diff --git a/data/RobotAPI/robots/MMM/mmm_tcp.xml b/data/RobotAPI/robots/MMM/mmm_tcp.xml new file mode 100644 index 0000000000000000000000000000000000000000..0b592fb404a46a6d2ba92a1e2d3006064e531e9a --- /dev/null +++ b/data/RobotAPI/robots/MMM/mmm_tcp.xml @@ -0,0 +1,3503 @@ +<?xml version='1.0' encoding='UTF-8'?> + +<Robot Type='MMM' RootNode='root_joint'> + + <RobotNode name='BLNsegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='22' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Sensor type='position' name='MARKER_C7'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <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 + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_CLAV'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-0.205368' /> + <row2 c1='0' c2='1' c3='0' c4='51.8562' /> + <row3 c1='0' c2='0' c3='1' c4='-16.0151' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <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'/> + </Joint> + <CollisionModel> + <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'/> + </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'/> + </Joint> + <CollisionModel> + <Primitives> + <Box width="10" height="10" depth="10"/> + </Primitives> + </CollisionModel> + <Child name='BLNy_joint'/> + </RobotNode> + + + <RobotNode name='BPSegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='40' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Physics> + <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'/> + </InertiaMatrix> + </Physics> + <Sensor type='position' name='MARKER_L3'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='-50' /> + <row3 c1='0' c2='0' c3='1' c4='22.278' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <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'/> + </Joint> + <CollisionModel> + <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'/> + </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'/> + </Joint> + <CollisionModel> + <Primitives> + <Box width="10" height="10" depth="10"/> + </Primitives> + </CollisionModel> + <Child name='BPy_joint'/> + </RobotNode> + + + <RobotNode name='BTSegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='60' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Physics> + <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'/> + </InertiaMatrix> + </Physics> + <Visualization> + <File type='inventor'>./models/BTSegment_joint_visu.wrl</File> + <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'/> + </Joint> + <CollisionModel> + <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'/> + </Joint> + <CollisionModel> + <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'/> + </Joint> + <CollisionModel> + <Primitives> + <Box width="10" height="10" depth="10"/> + </Primitives> + </CollisionModel> + <Child name='BTy_joint'/> + </RobotNode> + + + <RobotNode name='BUNsegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='30' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Physics> + <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'/> + </InertiaMatrix> + </Physics> + <Visualization> + <File type='inventor'>./models/BUNsegment_joint_visu.wrl</File> + <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'/> + </Joint> + <CollisionModel> + <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'/> + </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'/> + </Joint> + <CollisionModel> + <Primitives> + <Box width="10" height="10" depth="10"/> + </Primitives> + </CollisionModel> + <Child name='BUNy_joint'/> + </RobotNode> + + + <RobotNode name='HeadSegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='130' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Physics> + <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'/> + </InertiaMatrix> + </Physics> + <Visualization> + <File type='inventor'>./models/HeadSegment_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_LBHD'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-28.4608' /> + <row2 c1='0' c2='1' c3='0' c4='-32.9923' /> + <row3 c1='0' c2='0' c3='1' c4='-50.3193' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_LFHD'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-28.4608' /> + <row2 c1='0' c2='1' c3='0' c4='31.9975' /> + <row3 c1='0' c2='0' c3='1' c4='-50.3193' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_RBHD'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='28.46' /> + <row2 c1='0' c2='1' c3='0' c4='-32.9923' /> + <row3 c1='0' c2='0' c3='1' c4='-50.3193' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_RFHD'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='28.46' /> + <row2 c1='0' c2='1' c3='0' c4='31.9975' /> + <row3 c1='0' c2='0' c3='1' c4='-50.3193' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + </RobotNode> + + + <RobotNode name='LAsegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='-246' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Physics> + <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'/> + </InertiaMatrix> + </Physics> + <Visualization> + <File type='inventor'>./models/LAsegment_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_LTIP'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-12.8329' /> + <row2 c1='0' c2='1' c3='0' c4='18.92' /> + <row3 c1='0' c2='0' c3='1' c4='103.84' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <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'/> + </Joint> + <CollisionModel> + <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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LAy_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_LANK'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-22.9033' /> + <row2 c1='0' c2='1' c3='0' c4='4.86361e-07' /> + <row3 c1='0' c2='0' c3='1' c4='-18.2531' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_LHEE'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0.458916' /> + <row2 c1='0' c2='1' c3='0' c4='-33.2631' /> + <row3 c1='0' c2='0' c3='1' c4='-15.4982' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <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'/> + </Joint> + <CollisionModel> + <Primitives> + <Box width="10" height="10" depth="10"/> + </Primitives> + </CollisionModel> + <Child name='LAy_joint'/> + </RobotNode> + + + <RobotNode name='LEsegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='-188' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Physics> + <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'/> + </InertiaMatrix> + </Physics> + <Visualization> + <File type='inventor'>./models/LEsegment_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_LAEL'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-1.54455' /> + <row2 c1='0' c2='1' c3='0' c4='-17.482' /> + <row3 c1='0' c2='0' c3='1' c4='-2.20636' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_LAOL'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='12.4554' /> + <row2 c1='0' c2='1' c3='0' c4='-15.5' /> + <row3 c1='0' c2='0' c3='1' c4='-1.86715' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_LUPA'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-19.8687' /> + <row2 c1='0' c2='1' c3='0' c4='2.6444' /> + <row3 c1='0' c2='0' c3='1' c4='126.53' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <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'/> + </Joint> + <CollisionModel> + <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'/> + </Joint> + <Child name='LWsegment_joint'/> + </RobotNode> + + + <RobotNode name='LFx_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='0.987688' c2='-0.151104' c3='-0.0404882' c4='-8.8' /> + <row2 c1='0.156434' c2='0.954034' c3='0.255633' c4='53.7' /> + <row3 c1='0' c2='-0.258819' c3='0.965926' c4='-14.4' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LFx_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_LTOE'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='14.1863' /> + <row2 c1='0' c2='1' c3='0' c4='33.7441' /> + <row3 c1='0' c2='0' c3='1' c4='-2.44184' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + </RobotNode> + + + <RobotNode name='LHsegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-52' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='0' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LHsegment_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_LASI'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-15.7722' /> + <row2 c1='0' c2='1' c3='0' c4='43.9811' /> + <row3 c1='0' c2='0' c3='1' c4='34.9948' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_LHIP'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-45.15' /> + <row2 c1='0' c2='1' c3='0' c4='3.33725e-08' /> + <row3 c1='0' c2='0' c3='1' c4='0' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_LPSI'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='24.5' /> + <row2 c1='0' c2='1' c3='0' c4='-60' /> + <row3 c1='0' c2='0' c3='1' c4='34.9948' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <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'/> + </Joint> + <CollisionModel> + <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'/> + </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'/> + </Joint> + <CollisionModel> + <Primitives> + <Box width="10" height="10" depth="10"/> + </Primitives> + </CollisionModel> + <Child name='LHy_joint'/> + </RobotNode> + + + <RobotNode name='LKsegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='-245' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Physics> + <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'/> + </InertiaMatrix> + </Physics> + <Visualization> + <File type='inventor'>./models/LKsegment_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_LKNE'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-26.7885' /> + <row2 c1='0' c2='1' c3='0' c4='3.33725e-08' /> + <row3 c1='0' c2='0' c3='1' c4='1.58173' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_LTHI'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-32.78' /> + <row2 c1='0' c2='1' c3='0' c4='5.71972e-05' /> + <row3 c1='0' c2='0' c3='1' c4='61.28' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <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'/> + </Joint> + <Child name='LAsegment_joint'/> + </RobotNode> + + + <RobotNode name='LMrot_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='0.987688' c2='0.151104' c3='-0.0404882' c4='0.6' /> + <row2 c1='-0.156434' c2='0.954034' c3='-0.255633' c4='23.8' /> + <row3 c1='0' c2='0.258819' c3='0.965926' c4='-18.7' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LMrot_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_LMT1'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='17.7316' /> + <row2 c1='0' c2='1' c3='0' c4='51.4544' /> + <row3 c1='0' c2='0' c3='1' c4='-12.24' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_LMT5'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-36.2073' /> + <row2 c1='0' c2='1' c3='0' c4='42.4769' /> + <row3 c1='0' c2='0' c3='1' c4='-12.7363' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Child name='LFx_joint'/> + </RobotNode> + + + <RobotNode name='LSCsegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-87' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='0' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LSCsegment_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_LBAK'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='40.2164' /> + <row2 c1='0' c2='1' c3='0' c4='-51.365' /> + <row3 c1='0' c2='0' c3='1' c4='7.07746' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <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'/> + </Joint> + <CollisionModel> + <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'/> + </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'/> + </Joint> + <CollisionModel> + <Primitives> + <Box width="10" height="10" depth="10"/> + </Primitives> + </CollisionModel> + <Child name='LSCy_joint'/> + </RobotNode> + + + <RobotNode name='LSsegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-23' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='0' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Physics> + <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'/> + </InertiaMatrix> + </Physics> + <Visualization> + <File type='inventor'>./models/LSsegment_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_LSHO'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-11.0491' /> + <row2 c1='0' c2='1' c3='0' c4='-1.13565' /> + <row3 c1='0' c2='0' c3='1' c4='6.38902' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <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'/> + </Joint> + <CollisionModel> + <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'/> + </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'/> + </Joint> + <CollisionModel> + <Primitives> + <Box width="10" height="10" depth="10"/> + </Primitives> + </CollisionModel> + <Child name='LSy_joint'/> + </RobotNode> + + + <RobotNode name='LWsegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='-145' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Physics> + <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'/> + </InertiaMatrix> + </Physics> + <Visualization> + <File type='inventor'>./models/LWsegment_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_LFRA'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-15.4413' /> + <row2 c1='0' c2='1' c3='0' c4='0.93' /> + <row3 c1='0' c2='0' c3='1' c4='63.5425' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_LWPS'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-2.49894' /> + <row2 c1='0' c2='1' c3='0' c4='-15.9993' /> + <row3 c1='0' c2='0' c3='1' c4='0.167504' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_LWTS'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-2.49895' /> + <row2 c1='0' c2='1' c3='0' c4='14.3563' /> + <row3 c1='0' c2='0' c3='1' c4='0.167504' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <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'/> + </Joint> + <CollisionModel> + <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'/> + </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'/> + <Child name='TCP L'/> + </RobotNode> + + <RobotNode name='TCP L'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='-30' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </RobotNode> + + + <RobotNode name='LeftEyeSegmentX_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-15' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='0' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Child name='LeftEyeSegmentY_joint'/> + </RobotNode> + + + <RobotNode name='LeftEyeSegmentY_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='30' /> + <row3 c1='0' c2='0' c3='1' c4='0' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LeftEyeSegmentY_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + </RobotNode> + + + <RobotNode name='LeftFingerJoint11y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='0.707107' c3='0.707107' c4='0' /> + <row3 c1='0' c2='-0.707107' c3='0.707107' c4='0' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LeftFingerJoint11y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='LeftFingerJoint12y_joint'/> + </RobotNode> + + + <RobotNode name='LeftFingerJoint11z_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='-1' c2='0' c3='-1.50996e-07' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='10.584' /> + <row3 c1='1.50996e-07' c2='0' c3='-1' c4='-7.884' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Child name='LeftFingerJoint11y_joint'/> + </RobotNode> + + + <RobotNode name='LeftFingerJoint12y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='21.168' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LeftFingerJoint12y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='LeftFingerJoint13y_joint'/> + </RobotNode> + + + <RobotNode name='LeftFingerJoint13y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='17.064' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LeftFingerJoint13y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + </RobotNode> + + + <RobotNode name='LeftFingerJoint21x_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='7.54979e-08' c2='-1' c3='8.74228e-08' c4='0' /> + <row2 c1='-1' c2='-7.54979e-08' c3='-8.74228e-08' c4='13.554' /> + <row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-48.276' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LeftFingerJoint21y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='LeftFingerJoint22y_joint'/> + </RobotNode> + + + <RobotNode name='LeftFingerJoint22y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='26.46' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LeftFingerJoint22y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='LeftFingerJoint23y_joint'/> + </RobotNode> + + + <RobotNode name='LeftFingerJoint23y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='15.444' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LeftFingerJoint23y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + </RobotNode> + + + <RobotNode name='LeftFingerJoint31x_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='7.54979e-08' c2='-1' c3='8.74228e-08' c4='0' /> + <row2 c1='-1' c2='-7.54979e-08' c3='-8.74228e-08' c4='0' /> + <row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-48.168' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LeftFingerJoint31y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='LeftFingerJoint32y_joint'/> + </RobotNode> + + + <RobotNode name='LeftFingerJoint32y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='28.728' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LeftFingerJoint32y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='LeftFingerJoint33y_joint'/> + </RobotNode> + + + <RobotNode name='LeftFingerJoint33y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='18.36' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LeftFingerJoint33y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + </RobotNode> + + + <RobotNode name='LeftFingerJoint40y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='7.54979e-08' c2='-1' c3='8.74228e-08' c4='0' /> + <row2 c1='-1' c2='-7.54979e-08' c3='-8.74228e-08' c4='-6.25' /> + <row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-8.75' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LeftFingerJoint40y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='LeftFingerJoint41x_joint'/> + </RobotNode> + + + <RobotNode name='LeftFingerJoint41x_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='4.9' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='35.422' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LeftFingerJoint41y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='LeftFingerJoint42y_joint'/> + </RobotNode> + + + <RobotNode name='LeftFingerJoint42y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='26.352' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LeftFingerJoint42y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='LeftFingerJoint43y_joint'/> + </RobotNode> + + + <RobotNode name='LeftFingerJoint43y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='17.82' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LeftFingerJoint43y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + </RobotNode> + + + <RobotNode name='LeftFingerJoint50y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='7.54979e-08' c2='-1' c3='8.74228e-08' c4='0' /> + <row2 c1='-1' c2='-7.54979e-08' c3='-8.74228e-08' c4='-12.88' /> + <row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-9.77' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LeftFingerJoint50y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='LeftFingerJoint51x_joint'/> + </RobotNode> + + + <RobotNode name='LeftFingerJoint51x_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='8.8' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='29.8' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LeftFingerJoint51y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='LeftFingerJoint52y_joint'/> + </RobotNode> + + + <RobotNode name='LeftFingerJoint52y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='22.032' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LeftFingerJoint52y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='LeftFingerJoint53y_joint'/> + </RobotNode> + + + <RobotNode name='LeftFingerJoint53y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='12.636' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/LeftFingerJoint53y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + </RobotNode> + + + <RobotNode name='LeftFootHeight_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='-39' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Physics> + <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'/> + </InertiaMatrix> + </Physics> + </RobotNode> + + + <RobotNode name='LeftHandSegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='-108' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Physics> + <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'/> + </InertiaMatrix> + </Physics> + <Visualization> + <File type='inventor'>./models/LeftHandSegment_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_LHPS'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-9.65197' /> + <row2 c1='0' c2='1' c3='0' c4='-21.7232' /> + <row3 c1='0' c2='0' c3='1' c4='78.9456' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_LHTS'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-10.3235' /> + <row2 c1='0' c2='1' c3='0' c4='13.0487' /> + <row3 c1='0' c2='0' c3='1' c4='69.6834' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_LIFD'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-7.41577' /> + <row2 c1='0' c2='1' c3='0' c4='14.2213' /> + <row3 c1='0' c2='0' c3='1' c4='14.536' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + </RobotNode> + + + <RobotNode name='MidHeadSegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='66' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Child name='LeftEyeSegmentX_joint'/> + <Child name='RightEyeSegmentX_joint'/> + </RobotNode> + + + <RobotNode name='RAsegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='-246' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Physics> + <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'/> + </InertiaMatrix> + </Physics> + <Visualization> + <File type='inventor'>./models/RAsegment_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_RTIP'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='12.8313' /> + <row2 c1='0' c2='1' c3='0' c4='18.51' /> + <row3 c1='0' c2='0' c3='1' c4='177.87' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <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'/> + </Joint> + <CollisionModel> + <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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RAy_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_RANK'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='22.9' /> + <row2 c1='0' c2='1' c3='0' c4='-4.19614e-07' /> + <row3 c1='0' c2='0' c3='1' c4='-18.25' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_RHEE'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-0.460001' /> + <row2 c1='0' c2='1' c3='0' c4='-33.2618' /> + <row3 c1='0' c2='0' c3='1' c4='-15.4999' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <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'/> + </Joint> + <CollisionModel> + <Primitives> + <Box width="10" height="10" depth="10"/> + </Primitives> + </CollisionModel> + <Child name='RAy_joint'/> + </RobotNode> + + + <RobotNode name='REsegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='-188' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Physics> + <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'/> + </InertiaMatrix> + </Physics> + <Visualization> + <File type='inventor'>./models/REsegment_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_RAEL'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='1.54' /> + <row2 c1='0' c2='1' c3='0' c4='-17.482' /> + <row3 c1='0' c2='0' c3='1' c4='-2.20636' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_RAOL'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-12.5' /> + <row2 c1='0' c2='1' c3='0' c4='-15.5' /> + <row3 c1='0' c2='0' c3='1' c4='-1.86715' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_RUPA'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='19.8672' /> + <row2 c1='0' c2='1' c3='0' c4='2.6444' /> + <row3 c1='0' c2='0' c3='1' c4='126.53' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <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'/> + </Joint> + <CollisionModel> + <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'/> + </Joint> + <Child name='RWsegment_joint'/> + </RobotNode> + + + <RobotNode name='RFx_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='0.987688' c2='0.151104' c3='0.0404882' c4='8.8' /> + <row2 c1='-0.156434' c2='0.954034' c3='0.255633' c4='53.7' /> + <row3 c1='0' c2='-0.258819' c3='0.965926' c4='-14.3922' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RFx_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_RTOE'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-15.3868' /> + <row2 c1='0' c2='1' c3='0' c4='33.7525' /> + <row3 c1='0' c2='0' c3='1' c4='-2.49873' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + </RobotNode> + + + <RobotNode name='RHsegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='52' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='0' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RHsegment_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_RASI'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='15.77' /> + <row2 c1='0' c2='1' c3='0' c4='43.9811' /> + <row3 c1='0' c2='0' c3='1' c4='34.9948' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_RHIP'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='45.15' /> + <row2 c1='0' c2='1' c3='0' c4='3.33725e-08' /> + <row3 c1='0' c2='0' c3='1' c4='0' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_RPSI'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-24.5' /> + <row2 c1='0' c2='1' c3='0' c4='-60' /> + <row3 c1='0' c2='0' c3='1' c4='34.9948' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <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'/> + </Joint> + <CollisionModel> + <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'/> + </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'/> + </Joint> + <CollisionModel> + <Primitives> + <Box width="10" height="10" depth="10"/> + </Primitives> + </CollisionModel> + <Child name='RHy_joint'/> + </RobotNode> + + + <RobotNode name='RKsegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='-245' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Physics> + <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'/> + </InertiaMatrix> + </Physics> + <Visualization> + <File type='inventor'>./models/RKsegment_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_RKNE'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='26.793' /> + <row2 c1='0' c2='1' c3='0' c4='3.33733e-08' /> + <row3 c1='0' c2='0' c3='1' c4='1.58173' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_RTHI'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='39.81' /> + <row2 c1='0' c2='1' c3='0' c4='4.6559e-05' /> + <row3 c1='0' c2='0' c3='1' c4='140.46' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <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'/> + </Joint> + <Child name='RAsegment_joint'/> + </RobotNode> + + + <RobotNode name='RMrot_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='0.987688' c2='-0.151104' c3='0.0404882' c4='0.6' /> + <row2 c1='0.156434' c2='0.954034' c3='-0.255633' c4='23.8' /> + <row3 c1='0' c2='0.258819' c3='0.965926' c4='-18.7' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RMrot_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_RMT1'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-18.9131' /> + <row2 c1='0' c2='1' c3='0' c4='51.6351' /> + <row3 c1='0' c2='0' c3='1' c4='-12.2884' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_RMT5'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='35.0239' /> + <row2 c1='0' c2='1' c3='0' c4='42.6533' /> + <row3 c1='0' c2='0' c3='1' c4='-12.7853' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Child name='RFx_joint'/> + </RobotNode> + + + <RobotNode name='RSCsegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='87' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='0' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RSCsegment_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_RBAK'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-60.9917' /> + <row2 c1='0' c2='1' c3='0' c4='-60.727' /> + <row3 c1='0' c2='0' c3='1' c4='-48.1316' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <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'/> + </Joint> + <CollisionModel> + <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'/> + </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'/> + </Joint> + <CollisionModel> + <Primitives> + <Box width="10" height="10" depth="10"/> + </Primitives> + </CollisionModel> + <Child name='RSCy_joint'/> + </RobotNode> + + + <RobotNode name='RSsegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='23' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='0' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Physics> + <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'/> + </InertiaMatrix> + </Physics> + <Visualization> + <File type='inventor'>./models/RSsegment_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_RSHO'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='11.0476' /> + <row2 c1='0' c2='1' c3='0' c4='-1.13565' /> + <row3 c1='0' c2='0' c3='1' c4='6.38902' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <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'/> + </Joint> + <CollisionModel> + <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'/> + </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'/> + </Joint> + <CollisionModel> + <Primitives> + <Box width="10" height="10" depth="10"/> + </Primitives> + </CollisionModel> + <Child name='RSy_joint'/> + </RobotNode> + + + <RobotNode name='RWsegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='-145' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Physics> + <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'/> + </InertiaMatrix> + </Physics> + <Visualization> + <File type='inventor'>./models/RWsegment_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Sensor type='position' name='MARKER_RFRA'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='15.4' /> + <row2 c1='0' c2='1' c3='0' c4='0.930038' /> + <row3 c1='0' c2='0' c3='1' c4='63.5425' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_RWPS'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='2.31349' /> + <row2 c1='0' c2='1' c3='0' c4='-15.9993' /> + <row3 c1='0' c2='0' c3='1' c4='0.167504' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_RWTS'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='2.31349' /> + <row2 c1='0' c2='1' c3='0' c4='14.3563' /> + <row3 c1='0' c2='0' c3='1' c4='0.167504' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <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'/> + </Joint> + <CollisionModel> + <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'/> + </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'/> + <Child name='TCP R'/> + </RobotNode> + + <RobotNode name='TCP R'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='-30' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </RobotNode> + + <RobotNode name='RightEyeSegmentX_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='15' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='0' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Child name='RightEyeSegmentY_joint'/> + </RobotNode> + + + <RobotNode name='RightEyeSegmentY_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='30' /> + <row3 c1='0' c2='0' c3='1' c4='0' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RightEyeSegmentY_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + </RobotNode> + + + <RobotNode name='RightFingerJoint11y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='-1' c2='1.0677e-07' c3='-1.0677e-07' c4='0' /> + <row2 c1='0' c2='0.707107' c3='0.707107' c4='0' /> + <row3 c1='1.50996e-07' c2='0.707107' c3='-0.707107' c4='0' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RightFingerJoint11y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='RightFingerJoint12y_joint'/> + </RobotNode> + + + <RobotNode name='RightFingerJoint11z_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='10.584' /> + <row3 c1='0' c2='0' c3='1' c4='-7.884' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Child name='RightFingerJoint11y_joint'/> + </RobotNode> + + + <RobotNode name='RightFingerJoint12y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='21.168' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RightFingerJoint12y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='RightFingerJoint13y_joint'/> + </RobotNode> + + + <RobotNode name='RightFingerJoint13y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='17.064' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RightFingerJoint13y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + </RobotNode> + + + <RobotNode name='RightFingerJoint21x_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='7.54979e-08' c2='1' c3='-8.74228e-08' c4='0' /> + <row2 c1='1' c2='-7.54979e-08' c3='8.74228e-08' c4='13.554' /> + <row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-48.3' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RightFingerJoint21y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='RightFingerJoint22y_joint'/> + </RobotNode> + + + <RobotNode name='RightFingerJoint22y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='26.46' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RightFingerJoint22y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='RightFingerJoint23y_joint'/> + </RobotNode> + + + <RobotNode name='RightFingerJoint23y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='15.444' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RightFingerJoint23y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + </RobotNode> + + + <RobotNode name='RightFingerJoint31x_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='7.54979e-08' c2='1' c3='-8.74228e-08' c4='0' /> + <row2 c1='1' c2='-7.54979e-08' c3='8.74228e-08' c4='0' /> + <row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-48.168' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RightFingerJoint31y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='RightFingerJoint32y_joint'/> + </RobotNode> + + + <RobotNode name='RightFingerJoint32y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='28.728' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RightFingerJoint32y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='RightFingerJoint33y_joint'/> + </RobotNode> + + + <RobotNode name='RightFingerJoint33y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='18.36' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RightFingerJoint33y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + </RobotNode> + + + <RobotNode name='RightFingerJoint40y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='7.54979e-08' c2='1' c3='-8.74228e-08' c4='0' /> + <row2 c1='1' c2='-7.54979e-08' c3='8.74228e-08' c4='-6.25' /> + <row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-8.75' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RightFingerJoint40y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='RightFingerJoint41x_joint'/> + </RobotNode> + + + <RobotNode name='RightFingerJoint41x_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-4.9' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='35.422' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RightFingerJoint41y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='RightFingerJoint42y_joint'/> + </RobotNode> + + + <RobotNode name='RightFingerJoint42y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='26.352' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RightFingerJoint42y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='RightFingerJoint43y_joint'/> + </RobotNode> + + + <RobotNode name='RightFingerJoint43y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='17.82' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RightFingerJoint43y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + </RobotNode> + + + <RobotNode name='RightFingerJoint50y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='7.54979e-08' c2='1' c3='-8.74228e-08' c4='0' /> + <row2 c1='1' c2='-7.54979e-08' c3='8.74228e-08' c4='-12.88' /> + <row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-9.97' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RightFingerJoint50y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='RightFingerJoint51x_joint'/> + </RobotNode> + + + <RobotNode name='RightFingerJoint51x_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-8.828' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='29.774' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RightFingerJoint51y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='RightFingerJoint52y_joint'/> + </RobotNode> + + + <RobotNode name='RightFingerJoint52y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='22.032' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RightFingerJoint52y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + <Child name='RightFingerJoint53y_joint'/> + </RobotNode> + + + <RobotNode name='RightFingerJoint53y_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='12.636' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Visualization> + <File type='inventor'>./models/RightFingerJoint53y_joint_visu.wrl</File> + <UseAsCollisionModel/></Visualization> + </RobotNode> + + + <RobotNode name='RightFootHeight_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='-39' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Physics> + <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'/> + </InertiaMatrix> + </Physics> + <Child name='RightFootLength_joint'/> + </RobotNode> + + + <RobotNode name='RightFootLength_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='68' /> + <row3 c1='0' c2='0' c3='1' c4='0' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + </RobotNode> + + + <RobotNode name='RightHandSegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='-108' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Physics> + <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'/> + </InertiaMatrix> + </Physics> + <Sensor type='position' name='MARKER_RHPS'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='8.67729' /> + <row2 c1='0' c2='1' c3='0' c4='-22.2095' /> + <row3 c1='0' c2='0' c3='1' c4='76.666' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_RHTS'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='9.3514' /> + <row2 c1='0' c2='1' c3='0' c4='14.9125' /> + <row3 c1='0' c2='0' c3='1' c4='69.1177' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_RIFD'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='7.77317' /> + <row2 c1='0' c2='1' c3='0' c4='13.1986' /> + <row3 c1='0' c2='0' c3='1' c4='15.0756' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + </RobotNode> + + + <RobotNode name='collarSegment_joint'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='0' /> + <row3 c1='0' c2='0' c3='1' c4='188' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </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'/> + </Joint> + <Physics> + <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'/> + </InertiaMatrix> + </Physics> + <Sensor type='position' name='MARKER_STRN'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='-0.205368' /> + <row2 c1='0' c2='1' c3='0' c4='60.7288' /> + <row3 c1='0' c2='0' c3='1' c4='-80.5236' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <Sensor type='position' name='MARKER_T10'> + <Transform> + <Matrix4x4 units='mm'> + <row1 c1='1' c2='0' c3='0' c4='0' /> + <row2 c1='0' c2='1' c3='0' c4='-62.5189' /> + <row3 c1='0' c2='0' c3='1' c4='-111.766' /> + <row4 c1='0' c2='0' c3='0' c4='1' /> + </Matrix4x4> + </Transform> + </Sensor> + <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'/> + </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'/> + </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'/> + </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'/> + </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='TCP L'/> + <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='TCP R'/> + <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='TCP L'> + <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='TCP L'/> + </RobotNodeSet> + + + + <RobotNodeSet name='LeftArm' tcp='TCP L'> + <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='TCP L'/> + </RobotNodeSet> + + + <RobotNodeSet name='RightHipArm' tcp='TCP R'> + <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'/> + <Node name='TCP R'/> + </RobotNodeSet> + + <RobotNodeSet name='RightArm' tcp='TCP R'> + <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='TCP R'/> + </RobotNodeSet> + +</Robot>