601,16 +2650,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint22y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint23y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint23y_joint' />
</RobotNode>
@@ -2624,15 +2674,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint23y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -2646,28 +2697,29 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='RightFingerJoint31y_joint'/>
+ <Child name='RightFingerJoint31y_joint' />
</RobotNode>
<RobotNode name='RightFingerJoint31y_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint31y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint32y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint32y_joint' />
</RobotNode>
@@ -2681,16 +2733,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint32y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint33y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint33y_joint' />
</RobotNode>
@@ -2704,15 +2757,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint33y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -2726,16 +2780,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='0.0872665' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='0.0872665' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint40y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint41x_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint41x_joint' />
</RobotNode>
@@ -2749,28 +2804,29 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='RightFingerJoint41y_joint'/>
+ <Child name='RightFingerJoint41y_joint' />
</RobotNode>
<RobotNode name='RightFingerJoint41y_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint41y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint42y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint42y_joint' />
</RobotNode>
@@ -2784,16 +2840,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint42y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint43y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint43y_joint' />
</RobotNode>
@@ -2807,15 +2864,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint43y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -2829,16 +2887,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='0.174533' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='0.174533' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint50y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint51x_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint51x_joint' />
</RobotNode>
@@ -2852,28 +2911,29 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='RightFingerJoint51y_joint'/>
+ <Child name='RightFingerJoint51y_joint' />
</RobotNode>
<RobotNode name='RightFingerJoint51y_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint51y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint52y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint52y_joint' />
</RobotNode>
@@ -2887,16 +2947,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint52y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint53y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint53y_joint' />
</RobotNode>
@@ -2910,15 +2971,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint53y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -2932,22 +2994,22 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='39' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='39' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.013'/>
- <CoM location='Custom' x='-8.35776e-08' y='25.225' z='19'/>
+ <Mass unit='kg' value='0.013' />
+ <CoM location='Custom' x='-8.35776e-08' y='25.225' z='19' />
<InertiaMatrix>
- <row1 c1='0.0036504' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0111794' c3='0'/>
- <row3 c1='0' c2='0' c3='0.0096393'/>
+ <row1 c1='0.0036504' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0111794' c3='0' />
+ <row3 c1='0' c2='0' c3='0.0096393' />
</InertiaMatrix>
</Physics>
- <Child name='RightFootLength_joint'/>
+ <Child name='RightFootLength_joint' />
</RobotNode>
@@ -2961,11 +3023,11 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='1' z='0'/>
- <limits lo='0' hi='68' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='1' z='0' />
+ <limits lo='0' hi='68' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
</RobotNode>
@@ -2980,19 +3042,19 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='108' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='108' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.006'/>
- <CoM location='Custom' x='0.0203848' y='3.81383e-05' z='53.4'/>
+ <Mass unit='kg' value='0.006' />
+ <CoM location='Custom' x='0.0203848' y='3.81383e-05' z='53.4' />
<InertiaMatrix>
- <row1 c1='0.0021869' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0033304' c3='0'/>
- <row3 c1='0' c2='0' c3='0.001283'/>
+ <row1 c1='0.0021869' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0033304' c3='0' />
+ <row3 c1='0' c2='0' c3='0.001283' />
</InertiaMatrix>
</Physics>
<Sensor type='position' name='MARKER_RHPS'>
@@ -3038,19 +3100,19 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='1'/>
- <limits lo='0' hi='188' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='1' />
+ <limits lo='0' hi='188' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.17'/>
- <CoM location='Custom' x='0' y='3.33729e-08' z='-33.84'/>
+ <Mass unit='kg' value='0.17' />
+ <CoM location='Custom' x='0' y='3.33729e-08' z='-33.84' />
<InertiaMatrix>
- <row1 c1='6.37245' c2='0' c3='0'/>
- <row2 c1='0' c2='5.09635' c3='0'/>
- <row3 c1='0' c2='0' c3='4.22532'/>
+ <row1 c1='6.37245' c2='0' c3='0' />
+ <row2 c1='0' c2='5.09635' c3='0' />
+ <row3 c1='0' c2='0' c3='4.22532' />
</InertiaMatrix>
</Physics>
<Sensor type='position' name='MARKER_STRN'>
@@ -3073,504 +3135,501 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='LSCsegment_joint'/>
- <Child name='RSCsegment_joint'/>
- <Child name='BLNsegment_joint'/>
+ <Child name='LSCsegment_joint' />
+ <Child name='RSCsegment_joint' />
+ <Child name='BLNsegment_joint' />
</RobotNode>
<RobotNode name='root_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='0' hi='0' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='0' hi='0' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='BPSegment_joint'/>
- <Child name='LHsegment_joint'/>
- <Child name='RHsegment_joint'/>
+ <Child name='BPSegment_joint' />
+ <Child name='LHsegment_joint' />
+ <Child name='RHsegment_joint' />
</RobotNode>
-
<RobotNodeSet name='All'>
- <Node name='root_joint'/>
- <Node name='BPSegment_joint'/>
- <Node name='BPx_joint'/>
- <Node name='BPz_joint'/>
- <Node name='BPy_joint'/>
- <Node name='BTSegment_joint'/>
- <Node name='BTx_joint'/>
- <Node name='BTz_joint'/>
- <Node name='BTy_joint'/>
- <Node name='collarSegment_joint'/>
- <Node name='LSCsegment_joint'/>
- <Node name='LSCx_joint'/>
- <Node name='LSCz_joint'/>
- <Node name='LSCy_joint'/>
- <Node name='LSsegment_joint'/>
- <Node name='LSx_joint'/>
- <Node name='LSz_joint'/>
- <Node name='LSy_joint'/>
- <Node name='LEsegment_joint'/>
- <Node name='LEx_joint'/>
- <Node name='LEz_joint'/>
- <Node name='LWsegment_joint'/>
- <Node name='LWx_joint'/>
- <Node name='LWy_joint'/>
- <Node name='LeftHandSegment_joint'/>
- <Node name='LeftFingerJoint50y_joint'/>
- <Node name='LeftFingerJoint51x_joint'/>
- <Node name='LeftFingerJoint51y_joint'/>
- <Node name='LeftFingerJoint52y_joint'/>
- <Node name='LeftFingerJoint53y_joint'/>
- <Node name='LeftFingerJoint31x_joint'/>
- <Node name='LeftFingerJoint31y_joint'/>
- <Node name='LeftFingerJoint32y_joint'/>
- <Node name='LeftFingerJoint33y_joint'/>
- <Node name='LeftFingerJoint21x_joint'/>
- <Node name='LeftFingerJoint21y_joint'/>
- <Node name='LeftFingerJoint22y_joint'/>
- <Node name='LeftFingerJoint23y_joint'/>
- <Node name='LeftFingerJoint11z_joint'/>
- <Node name='LeftFingerJoint11y_joint'/>
- <Node name='LeftFingerJoint12y_joint'/>
- <Node name='LeftFingerJoint13y_joint'/>
- <Node name='LeftFingerJoint40y_joint'/>
- <Node name='LeftFingerJoint41x_joint'/>
- <Node name='LeftFingerJoint41y_joint'/>
- <Node name='LeftFingerJoint42y_joint'/>
- <Node name='LeftFingerJoint43y_joint'/>
- <Node name='RSCsegment_joint'/>
- <Node name='RSCx_joint'/>
- <Node name='RSCz_joint'/>
- <Node name='RSCy_joint'/>
- <Node name='RSsegment_joint'/>
- <Node name='RSx_joint'/>
- <Node name='RSz_joint'/>
- <Node name='RSy_joint'/>
- <Node name='REsegment_joint'/>
- <Node name='REx_joint'/>
- <Node name='REz_joint'/>
- <Node name='RWsegment_joint'/>
- <Node name='RWx_joint'/>
- <Node name='RWy_joint'/>
- <Node name='RightFingerJoint21x_joint'/>
- <Node name='RightFingerJoint21y_joint'/>
- <Node name='RightFingerJoint22y_joint'/>
- <Node name='RightFingerJoint23y_joint'/>
- <Node name='RightHandSegment_joint'/>
- <Node name='RightFingerJoint11z_joint'/>
- <Node name='RightFingerJoint11y_joint'/>
- <Node name='RightFingerJoint12y_joint'/>
- <Node name='RightFingerJoint13y_joint'/>
- <Node name='RightFingerJoint31x_joint'/>
- <Node name='RightFingerJoint31y_joint'/>
- <Node name='RightFingerJoint32y_joint'/>
- <Node name='RightFingerJoint33y_joint'/>
- <Node name='RightFingerJoint40y_joint'/>
- <Node name='RightFingerJoint41x_joint'/>
- <Node name='RightFingerJoint41y_joint'/>
- <Node name='RightFingerJoint42y_joint'/>
- <Node name='RightFingerJoint43y_joint'/>
- <Node name='RightFingerJoint50y_joint'/>
- <Node name='RightFingerJoint51x_joint'/>
- <Node name='RightFingerJoint51y_joint'/>
- <Node name='RightFingerJoint52y_joint'/>
- <Node name='RightFingerJoint53y_joint'/>
- <Node name='BLNsegment_joint'/>
- <Node name='BLNx_joint'/>
- <Node name='BLNz_joint'/>
- <Node name='BLNy_joint'/>
- <Node name='BUNsegment_joint'/>
- <Node name='BUNx_joint'/>
- <Node name='BUNz_joint'/>
- <Node name='BUNy_joint'/>
- <Node name='MidHeadSegment_joint'/>
- <Node name='LeftEyeSegmentX_joint'/>
- <Node name='LeftEyeSegmentY_joint'/>
- <Node name='RightEyeSegmentX_joint'/>
- <Node name='RightEyeSegmentY_joint'/>
- <Node name='HeadSegment_joint'/>
- <Node name='LHsegment_joint'/>
- <Node name='LHx_joint'/>
- <Node name='LHz_joint'/>
- <Node name='LHy_joint'/>
- <Node name='LKsegment_joint'/>
- <Node name='LKx_joint'/>
- <Node name='LAsegment_joint'/>
- <Node name='LAx_joint'/>
- <Node name='LAz_joint'/>
- <Node name='LAy_joint'/>
- <Node name='LeftFootHeight_joint'/>
- <Node name='LMrot_joint'/>
- <Node name='LFx_joint'/>
- <Node name='RHsegment_joint'/>
- <Node name='RHx_joint'/>
- <Node name='RHz_joint'/>
- <Node name='RHy_joint'/>
- <Node name='RKsegment_joint'/>
- <Node name='RKx_joint'/>
- <Node name='RAsegment_joint'/>
- <Node name='RAx_joint'/>
- <Node name='RAz_joint'/>
- <Node name='RAy_joint'/>
- <Node name='RightFootHeight_joint'/>
- <Node name='RightFootLength_joint'/>
- <Node name='RMrot_joint'/>
- <Node name='RFx_joint'/>
+ <Node name='root_joint' />
+ <Node name='BPSegment_joint' />
+ <Node name='BPx_joint' />
+ <Node name='BPz_joint' />
+ <Node name='BPy_joint' />
+ <Node name='BTSegment_joint' />
+ <Node name='BTx_joint' />
+ <Node name='BTz_joint' />
+ <Node name='BTy_joint' />
+ <Node name='collarSegment_joint' />
+ <Node name='LSCsegment_joint' />
+ <Node name='LSCx_joint' />
+ <Node name='LSCz_joint' />
+ <Node name='LSCy_joint' />
+ <Node name='LSsegment_joint' />
+ <Node name='LSx_joint' />
+ <Node name='LSz_joint' />
+ <Node name='LSy_joint' />
+ <Node name='LEsegment_joint' />
+ <Node name='LEx_joint' />
+ <Node name='LEz_joint' />
+ <Node name='LWsegment_joint' />
+ <Node name='LWx_joint' />
+ <Node name='LWy_joint' />
+ <Node name='LeftHandSegment_joint' />
+ <Node name='LeftFingerJoint50y_joint' />
+ <Node name='LeftFingerJoint51x_joint' />
+ <Node name='LeftFingerJoint51y_joint' />
+ <Node name='LeftFingerJoint52y_joint' />
+ <Node name='LeftFingerJoint53y_joint' />
+ <Node name='LeftFingerJoint31x_joint' />
+ <Node name='LeftFingerJoint31y_joint' />
+ <Node name='LeftFingerJoint32y_joint' />
+ <Node name='LeftFingerJoint33y_joint' />
+ <Node name='LeftFingerJoint21x_joint' />
+ <Node name='LeftFingerJoint21y_joint' />
+ <Node name='LeftFingerJoint22y_joint' />
+ <Node name='LeftFingerJoint23y_joint' />
+ <Node name='LeftFingerJoint11z_joint' />
+ <Node name='LeftFingerJoint11y_joint' />
+ <Node name='LeftFingerJoint12y_joint' />
+ <Node name='LeftFingerJoint13y_joint' />
+ <Node name='LeftFingerJoint40y_joint' />
+ <Node name='LeftFingerJoint41x_joint' />
+ <Node name='LeftFingerJoint41y_joint' />
+ <Node name='LeftFingerJoint42y_joint' />
+ <Node name='LeftFingerJoint43y_joint' />
+ <Node name='RSCsegment_joint' />
+ <Node name='RSCx_joint' />
+ <Node name='RSCz_joint' />
+ <Node name='RSCy_joint' />
+ <Node name='RSsegment_joint' />
+ <Node name='RSx_joint' />
+ <Node name='RSz_joint' />
+ <Node name='RSy_joint' />
+ <Node name='REsegment_joint' />
+ <Node name='REx_joint' />
+ <Node name='REz_joint' />
+ <Node name='RWsegment_joint' />
+ <Node name='RWx_joint' />
+ <Node name='RWy_joint' />
+ <Node name='RightFingerJoint21x_joint' />
+ <Node name='RightFingerJoint21y_joint' />
+ <Node name='RightFingerJoint22y_joint' />
+ <Node name='RightFingerJoint23y_joint' />
+ <Node name='RightHandSegment_joint' />
+ <Node name='RightFingerJoint11z_joint' />
+ <Node name='RightFingerJoint11y_joint' />
+ <Node name='RightFingerJoint12y_joint' />
+ <Node name='RightFingerJoint13y_joint' />
+ <Node name='RightFingerJoint31x_joint' />
+ <Node name='RightFingerJoint31y_joint' />
+ <Node name='RightFingerJoint32y_joint' />
+ <Node name='RightFingerJoint33y_joint' />
+ <Node name='RightFingerJoint40y_joint' />
+ <Node name='RightFingerJoint41x_joint' />
+ <Node name='RightFingerJoint41y_joint' />
+ <Node name='RightFingerJoint42y_joint' />
+ <Node name='RightFingerJoint43y_joint' />
+ <Node name='RightFingerJoint50y_joint' />
+ <Node name='RightFingerJoint51x_joint' />
+ <Node name='RightFingerJoint51y_joint' />
+ <Node name='RightFingerJoint52y_joint' />
+ <Node name='RightFingerJoint53y_joint' />
+ <Node name='BLNsegment_joint' />
+ <Node name='BLNx_joint' />
+ <Node name='BLNz_joint' />
+ <Node name='BLNy_joint' />
+ <Node name='BUNsegment_joint' />
+ <Node name='BUNx_joint' />
+ <Node name='BUNz_joint' />
+ <Node name='BUNy_joint' />
+ <Node name='MidHeadSegment_joint' />
+ <Node name='LeftEyeSegmentX_joint' />
+ <Node name='LeftEyeSegmentY_joint' />
+ <Node name='RightEyeSegmentX_joint' />
+ <Node name='RightEyeSegmentY_joint' />
+ <Node name='HeadSegment_joint' />
+ <Node name='LHsegment_joint' />
+ <Node name='LHx_joint' />
+ <Node name='LHz_joint' />
+ <Node name='LHy_joint' />
+ <Node name='LKsegment_joint' />
+ <Node name='LKx_joint' />
+ <Node name='LAsegment_joint' />
+ <Node name='LAx_joint' />
+ <Node name='LAz_joint' />
+ <Node name='LAy_joint' />
+ <Node name='LeftFootHeight_joint' />
+ <Node name='LMrot_joint' />
+ <Node name='LFx_joint' />
+ <Node name='RHsegment_joint' />
+ <Node name='RHx_joint' />
+ <Node name='RHz_joint' />
+ <Node name='RHy_joint' />
+ <Node name='RKsegment_joint' />
+ <Node name='RKx_joint' />
+ <Node name='RAsegment_joint' />
+ <Node name='RAx_joint' />
+ <Node name='RAz_joint' />
+ <Node name='RAy_joint' />
+ <Node name='RightFootHeight_joint' />
+ <Node name='RightFootLength_joint' />
+ <Node name='RMrot_joint' />
+ <Node name='RFx_joint' />
</RobotNodeSet>
<RobotNodeSet name='Joints_Prismatic'>
- <Node name='BPSegment_joint'/>
- <Node name='BTSegment_joint'/>
- <Node name='collarSegment_joint'/>
- <Node name='LSCsegment_joint'/>
- <Node name='LSsegment_joint'/>
- <Node name='LEsegment_joint'/>
- <Node name='LWsegment_joint'/>
- <Node name='LeftHandSegment_joint'/>
- <Node name='RSCsegment_joint'/>
- <Node name='RSsegment_joint'/>
- <Node name='REsegment_joint'/>
- <Node name='RWsegment_joint'/>
- <Node name='RightHandSegment_joint'/>
- <Node name='BLNsegment_joint'/>
- <Node name='BUNsegment_joint'/>
- <Node name='MidHeadSegment_joint'/>
- <Node name='LeftEyeSegmentX_joint'/>
- <Node name='LeftEyeSegmentY_joint'/>
- <Node name='RightEyeSegmentX_joint'/>
- <Node name='RightEyeSegmentY_joint'/>
- <Node name='HeadSegment_joint'/>
- <Node name='LHsegment_joint'/>
- <Node name='LKsegment_joint'/>
- <Node name='LAsegment_joint'/>
- <Node name='LeftFootHeight_joint'/>
- <Node name='RHsegment_joint'/>
- <Node name='RKsegment_joint'/>
- <Node name='RAsegment_joint'/>
- <Node name='RightFootHeight_joint'/>
- <Node name='RightFootLength_joint'/>
+ <Node name='BPSegment_joint' />
+ <Node name='BTSegment_joint' />
+ <Node name='collarSegment_joint' />
+ <Node name='LSCsegment_joint' />
+ <Node name='LSsegment_joint' />
+ <Node name='LEsegment_joint' />
+ <Node name='LWsegment_joint' />
+ <Node name='LeftHandSegment_joint' />
+ <Node name='RSCsegment_joint' />
+ <Node name='RSsegment_joint' />
+ <Node name='REsegment_joint' />
+ <Node name='RWsegment_joint' />
+ <Node name='RightHandSegment_joint' />
+ <Node name='BLNsegment_joint' />
+ <Node name='BUNsegment_joint' />
+ <Node name='MidHeadSegment_joint' />
+ <Node name='LeftEyeSegmentX_joint' />
+ <Node name='LeftEyeSegmentY_joint' />
+ <Node name='RightEyeSegmentX_joint' />
+ <Node name='RightEyeSegmentY_joint' />
+ <Node name='HeadSegment_joint' />
+ <Node name='LHsegment_joint' />
+ <Node name='LKsegment_joint' />
+ <Node name='LAsegment_joint' />
+ <Node name='LeftFootHeight_joint' />
+ <Node name='RHsegment_joint' />
+ <Node name='RKsegment_joint' />
+ <Node name='RAsegment_joint' />
+ <Node name='RightFootHeight_joint' />
+ <Node name='RightFootLength_joint' />
</RobotNodeSet>
<RobotNodeSet name='Joints_Revolute'>
- <Node name='root_joint'/>
- <Node name='BPx_joint'/>
- <Node name='BPz_joint'/>
- <Node name='BPy_joint'/>
- <Node name='BTx_joint'/>
- <Node name='BTz_joint'/>
- <Node name='BTy_joint'/>
- <Node name='LSCx_joint'/>
- <Node name='LSCz_joint'/>
- <Node name='LSCy_joint'/>
- <Node name='LSx_joint'/>
- <Node name='LSz_joint'/>
- <Node name='LSy_joint'/>
- <Node name='LEx_joint'/>
- <Node name='LEz_joint'/>
- <Node name='LWx_joint'/>
- <Node name='LWy_joint'/>
- <Node name='LeftFingerJoint50y_joint'/>
- <Node name='LeftFingerJoint51x_joint'/>
- <Node name='LeftFingerJoint51y_joint'/>
- <Node name='LeftFingerJoint52y_joint'/>
- <Node name='LeftFingerJoint53y_joint'/>
- <Node name='LeftFingerJoint31x_joint'/>
- <Node name='LeftFingerJoint31y_joint'/>
- <Node name='LeftFingerJoint32y_joint'/>
- <Node name='LeftFingerJoint33y_joint'/>
- <Node name='LeftFingerJoint21x_joint'/>
- <Node name='LeftFingerJoint21y_joint'/>
- <Node name='LeftFingerJoint22y_joint'/>
- <Node name='LeftFingerJoint23y_joint'/>
- <Node name='LeftFingerJoint11z_joint'/>
- <Node name='LeftFingerJoint11y_joint'/>
- <Node name='LeftFingerJoint12y_joint'/>
- <Node name='LeftFingerJoint13y_joint'/>
- <Node name='LeftFingerJoint40y_joint'/>
- <Node name='LeftFingerJoint41x_joint'/>
- <Node name='LeftFingerJoint41y_joint'/>
- <Node name='LeftFingerJoint42y_joint'/>
- <Node name='LeftFingerJoint43y_joint'/>
- <Node name='RSCx_joint'/>
- <Node name='RSCz_joint'/>
- <Node name='RSCy_joint'/>
- <Node name='RSx_joint'/>
- <Node name='RSz_joint'/>
- <Node name='RSy_joint'/>
- <Node name='REx_joint'/>
- <Node name='REz_joint'/>
- <Node name='RWx_joint'/>
- <Node name='RWy_joint'/>
- <Node name='RightFingerJoint21x_joint'/>
- <Node name='RightFingerJoint21y_joint'/>
- <Node name='RightFingerJoint22y_joint'/>
- <Node name='RightFingerJoint23y_joint'/>
- <Node name='RightFingerJoint11z_joint'/>
- <Node name='RightFingerJoint11y_joint'/>
- <Node name='RightFingerJoint12y_joint'/>
- <Node name='RightFingerJoint13y_joint'/>
- <Node name='RightFingerJoint31x_joint'/>
- <Node name='RightFingerJoint31y_joint'/>
- <Node name='RightFingerJoint32y_joint'/>
- <Node name='RightFingerJoint33y_joint'/>
- <Node name='RightFingerJoint40y_joint'/>
- <Node name='RightFingerJoint41x_joint'/>
- <Node name='RightFingerJoint41y_joint'/>
- <Node name='RightFingerJoint42y_joint'/>
- <Node name='RightFingerJoint43y_joint'/>
- <Node name='RightFingerJoint50y_joint'/>
- <Node name='RightFingerJoint51x_joint'/>
- <Node name='RightFingerJoint51y_joint'/>
- <Node name='RightFingerJoint52y_joint'/>
- <Node name='RightFingerJoint53y_joint'/>
- <Node name='BLNx_joint'/>
- <Node name='BLNz_joint'/>
- <Node name='BLNy_joint'/>
- <Node name='BUNx_joint'/>
- <Node name='BUNz_joint'/>
- <Node name='BUNy_joint'/>
- <Node name='LHx_joint'/>
- <Node name='LHz_joint'/>
- <Node name='LHy_joint'/>
- <Node name='LKx_joint'/>
- <Node name='LAx_joint'/>
- <Node name='LAz_joint'/>
- <Node name='LAy_joint'/>
- <Node name='LMrot_joint'/>
- <Node name='LFx_joint'/>
- <Node name='RHx_joint'/>
- <Node name='RHz_joint'/>
- <Node name='RHy_joint'/>
- <Node name='RKx_joint'/>
- <Node name='RAx_joint'/>
- <Node name='RAz_joint'/>
- <Node name='RAy_joint'/>
- <Node name='RMrot_joint'/>
- <Node name='RFx_joint'/>
+ <Node name='root_joint' />
+ <Node name='BPx_joint' />
+ <Node name='BPz_joint' />
+ <Node name='BPy_joint' />
+ <Node name='BTx_joint' />
+ <Node name='BTz_joint' />
+ <Node name='BTy_joint' />
+ <Node name='LSCx_joint' />
+ <Node name='LSCz_joint' />
+ <Node name='LSCy_joint' />
+ <Node name='LSx_joint' />
+ <Node name='LSz_joint' />
+ <Node name='LSy_joint' />
+ <Node name='LEx_joint' />
+ <Node name='LEz_joint' />
+ <Node name='LWx_joint' />
+ <Node name='LWy_joint' />
+ <Node name='LeftFingerJoint50y_joint' />
+ <Node name='LeftFingerJoint51x_joint' />
+ <Node name='LeftFingerJoint51y_joint' />
+ <Node name='LeftFingerJoint52y_joint' />
+ <Node name='LeftFingerJoint53y_joint' />
+ <Node name='LeftFingerJoint31x_joint' />
+ <Node name='LeftFingerJoint31y_joint' />
+ <Node name='LeftFingerJoint32y_joint' />
+ <Node name='LeftFingerJoint33y_joint' />
+ <Node name='LeftFingerJoint21x_joint' />
+ <Node name='LeftFingerJoint21y_joint' />
+ <Node name='LeftFingerJoint22y_joint' />
+ <Node name='LeftFingerJoint23y_joint' />
+ <Node name='LeftFingerJoint11z_joint' />
+ <Node name='LeftFingerJoint11y_joint' />
+ <Node name='LeftFingerJoint12y_joint' />
+ <Node name='LeftFingerJoint13y_joint' />
+ <Node name='LeftFingerJoint40y_joint' />
+ <Node name='LeftFingerJoint41x_joint' />
+ <Node name='LeftFingerJoint41y_joint' />
+ <Node name='LeftFingerJoint42y_joint' />
+ <Node name='LeftFingerJoint43y_joint' />
+ <Node name='RSCx_joint' />
+ <Node name='RSCz_joint' />
+ <Node name='RSCy_joint' />
+ <Node name='RSx_joint' />
+ <Node name='RSz_joint' />
+ <Node name='RSy_joint' />
+ <Node name='REx_joint' />
+ <Node name='REz_joint' />
+ <Node name='RWx_joint' />
+ <Node name='RWy_joint' />
+ <Node name='RightFingerJoint21x_joint' />
+ <Node name='RightFingerJoint21y_joint' />
+ <Node name='RightFingerJoint22y_joint' />
+ <Node name='RightFingerJoint23y_joint' />
+ <Node name='RightFingerJoint11z_joint' />
+ <Node name='RightFingerJoint11y_joint' />
+ <Node name='RightFingerJoint12y_joint' />
+ <Node name='RightFingerJoint13y_joint' />
+ <Node name='RightFingerJoint31x_joint' />
+ <Node name='RightFingerJoint31y_joint' />
+ <Node name='RightFingerJoint32y_joint' />
+ <Node name='RightFingerJoint33y_joint' />
+ <Node name='RightFingerJoint40y_joint' />
+ <Node name='RightFingerJoint41x_joint' />
+ <Node name='RightFingerJoint41y_joint' />
+ <Node name='RightFingerJoint42y_joint' />
+ <Node name='RightFingerJoint43y_joint' />
+ <Node name='RightFingerJoint50y_joint' />
+ <Node name='RightFingerJoint51x_joint' />
+ <Node name='RightFingerJoint51y_joint' />
+ <Node name='RightFingerJoint52y_joint' />
+ <Node name='RightFingerJoint53y_joint' />
+ <Node name='BLNx_joint' />
+ <Node name='BLNz_joint' />
+ <Node name='BLNy_joint' />
+ <Node name='BUNx_joint' />
+ <Node name='BUNz_joint' />
+ <Node name='BUNy_joint' />
+ <Node name='LHx_joint' />
+ <Node name='LHz_joint' />
+ <Node name='LHy_joint' />
+ <Node name='LKx_joint' />
+ <Node name='LAx_joint' />
+ <Node name='LAz_joint' />
+ <Node name='LAy_joint' />
+ <Node name='LMrot_joint' />
+ <Node name='LFx_joint' />
+ <Node name='RHx_joint' />
+ <Node name='RHz_joint' />
+ <Node name='RHy_joint' />
+ <Node name='RKx_joint' />
+ <Node name='RAx_joint' />
+ <Node name='RAz_joint' />
+ <Node name='RAy_joint' />
+ <Node name='RMrot_joint' />
+ <Node name='RFx_joint' />
</RobotNodeSet>
+ <RobotNodeSet name='MMMJoints'>
+ <Node name='root_joint' />
+ <Node name='BPx_joint' />
+ <Node name='BPz_joint' />
+ <Node name='BPy_joint' />
+ <Node name='BTx_joint' />
+ <Node name='BTz_joint' />
+ <Node name='BTy_joint' />
+ <Node name='LSCx_joint' />
+ <Node name='LSCz_joint' />
+ <Node name='LSCy_joint' />
+ <Node name='LSx_joint' />
+ <Node name='LSz_joint' />
+ <Node name='LSy_joint' />
+ <Node name='LEx_joint' />
+ <Node name='LEz_joint' />
+ <Node name='LWx_joint' />
+ <Node name='LWy_joint' />
+ <Node name='RSCx_joint' />
+ <Node name='RSCz_joint' />
+ <Node name='RSCy_joint' />
+ <Node name='RSx_joint' />
+ <Node name='RSz_joint' />
+ <Node name='RSy_joint' />
+ <Node name='REx_joint' />
+ <Node name='REz_joint' />
+ <Node name='RWx_joint' />
+ <Node name='RWy_joint' />
+ <Node name='BLNx_joint' />
+ <Node name='BLNz_joint' />
+ <Node name='BLNy_joint' />
+ <Node name='BUNx_joint' />
+ <Node name='BUNz_joint' />
+ <Node name='BUNy_joint' />
+ <Node name='LHx_joint' />
+ <Node name='LHz_joint' />
+ <Node name='LHy_joint' />
+ <Node name='LKx_joint' />
+ <Node name='LAx_joint' />
+ <Node name='LAz_joint' />
+ <Node name='LAy_joint' />
+ <Node name='LMrot_joint' />
+ <Node name='LFx_joint' />
+ <Node name='RHx_joint' />
+ <Node name='RHz_joint' />
+ <Node name='RHy_joint' />
+ <Node name='RKx_joint' />
+ <Node name='RAx_joint' />
+ <Node name='RAz_joint' />
+ <Node name='RAy_joint' />
+ <Node name='RMrot_joint' />
+ <Node name='RFx_joint' />
+ </RobotNodeSet>
+
+
+ <RobotNodeSet name='LeftHipArm' tcp='LeftHandSegment_joint'>
+ <Node name='BTx_joint' />
+ <Node name='BTz_joint' />
+ <Node name='BTy_joint' />
+ <Node name='LSCx_joint' />
+ <Node name='LSCz_joint' />
+ <Node name='LSCy_joint' />
+ <Node name='LSx_joint' />
+ <Node name='LSz_joint' />
+ <Node name='LSy_joint' />
+ <Node name='LEx_joint' />
+ <Node name='LEz_joint' />
+ <Node name='LWx_joint' />
+ <Node name='LWy_joint' />
+ </RobotNodeSet>
- <RobotNodeSet name='MMMJoints'>
- <Node name='root_joint'/>
- <Node name='BPx_joint'/>
- <Node name='BPz_joint'/>
- <Node name='BPy_joint'/>
- <Node name='BTx_joint'/>
- <Node name='BTz_joint'/>
- <Node name='BTy_joint'/>
- <Node name='LSCx_joint'/>
- <Node name='LSCz_joint'/>
- <Node name='LSCy_joint'/>
- <Node name='LSx_joint'/>
- <Node name='LSz_joint'/>
- <Node name='LSy_joint'/>
- <Node name='LEx_joint'/>
- <Node name='LEz_joint'/>
- <Node name='LWx_joint'/>
- <Node name='LWy_joint'/>
- <Node name='RSCx_joint'/>
- <Node name='RSCz_joint'/>
- <Node name='RSCy_joint'/>
- <Node name='RSx_joint'/>
- <Node name='RSz_joint'/>
- <Node name='RSy_joint'/>
- <Node name='REx_joint'/>
- <Node name='REz_joint'/>
- <Node name='RWx_joint'/>
- <Node name='RWy_joint'/>
- <Node name='BLNx_joint'/>
- <Node name='BLNz_joint'/>
- <Node name='BLNy_joint'/>
- <Node name='BUNx_joint'/>
- <Node name='BUNz_joint'/>
- <Node name='BUNy_joint'/>
- <Node name='LHx_joint'/>
- <Node name='LHz_joint'/>
- <Node name='LHy_joint'/>
- <Node name='LKx_joint'/>
- <Node name='LAx_joint'/>
- <Node name='LAz_joint'/>
- <Node name='LAy_joint'/>
- <Node name='LMrot_joint'/>
- <Node name='LFx_joint'/>
- <Node name='RHx_joint'/>
- <Node name='RHz_joint'/>
- <Node name='RHy_joint'/>
- <Node name='RKx_joint'/>
- <Node name='RAx_joint'/>
- <Node name='RAz_joint'/>
- <Node name='RAy_joint'/>
- <Node name='RMrot_joint'/>
- <Node name='RFx_joint'/>
- </RobotNodeSet>
-
-
- <RobotNodeSet name='LeftHipArm' tcp='LeftHandSegment_joint'>
- <Node name='BTx_joint'/>
- <Node name='BTz_joint'/>
- <Node name='BTy_joint'/>
- <Node name='LSCx_joint'/>
- <Node name='LSCz_joint'/>
- <Node name='LSCy_joint'/>
- <Node name='LSx_joint'/>
- <Node name='LSz_joint'/>
- <Node name='LSy_joint'/>
- <Node name='LEx_joint'/>
- <Node name='LEz_joint'/>
- <Node name='LWx_joint'/>
- <Node name='LWy_joint'/>
- </RobotNodeSet>
-
-
-
- <RobotNodeSet name='LeftArm' tcp='LeftHandSegment_joint'>
- <Node name='LSCx_joint'/>
- <Node name='LSCz_joint'/>
- <Node name='LSCy_joint'/>
- <Node name='LSx_joint'/>
- <Node name='LSz_joint'/>
- <Node name='LSy_joint'/>
- <Node name='LEx_joint'/>
- <Node name='LEz_joint'/>
- <Node name='LWx_joint'/>
- <Node name='LWy_joint'/>
- </RobotNodeSet>
+
+ <RobotNodeSet name='LeftArm' tcp='LeftHandSegment_joint'>
+ <Node name='LSCx_joint' />
+ <Node name='LSCz_joint' />
+ <Node name='LSCy_joint' />
+ <Node name='LSx_joint' />
+ <Node name='LSz_joint' />
+ <Node name='LSy_joint' />
+ <Node name='LEx_joint' />
+ <Node name='LEz_joint' />
+ <Node name='LWx_joint' />
+ <Node name='LWy_joint' />
+ </RobotNodeSet>
<RobotNodeSet name="LeftArm-7dof" kinematicRoot="LSsegment_joint" tcp="LeftHandSegment_joint">
- <Node name='LSx_joint'/>
- <Node name='LSz_joint'/>
- <Node name='LSy_joint'/>
- <Node name='LEx_joint'/>
- <Node name='LEz_joint'/>
- <Node name='LWx_joint'/>
- <Node name='LWy_joint'/>
+ <Node name='LSx_joint' />
+ <Node name='LSz_joint' />
+ <Node name='LSy_joint' />
+ <Node name='LEx_joint' />
+ <Node name='LEz_joint' />
+ <Node name='LWx_joint' />
+ <Node name='LWy_joint' />
+ </RobotNodeSet>
+
+ <RobotNodeSet name='RightHipArm' tcp='RightHandSegment_joint'>
+ <Node name='BTx_joint' />
+ <Node name='BTz_joint' />
+ <Node name='BTy_joint' />
+ <Node name='RSCx_joint' />
+ <Node name='RSCz_joint' />
+ <Node name='RSCy_joint' />
+ <Node name='RSx_joint' />
+ <Node name='RSz_joint' />
+ <Node name='RSy_joint' />
+ <Node name='REx_joint' />
+ <Node name='REz_joint' />
+ <Node name='RWx_joint' />
+ <Node name='RWy_joint' />
</RobotNodeSet>
- <RobotNodeSet name='RightHipArm' tcp='RightHandSegment_joint'>
- <Node name='BTx_joint'/>
- <Node name='BTz_joint'/>
- <Node name='BTy_joint'/>
- <Node name='RSCx_joint'/>
- <Node name='RSCz_joint'/>
- <Node name='RSCy_joint'/>
- <Node name='RSx_joint'/>
- <Node name='RSz_joint'/>
- <Node name='RSy_joint'/>
- <Node name='REx_joint'/>
- <Node name='REz_joint'/>
- <Node name='RWx_joint'/>
- <Node name='RWy_joint'/>
- </RobotNodeSet>
-
- <RobotNodeSet name='RightArm' tcp='RightHandSegment_joint'>
- <Node name='RSCx_joint'/>
- <Node name='RSCz_joint'/>
- <Node name='RSCy_joint'/>
- <Node name='RSx_joint'/>
- <Node name='RSz_joint'/>
- <Node name='RSy_joint'/>
- <Node name='REx_joint'/>
- <Node name='REz_joint'/>
- <Node name='RWx_joint'/>
- <Node name='RWy_joint'/>
- </RobotNodeSet>
+ <RobotNodeSet name='RightArm' tcp='RightHandSegment_joint'>
+ <Node name='RSCx_joint' />
+ <Node name='RSCz_joint' />
+ <Node name='RSCy_joint' />
+ <Node name='RSx_joint' />
+ <Node name='RSz_joint' />
+ <Node name='RSy_joint' />
+ <Node name='REx_joint' />
+ <Node name='REz_joint' />
+ <Node name='RWx_joint' />
+ <Node name='RWy_joint' />
+ </RobotNodeSet>
<RobotNodeSet name="RightArm-7dof" kinematicRoot="RSsegment_joint" tcp="RightHandSegment_joint">
- <Node name='RSx_joint'/>
- <Node name='RSz_joint'/>
- <Node name='RSy_joint'/>
- <Node name='REx_joint'/>
- <Node name='REz_joint'/>
- <Node name='RWx_joint'/>
- <Node name='RWy_joint'/>
+ <Node name='RSx_joint' />
+ <Node name='RSz_joint' />
+ <Node name='RSy_joint' />
+ <Node name='REx_joint' />
+ <Node name='REz_joint' />
+ <Node name='RWx_joint' />
+ <Node name='RWy_joint' />
</RobotNodeSet>
- <RobotNodeSet name='Optimization'>
- <!-- Neck -->
- <Node name='BLNx_joint'/>
- <Node name='BLNy_joint'/>
- <Node name='BLNz_joint'/>
-
- <!-- Pelvis -->
- <Node name='BPx_joint'/>
- <Node name='BPy_joint'/>
- <Node name='BPz_joint'/>
-
- <!-- Torso -->
- <Node name='BTx_joint'/>
- <Node name='BTy_joint'/>
- <Node name='BTz_joint'/>
-
- <!-- Head -->
- <Node name='BUNx_joint'/>
- <Node name='BUNy_joint'/>
- <Node name='BUNz_joint'/>
-
- <!-- Left Ankle -->
- <Node name='LAx_joint'/>
- <Node name='LAy_joint'/>
- <Node name='LAz_joint'/>
-
- <!-- Left Elbow -->
- <Node name='LEx_joint'/>
- <Node name='LEz_joint'/>
-
- <!-- Left Hip -->
- <Node name='LHx_joint'/>
- <Node name='LHy_joint'/>
- <Node name='LHz_joint'/>
-
- <!-- Left Knee -->
- <Node name='LKx_joint'/>
-
- <!-- Left Shoulder Outer -->
- <Node name='LSx_joint'/>
- <Node name='LSy_joint'/>
- <Node name='LSz_joint'/>
-
- <!-- Left Wrist -->
- <Node name='LWx_joint'/>
- <Node name='LWy_joint'/>
-
- <!-- Left Foot -->
- <Node name='LFx_joint'/>
- <Node name='LMrot_joint'/>
-
- <!-- Right Ankle -->
- <Node name='RAx_joint'/>
- <Node name='RAy_joint'/>
- <Node name='RAz_joint'/>
-
- <!-- Right Elbow -->
- <Node name='REx_joint'/>
- <Node name='REz_joint'/>
-
- <!-- Right Hip -->
- <Node name='RHx_joint'/>
- <Node name='RHy_joint'/>
- <Node name='RHz_joint'/>
-
- <!-- Right Knee -->
- <Node name='RKx_joint'/>
-
- <!-- Right Shoulder Outer -->
- <Node name='RSx_joint'/>
- <Node name='RSy_joint'/>
- <Node name='RSz_joint'/>
-
- <!-- Right Wrist -->
- <Node name='RWx_joint'/>
- <Node name='RWy_joint'/>
-
- <!-- Right Foot -->
- <Node name='RFx_joint'/>
- <Node name='RMrot_joint'/>
- </RobotNodeSet>
+ <RobotNodeSet name='Optimization'>
+ <!-- Neck -->
+ <Node name='BLNx_joint' />
+ <Node name='BLNy_joint' />
+ <Node name='BLNz_joint' />
+
+ <!-- Pelvis -->
+ <Node name='BPx_joint' />
+ <Node name='BPy_joint' />
+ <Node name='BPz_joint' />
+
+ <!-- Torso -->
+ <Node name='BTx_joint' />
+ <Node name='BTy_joint' />
+ <Node name='BTz_joint' />
+
+ <!-- Head -->
+ <Node name='BUNx_joint' />
+ <Node name='BUNy_joint' />
+ <Node name='BUNz_joint' />
+
+ <!-- Left Ankle -->
+ <Node name='LAx_joint' />
+ <Node name='LAy_joint' />
+ <Node name='LAz_joint' />
+
+ <!-- Left Elbow -->
+ <Node name='LEx_joint' />
+ <Node name='LEz_joint' />
+
+ <!-- Left Hip -->
+ <Node name='LHx_joint' />
+ <Node name='LHy_joint' />
+ <Node name='LHz_joint' />
+
+ <!-- Left Knee -->
+ <Node name='LKx_joint' />
+
+ <!-- Left Shoulder Outer -->
+ <Node name='LSx_joint' />
+ <Node name='LSy_joint' />
+ <Node name='LSz_joint' />
+
+ <!-- Left Wrist -->
+ <Node name='LWx_joint' />
+ <Node name='LWy_joint' />
+
+ <!-- Left Foot -->
+ <Node name='LFx_joint' />
+ <Node name='LMrot_joint' />
+
+ <!-- Right Ankle -->
+ <Node name='RAx_joint' />
+ <Node name='RAy_joint' />
+ <Node name='RAz_joint' />
+
+ <!-- Right Elbow -->
+ <Node name='REx_joint' />
+ <Node name='REz_joint' />
+
+ <!-- Right Hip -->
+ <Node name='RHx_joint' />
+ <Node name='RHy_joint' />
+ <Node name='RHz_joint' />
+
+ <!-- Right Knee -->
+ <Node name='RKx_joint' />
+
+ <!-- Right Shoulder Outer -->
+ <Node name='RSx_joint' />
+ <Node name='RSy_joint' />
+ <Node name='RSz_joint' />
+
+ <!-- Right Wrist -->
+ <Node name='RWx_joint' />
+ <Node name='RWy_joint' />
+
+ <!-- Right Foot -->
+ <Node name='RFx_joint' />
+ <Node name='RMrot_joint' />
+ </RobotNodeSet>
</Robot>
--
GitLab
From 7ab46ae2a0d14a10efe93117bfba9b2dfaa11191 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 31 Oct 2024 14:54:38 -0700
Subject: [PATCH 3/3] RequestedObjects: adding log messages
---
.../plugins/RequestedObjects.cpp | 20 +++++++++++++++++--
1 file changed, 18 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/libraries/ArmarXObjects/plugins/RequestedObjects.cpp b/source/RobotAPI/libraries/ArmarXObjects/plugins/RequestedObjects.cpp
index 036e0530c..c67e2f98d 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/plugins/RequestedObjects.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/plugins/RequestedObjects.cpp
@@ -1,5 +1,6 @@
#include "RequestedObjects.h"
+#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -24,8 +25,11 @@ namespace armarx::objpose
void RequestedObjects::requestObjects(
const std::vector<armarx::ObjectID>& objectIDs, IceUtil::Time relativeTimeout)
{
+ ARMARX_INFO << VAROUT(relativeTimeout.toMilliSeconds());
+
if (relativeTimeout.toMilliSeconds() < 0)
{
+ ARMARX_INFO << "Infite localization request for object ids :" << objectIDs;
for (const auto& id : objectIDs)
{
infiniteRequests.push_back(id);
@@ -33,6 +37,8 @@ namespace armarx::objpose
}
else
{
+ ARMARX_INFO << "Localization request for " << relativeTimeout << " for object ids :" << objectIDs;
+
IceUtil::Time absoluteTimeout = TimeUtil::GetTime() + relativeTimeout;
Request req;
req.objectIDs = objectIDs;
@@ -48,8 +54,19 @@ namespace armarx::objpose
RequestedObjects::Update RequestedObjects::updateRequestedObjects(IceUtil::Time now)
{
// Remove requests with timeout.
- while (currentRequests.size() > 0 && currentRequests.begin()->first <= now)
+
+ if(not currentRequests.empty())
{
+ ARMARX_INFO << currentRequests.begin()->first - now;
+ }
+
+ while (not currentRequests.empty() and currentRequests.begin()->first <= now)
+ {
+ ARMARX_INFO << "No longer localizing objects: ";
+ for (const Request& request : currentRequests.begin()->second)
+ {
+ ARMARX_INFO << request.objectIDs;
+ }
currentRequests.erase(currentRequests.begin());
}
@@ -83,4 +100,3 @@ namespace armarx::objpose
}
}
-
--
GitLab