mirror of
https://github.com/PotentiaRobotics/Olympian-PROTO.git
synced 2025-04-03 19:50:17 -04:00
1443 lines
1.2 MiB
1443 lines
1.2 MiB
#VRML_SIM R2021b utf8
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# license: Apache License 2.0
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# license url: http://www.apache.org/licenses/LICENSE-2.0
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# This is a proto file for Webots for the Olympian
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# Extracted from: olympian.urdf
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PROTO Olympian [
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field SFVec3f translation 0 0 0
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field SFRotation rotation 0 1 0 0
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field SFString name "Olympian" # Is `Robot.name`.
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field SFString controller "void" # Is `Robot.controller`.
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field MFString controllerArgs [] # Is `Robot.controllerArgs`.
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field SFString customData "" # Is `Robot.customData`.
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field SFBool supervisor FALSE # Is `Robot.supervisor`.
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field SFBool synchronization TRUE # Is `Robot.synchronization`.
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field SFBool selfCollision FALSE # Is `Robot.selfCollision`.
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]
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{
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Robot {
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translation IS translation
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rotation IS rotation
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controller IS controller
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controllerArgs IS controllerArgs
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customData IS customData
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supervisor IS supervisor
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synchronization IS synchronization
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selfCollision IS selfCollision
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children [
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Shape {
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appearance DEF silver PBRAppearance {
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baseColor 0.500000 0.500000 0.500000
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transparency 0.000000
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roughness 1.000000
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metalness 0
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emissiveColor 0.000000 0.000000 0.000000
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}
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geometry DEF base_link IndexedFaceSet {
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coord Coordinate {
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point [
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]
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}
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coordIndex [
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]
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creaseAngle 1
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}
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}
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HingeJoint {
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jointParameters HingeJointParameters {
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axis 1.000000 -0.000000 -0.000000
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anchor 0.050000 0.912000 0.100000
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dampingConstant 0.0
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staticFriction 0.0
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}
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device [
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RotationalMotor {
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name "Rev1"
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maxTorque 10000
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}
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PositionSensor {
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name "Rev1_sensor"
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}
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]
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endPoint Solid {
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translation 0.050000 0.912000 0.100000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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Transform {
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translation -0.050000 -0.912000 -0.100000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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Shape {
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appearance USE silver
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geometry DEF Pelvis_v7_1 IndexedFaceSet {
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coord Coordinate {
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point [
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]
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creaseAngle 1
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}
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}
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]
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}
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HingeJoint {
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jointParameters HingeJointParameters {
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axis -0.000000 -0.000000 -1.000000
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anchor 0.050000 0.075000 -0.037500
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dampingConstant 0.0
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staticFriction 0.0
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}
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device [
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RotationalMotor {
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name "Rev2"
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maxTorque 10000
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}
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PositionSensor {
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name "Rev2_sensor"
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}
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]
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endPoint Solid {
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translation 0.050000 0.075000 -0.037500
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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Transform {
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translation -0.100000 -0.987000 -0.062500
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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Shape {
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appearance USE silver
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geometry DEF Chest_v13_1 IndexedFaceSet {
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coord Coordinate {
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]
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creaseAngle 1
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}
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}
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]
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}
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HingeJoint {
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jointParameters HingeJointParameters {
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axis 0.000000 1.000000 -0.000000
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anchor 0.000000 0.566400 0.037500
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dampingConstant 0.0
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staticFriction 0.0
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}
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device [
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RotationalMotor {
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name "Rev11"
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maxTorque 10000
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}
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PositionSensor {
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name "Rev11_sensor"
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}
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]
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endPoint Solid {
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translation 0.000000 0.566400 0.037500
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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Transform {
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translation -0.100000 -1.553400 -0.100000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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Shape {
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appearance USE silver
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geometry DEF Box_Head_v5_1 IndexedFaceSet {
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coord Coordinate {
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point [
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coordIndex [
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]
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creaseAngle 1
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|
}
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}
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]
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}
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]
|
|
name "Box_Head_v5_1"
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boundingObject Transform {
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translation -0.100000 -1.553400 -0.100000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
|
|
USE Box_Head_v5_1
|
|
]
|
|
}
|
|
physics Physics {
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density -1
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|
mass 0.412984
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centerOfMass [ 0.000000 0.127000 -0.000000 ]
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inertiaMatrix [
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9.535470e-03 9.535470e-03 9.535470e-03
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|
0.000000e+00 -1.231654e-16 -6.938894e-17
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]
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}
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}
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}
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HingeJoint {
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jointParameters HingeJointParameters {
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|
axis -1.000000 0.000000 0.000000
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|
anchor -0.275000 0.516400 0.037500
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|
dampingConstant 0.0
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|
staticFriction 0.0
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}
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device [
|
|
RotationalMotor {
|
|
name "Rev3"
|
|
maxTorque 10000
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|
}
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PositionSensor {
|
|
name "Rev3_sensor"
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}
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]
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endPoint Solid {
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translation -0.275000 0.516400 0.037500
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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Transform {
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translation 0.175000 -1.503400 -0.100000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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Shape {
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|
appearance USE silver
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geometry DEF Upper_Arm_Link_type_b_v9_1 IndexedFaceSet {
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coord Coordinate {
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point [
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|
|
]
|
|
creaseAngle 1
|
|
}
|
|
}
|
|
]
|
|
}
|
|
HingeJoint {
|
|
jointParameters HingeJointParameters {
|
|
axis 0.000000 -0.000000 -1.000000
|
|
anchor -0.075000 -0.012500 -0.050000
|
|
dampingConstant 0.0
|
|
staticFriction 0.0
|
|
}
|
|
device [
|
|
RotationalMotor {
|
|
name "Rev4"
|
|
maxTorque 10000
|
|
}
|
|
PositionSensor {
|
|
name "Rev4_sensor"
|
|
}
|
|
]
|
|
endPoint Solid {
|
|
translation -0.075000 -0.012500 -0.050000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
Transform {
|
|
translation 0.250000 -1.490900 -0.050000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
Shape {
|
|
appearance USE silver
|
|
geometry DEF Upper_Arm_Roll_Link_v5_1 IndexedFaceSet {
|
|
coord Coordinate {
|
|
point [
|
|
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]
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creaseAngle 1
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}
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}
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]
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}
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HingeJoint {
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jointParameters HingeJointParameters {
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axis -0.000000 -1.000000 0.000000
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anchor 0.000000 -0.056350 0.050000
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dampingConstant 0.0
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staticFriction 0.0
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}
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device [
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RotationalMotor {
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name "Rev5"
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maxTorque 10000
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}
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PositionSensor {
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name "Rev5_sensor"
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}
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]
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endPoint Solid {
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translation 0.000000 -0.056350 0.050000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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Transform {
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translation 0.250000 -1.434550 -0.100000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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Shape {
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appearance USE silver
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geometry DEF Upper_Arm_v10_1 IndexedFaceSet {
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coord Coordinate {
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point [
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|
|
]
|
|
creaseAngle 1
|
|
}
|
|
}
|
|
]
|
|
}
|
|
HingeJoint {
|
|
jointParameters HingeJointParameters {
|
|
axis 0.000000 -0.000000 -1.000000
|
|
anchor 0.000000 -0.367500 0.050000
|
|
dampingConstant 0.0
|
|
staticFriction 0.0
|
|
}
|
|
device [
|
|
RotationalMotor {
|
|
name "Rev6"
|
|
maxTorque 10000
|
|
}
|
|
PositionSensor {
|
|
name "Rev6_sensor"
|
|
}
|
|
]
|
|
endPoint Solid {
|
|
translation 0.000000 -0.367500 0.050000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
Transform {
|
|
translation 0.250000 -1.067050 -0.150000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
Shape {
|
|
appearance USE silver
|
|
geometry DEF Lower_Arm_v8_1 IndexedFaceSet {
|
|
coord Coordinate {
|
|
point [
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|
|
]
|
|
creaseAngle 1
|
|
}
|
|
}
|
|
]
|
|
}
|
|
]
|
|
name "Lower_Arm_v8_1"
|
|
boundingObject Transform {
|
|
translation 0.250000 -1.067050 -0.150000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
USE Lower_Arm_v8_1
|
|
]
|
|
}
|
|
physics Physics {
|
|
density -1
|
|
mass 1.128786
|
|
centerOfMass [ -0.000000 -0.227117 -0.050000 ]
|
|
inertiaMatrix [
|
|
2.554564e-02 3.060493e-03 2.547799e-02
|
|
1.748601e-15 5.367234e-15 0.000000e+00
|
|
]
|
|
}
|
|
}
|
|
}
|
|
]
|
|
name "Upper_Arm_v10_1"
|
|
boundingObject Transform {
|
|
translation 0.250000 -1.434550 -0.100000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
USE Upper_Arm_v10_1
|
|
]
|
|
}
|
|
physics Physics {
|
|
density -1
|
|
mass 0.941924
|
|
centerOfMass [ -0.000000 -0.207313 -0.000000 ]
|
|
inertiaMatrix [
|
|
1.968353e-02 3.498320e-03 1.881273e-02
|
|
-1.635390e-09 5.370704e-15 4.163336e-17
|
|
]
|
|
}
|
|
}
|
|
}
|
|
]
|
|
name "Upper_Arm_Roll_Link_v5_1"
|
|
boundingObject Transform {
|
|
translation 0.250000 -1.490900 -0.050000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
USE Upper_Arm_Roll_Link_v5_1
|
|
]
|
|
}
|
|
physics Physics {
|
|
density -1
|
|
mass 0.291434
|
|
centerOfMass [ 0.000000 -0.022135 0.050000 ]
|
|
inertiaMatrix [
|
|
1.232763e-03 1.193841e-03 2.924683e-04
|
|
-1.387779e-17 0.000000e+00 0.000000e+00
|
|
]
|
|
}
|
|
}
|
|
}
|
|
]
|
|
name "Upper_Arm_Link_type_b_v9_1"
|
|
boundingObject Transform {
|
|
translation 0.175000 -1.503400 -0.100000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
USE Upper_Arm_Link_type_b_v9_1
|
|
]
|
|
}
|
|
physics Physics {
|
|
density -1
|
|
mass 0.110112
|
|
centerOfMass [ -0.039310 -0.010956 -0.000000 ]
|
|
inertiaMatrix [
|
|
1.693093e-04 2.207585e-04 1.820608e-04
|
|
-1.861439e-05 0.000000e+00 0.000000e+00
|
|
]
|
|
}
|
|
}
|
|
}
|
|
HingeJoint {
|
|
jointParameters HingeJointParameters {
|
|
axis 1.000000 -0.000000 -0.000000
|
|
anchor 0.275000 0.516400 0.037500
|
|
dampingConstant 0.0
|
|
staticFriction 0.0
|
|
}
|
|
device [
|
|
RotationalMotor {
|
|
name "Rev7"
|
|
maxTorque 10000
|
|
}
|
|
PositionSensor {
|
|
name "Rev7_sensor"
|
|
}
|
|
]
|
|
endPoint Solid {
|
|
translation 0.275000 0.516400 0.037500
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
Transform {
|
|
translation -0.375000 -1.503400 -0.100000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
Shape {
|
|
appearance USE silver
|
|
geometry DEF Upper_Arm_Link_type_b_v9_2 IndexedFaceSet {
|
|
coord Coordinate {
|
|
point [
|
|
0.472000 1.537065 0.053835, 0.472000 1.494735 0.053835, 0.475000 1.537065 0.053835, 0.475000 1.494735 0.053835, 0.472000 1.537065 0.146165, 0.475000 1.537065 0.146165, 0.472000 1.494735 0.146165, 0.475000 1.494735 0.146165, 0.428000 1.537900 0.147000, 0.472000 1.537900 0.147000, 0.428000 1.537900 0.150000, 0.472000 1.537900 0.150000, 0.428000 1.537900 0.050000, 0.472000 1.537900 0.050000, 0.428000 1.537900 0.053000, 0.472000 1.537900 0.053000, 0.472000 1.490900 0.053000, 0.472000 1.490900 0.050000, 0.471936 1.489220 0.053000, 0.471906 1.488870 0.050000, 0.471743 1.487550 0.053000, 0.471625 1.486858 0.050000, 0.471424 1.485900 0.053000, 0.471160 1.484879 0.050000, 0.471160 1.484879 0.083333, 0.470514 1.482953 0.083333, 0.470514 1.482953 0.116667, 0.469694 1.481094 0.116667, 0.469694 1.481094 0.150000, 0.468705 1.479318 0.150000, 0.468705 1.479318 0.116667, 0.467556 1.477642 0.150000, 0.467556 1.477642 0.116667, 0.466258 1.476079 0.150000, 0.466258 1.476079 0.116667, 0.464821 1.474642 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creaseAngle 1
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}
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}
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]
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}
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HingeJoint {
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jointParameters HingeJointParameters {
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axis 0.000000 -0.000000 -1.000000
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anchor 0.075000 -0.012500 -0.050000
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dampingConstant 0.0
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staticFriction 0.0
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}
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device [
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RotationalMotor {
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name "Rev8"
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maxTorque 10000
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}
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PositionSensor {
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name "Rev8_sensor"
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}
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]
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endPoint Solid {
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translation 0.075000 -0.012500 -0.050000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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Transform {
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translation -0.450000 -1.490900 -0.050000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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Shape {
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appearance USE silver
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geometry DEF Upper_Arm_Roll_Link_v5_2 IndexedFaceSet {
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coord Coordinate {
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point [
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|
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]
|
|
creaseAngle 1
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|
}
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|
}
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|
]
|
|
}
|
|
HingeJoint {
|
|
jointParameters HingeJointParameters {
|
|
axis 0.000000 -1.000000 0.000000
|
|
anchor 0.000000 -0.056350 0.050000
|
|
dampingConstant 0.0
|
|
staticFriction 0.0
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|
}
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device [
|
|
RotationalMotor {
|
|
name "Rev9"
|
|
maxTorque 10000
|
|
}
|
|
PositionSensor {
|
|
name "Rev9_sensor"
|
|
}
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|
]
|
|
endPoint Solid {
|
|
translation 0.000000 -0.056350 0.050000
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|
rotation 0.000000 1.000000 0.000000 0.000000
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children [
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Transform {
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|
translation -0.450000 -1.434550 -0.100000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
Shape {
|
|
appearance USE silver
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geometry DEF Upper_Arm_v10_3 IndexedFaceSet {
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coord Coordinate {
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point [
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|
|
]
|
|
creaseAngle 1
|
|
}
|
|
}
|
|
]
|
|
}
|
|
HingeJoint {
|
|
jointParameters HingeJointParameters {
|
|
axis -0.000000 0.000000 1.000000
|
|
anchor 0.000000 -0.367500 -0.050000
|
|
dampingConstant 0.0
|
|
staticFriction 0.0
|
|
}
|
|
device [
|
|
RotationalMotor {
|
|
name "Rev10"
|
|
maxTorque 10000
|
|
}
|
|
PositionSensor {
|
|
name "Rev10_sensor"
|
|
}
|
|
]
|
|
endPoint Solid {
|
|
translation 0.000000 -0.367500 -0.050000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
Transform {
|
|
translation -0.450000 -1.067050 -0.050000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
Shape {
|
|
appearance USE silver
|
|
geometry DEF Lower_Arm_v8_2 IndexedFaceSet {
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coord Coordinate {
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point [
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165 163 -1 1575 163 1577 -1 1577 163 161 -1 1577 161 1579 -1 1579 161 159 -1 1579 159 1581 -1 1581 159 1583 -1 1583 159 157 -1 1583 157 1585 -1 1585 157 155 -1 1585 155 1587 -1 1587 155 153 -1 1587 153 1589 -1 1589 153 151 -1 1589 151 1591 -1 1591 151 1593 -1 1593 151 149 -1 1593 149 1595 -1 1595 149 147 -1 1595 147 1597 -1 1597 147 145 -1 1597 145 1599 -1 1599 145 143 -1 1599 143 1601 -1 1601 143 141 -1 1601 141 1603 -1 1603 141 1605 -1 1605 141 139 -1 1605 139 1607 -1 1607 139 137 -1 1607 137 1609 -1 1609 137 135 -1 1609 135 1469 -1 1469 135 133 -1
|
|
]
|
|
creaseAngle 1
|
|
}
|
|
}
|
|
]
|
|
}
|
|
]
|
|
name "Lower_Arm_v8_2"
|
|
boundingObject Transform {
|
|
translation -0.450000 -1.067050 -0.050000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
USE Lower_Arm_v8_2
|
|
]
|
|
}
|
|
physics Physics {
|
|
density -1
|
|
mass 1.128786
|
|
centerOfMass [ -0.000000 -0.227117 0.050000 ]
|
|
inertiaMatrix [
|
|
2.554564e-02 3.060493e-03 2.547799e-02
|
|
1.720846e-15 5.370704e-15 0.000000e+00
|
|
]
|
|
}
|
|
}
|
|
}
|
|
]
|
|
name "Upper_Arm_v10_3"
|
|
boundingObject Transform {
|
|
translation -0.450000 -1.434550 -0.100000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
USE Upper_Arm_v10_3
|
|
]
|
|
}
|
|
physics Physics {
|
|
density -1
|
|
mass 0.941924
|
|
centerOfMass [ -0.000000 -0.207313 -0.000000 ]
|
|
inertiaMatrix [
|
|
1.968353e-02 3.498320e-03 1.881273e-02
|
|
-1.635390e-09 5.377643e-15 2.775558e-17
|
|
]
|
|
}
|
|
}
|
|
}
|
|
]
|
|
name "Upper_Arm_Roll_Link_v5_2"
|
|
boundingObject Transform {
|
|
translation -0.450000 -1.490900 -0.050000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
USE Upper_Arm_Roll_Link_v5_2
|
|
]
|
|
}
|
|
physics Physics {
|
|
density -1
|
|
mass 0.291434
|
|
centerOfMass [ 0.000000 -0.022135 0.050000 ]
|
|
inertiaMatrix [
|
|
1.232763e-03 1.193841e-03 2.924683e-04
|
|
-2.775558e-17 -3.469447e-18 6.938894e-18
|
|
]
|
|
}
|
|
}
|
|
}
|
|
]
|
|
name "Upper_Arm_Link_type_b_v9_2"
|
|
boundingObject Transform {
|
|
translation -0.375000 -1.503400 -0.100000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
USE Upper_Arm_Link_type_b_v9_2
|
|
]
|
|
}
|
|
physics Physics {
|
|
density -1
|
|
mass 0.110112
|
|
centerOfMass [ 0.039310 -0.010956 -0.000000 ]
|
|
inertiaMatrix [
|
|
1.693093e-04 2.207585e-04 1.820608e-04
|
|
1.861439e-05 8.673617e-19 3.469447e-18
|
|
]
|
|
}
|
|
}
|
|
}
|
|
]
|
|
name "Chest_v13_1"
|
|
boundingObject Transform {
|
|
translation -0.100000 -0.987000 -0.062500
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
USE Chest_v13_1
|
|
]
|
|
}
|
|
physics Physics {
|
|
density -1
|
|
mass 5.882339
|
|
centerOfMass [ -0.000082 0.295427 0.037500 ]
|
|
inertiaMatrix [
|
|
3.281120e-01 2.378079e-01 4.620245e-01
|
|
-1.155295e-04 -4.857226e-17 0.000000e+00
|
|
]
|
|
}
|
|
}
|
|
}
|
|
]
|
|
name "Pelvis_v7_1"
|
|
boundingObject Transform {
|
|
translation -0.050000 -0.912000 -0.100000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
USE Pelvis_v7_1
|
|
]
|
|
}
|
|
physics Physics {
|
|
density -1
|
|
mass 0.594751
|
|
centerOfMass [ 0.050000 0.029353 -0.000000 ]
|
|
inertiaMatrix [
|
|
1.878873e-03 1.097644e-03 2.017037e-03
|
|
-6.938894e-18 8.673617e-19 0.000000e+00
|
|
]
|
|
}
|
|
}
|
|
}
|
|
HingeJoint {
|
|
jointParameters HingeJointParameters {
|
|
axis -1.000000 0.000000 0.000000
|
|
anchor 0.000000 0.812000 0.100000
|
|
dampingConstant 0.0
|
|
staticFriction 0.0
|
|
}
|
|
device [
|
|
RotationalMotor {
|
|
name "Rev12"
|
|
maxTorque 10000
|
|
}
|
|
PositionSensor {
|
|
name "Rev12_sensor"
|
|
}
|
|
]
|
|
endPoint Solid {
|
|
translation 0.000000 0.812000 0.100000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
Transform {
|
|
translation -0.000000 -0.812000 -0.100000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
Shape {
|
|
appearance USE silver
|
|
geometry DEF Leg_Pitch_v5_1 IndexedFaceSet {
|
|
coord Coordinate {
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point [
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]
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}
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coordIndex [
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|
|
]
|
|
creaseAngle 1
|
|
}
|
|
}
|
|
]
|
|
}
|
|
HingeJoint {
|
|
jointParameters HingeJointParameters {
|
|
axis 0.000000 0.000000 -1.000000
|
|
anchor -0.050000 0.000000 -0.075000
|
|
dampingConstant 0.0
|
|
staticFriction 0.0
|
|
}
|
|
device [
|
|
RotationalMotor {
|
|
name "Rev13"
|
|
maxTorque 10000
|
|
}
|
|
PositionSensor {
|
|
name "Rev13_sensor"
|
|
}
|
|
]
|
|
endPoint Solid {
|
|
translation -0.050000 0.000000 -0.075000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
Transform {
|
|
translation 0.050000 -0.812000 -0.025000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
Shape {
|
|
appearance USE silver
|
|
geometry DEF Leg_Roll_v4_1 IndexedFaceSet {
|
|
coord Coordinate {
|
|
point [
|
|
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}
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coordIndex [
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]
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creaseAngle 1
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}
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}
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]
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}
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HingeJoint {
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jointParameters HingeJointParameters {
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axis 0.000000 -1.000000 0.000000
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anchor 0.000000 -0.075000 0.075000
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dampingConstant 0.0
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staticFriction 0.0
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}
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device [
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RotationalMotor {
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name "Rev14"
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maxTorque 10000
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}
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PositionSensor {
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name "Rev14_sensor"
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}
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]
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endPoint Solid {
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translation 0.000000 -0.075000 0.075000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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Transform {
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translation 0.050000 -0.737000 -0.100000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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Shape {
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appearance USE silver
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geometry DEF Upper_Leg_v4_1 IndexedFaceSet {
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coord Coordinate {
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point [
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|
|
]
|
|
creaseAngle 1
|
|
}
|
|
}
|
|
]
|
|
}
|
|
HingeJoint {
|
|
jointParameters HingeJointParameters {
|
|
axis 1.000000 -0.000000 -0.000000
|
|
anchor -0.050000 -0.298200 0.000000
|
|
dampingConstant 0.0
|
|
staticFriction 0.0
|
|
}
|
|
device [
|
|
RotationalMotor {
|
|
name "Rev15"
|
|
maxTorque 10000
|
|
}
|
|
PositionSensor {
|
|
name "Rev15_sensor"
|
|
}
|
|
]
|
|
endPoint Solid {
|
|
translation -0.050000 -0.298200 0.000000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
Transform {
|
|
translation 0.100000 -0.438800 -0.100000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
Shape {
|
|
appearance USE silver
|
|
geometry DEF Lower_Leg_v6_1 IndexedFaceSet {
|
|
coord Coordinate {
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|
point [
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|
|
]
|
|
creaseAngle 1
|
|
}
|
|
}
|
|
]
|
|
}
|
|
HingeJoint {
|
|
jointParameters HingeJointParameters {
|
|
axis -0.000000 0.000000 1.000000
|
|
anchor 0.050000 -0.353200 -0.030000
|
|
dampingConstant 0.0
|
|
staticFriction 0.0
|
|
}
|
|
device [
|
|
RotationalMotor {
|
|
name "Rev16"
|
|
maxTorque 10000
|
|
}
|
|
PositionSensor {
|
|
name "Rev16_sensor"
|
|
}
|
|
]
|
|
endPoint Solid {
|
|
translation 0.050000 -0.353200 -0.030000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
Transform {
|
|
translation 0.050000 -0.085600 -0.070000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
Shape {
|
|
appearance USE silver
|
|
geometry DEF Ankle_Link_v5_1 IndexedFaceSet {
|
|
coord Coordinate {
|
|
point [
|
|
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creaseAngle 1
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}
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}
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}
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]
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name "Foot_v4_1"
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boundingObject Transform {
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translation 0.070000 -0.050600 -0.100000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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USE Foot_v4_1
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]
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}
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physics Physics {
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density -1
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mass 0.892162
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centerOfMass [ 0.019686 -0.040394 0.036256 ]
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inertiaMatrix [
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name "Ankle_Link_v5_1"
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boundingObject Transform {
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translation 0.050000 -0.085600 -0.070000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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]
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}
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physics Physics {
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density -1
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mass 0.029664
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centerOfMass [ 0.000000 -0.014239 0.030000 ]
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inertiaMatrix [
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]
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}
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}
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}
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]
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name "Lower_Leg_v6_1"
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boundingObject Transform {
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translation 0.100000 -0.438800 -0.100000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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USE Lower_Leg_v6_1
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]
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}
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physics Physics {
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density -1
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mass 1.427289
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centerOfMass [ 0.050000 -0.141478 -0.000000 ]
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inertiaMatrix [
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]
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}
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}
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}
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]
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name "Upper_Leg_v4_1"
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boundingObject Transform {
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translation 0.050000 -0.737000 -0.100000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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}
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physics Physics {
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density -1
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mass 1.721418
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inertiaMatrix [
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}
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}
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}
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name "Leg_Roll_v4_1"
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boundingObject Transform {
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translation 0.050000 -0.812000 -0.025000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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]
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}
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physics Physics {
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density -1
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mass 1.353280
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inertiaMatrix [
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}
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}
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name "Leg_Pitch_v5_1"
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boundingObject Transform {
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translation -0.000000 -0.812000 -0.100000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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]
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}
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physics Physics {
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density -1
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mass 0.328067
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}
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HingeJoint {
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jointParameters HingeJointParameters {
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]
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creaseAngle 1
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}
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}
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]
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}
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HingeJoint {
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jointParameters HingeJointParameters {
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axis 0.000000 -1.000000 0.000000
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anchor 0.000000 -0.075000 0.075000
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dampingConstant 0.0
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staticFriction 0.0
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}
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device [
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RotationalMotor {
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name "Rev22"
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maxTorque 10000
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}
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PositionSensor {
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name "Rev22_sensor"
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}
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]
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endPoint Solid {
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translation 0.000000 -0.075000 0.075000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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Transform {
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translation -0.250000 -0.737000 -0.100000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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Shape {
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appearance USE silver
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geometry DEF Upper_Leg_v4_2 IndexedFaceSet {
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coord Coordinate {
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point [
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]
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creaseAngle 1
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}
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}
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]
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}
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HingeJoint {
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jointParameters HingeJointParameters {
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axis -1.000000 0.000000 0.000000
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anchor 0.050000 -0.298200 0.000000
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dampingConstant 0.0
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staticFriction 0.0
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}
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device [
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RotationalMotor {
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name "Rev23"
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maxTorque 10000
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}
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PositionSensor {
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name "Rev23_sensor"
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}
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]
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endPoint Solid {
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translation 0.050000 -0.298200 0.000000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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Transform {
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translation -0.300000 -0.438800 -0.100000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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Shape {
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appearance USE silver
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geometry DEF Lower_Leg_v6_2 IndexedFaceSet {
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coord Coordinate {
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point [
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|
|
]
|
|
creaseAngle 1
|
|
}
|
|
}
|
|
]
|
|
}
|
|
HingeJoint {
|
|
jointParameters HingeJointParameters {
|
|
axis -0.000000 0.000000 1.000000
|
|
anchor -0.050000 -0.353200 -0.030000
|
|
dampingConstant 0.0
|
|
staticFriction 0.0
|
|
}
|
|
device [
|
|
RotationalMotor {
|
|
name "Rev24"
|
|
maxTorque 10000
|
|
}
|
|
PositionSensor {
|
|
name "Rev24_sensor"
|
|
}
|
|
]
|
|
endPoint Solid {
|
|
translation -0.050000 -0.353200 -0.030000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
Transform {
|
|
translation -0.250000 -0.085600 -0.070000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
Shape {
|
|
appearance USE silver
|
|
geometry DEF Ankle_Link_v5_2 IndexedFaceSet {
|
|
coord Coordinate {
|
|
point [
|
|
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creaseAngle 1
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}
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}
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}
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HingeJoint {
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jointParameters HingeJointParameters {
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axis 1.000000 -0.000000 -0.000000
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anchor 0.020000 -0.035000 0.030000
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dampingConstant 0.0
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staticFriction 0.0
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}
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device [
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RotationalMotor {
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name "Rev25"
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maxTorque 10000
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}
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PositionSensor {
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name "Rev25_sensor"
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}
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]
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endPoint Solid {
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translation 0.020000 -0.035000 0.030000
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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Transform {
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rotation 0.000000 1.000000 0.000000 0.000000
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children [
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Shape {
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appearance USE silver
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geometry DEF Foot_v4_2 IndexedFaceSet {
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coord Coordinate {
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62 44 -1 44 62 64 -1 44 64 66 -1 48 50 46 -1 46 50 52 -1 46 52 54 -1 54 56 46 -1 46 56 58 -1 46 58 60 -1 60 62 46 -1 66 68 44 -1 44 68 70 -1 44 70 72 -1 72 74 44 -1 44 74 76 -1 44 76 78 -1 78 80 44 -1 44 80 82 -1 44 82 84 -1 84 86 44 -1 44 86 89 -1 89 86 90 -1 1 0 91 -1 91 0 92 -1 2 18 0 -1 0 18 20 -1 0 20 22 -1 4 6 2 -1 2 6 8 -1 2 8 10 -1 10 12 2 -1 2 12 14 -1 2 14 16 -1 16 18 2 -1 22 24 0 -1 0 24 26 -1 0 26 28 -1 28 30 0 -1 0 30 32 -1 0 32 34 -1 34 36 0 -1 0 36 38 -1 0 38 40 -1 40 42 0 -1 0 42 92 -1 92 42 93 -1 85 69 87 -1 87 69 67 -1 87 67 65 -1 83 81 85 -1 85 81 79 -1 85 79 77 -1 77 75 85 -1 85 75 73 -1 85 73 71 -1 71 69 85 -1 65 63 87 -1 87 63 61 -1 87 61 59 -1 59 57 87 -1 87 57 55 -1 87 55 53 -1 53 51 87 -1 87 51 49 -1 87 49 47 -1 47 45 87 -1 87 45 94 -1 94 45 88 -1 86 87 90 -1 90 87 94 -1 42 43 93 -1 93 43 95 -1 41 25 43 -1 43 25 23 -1 43 23 21 -1 39 37 41 -1 41 37 35 -1 41 35 33 -1 33 31 41 -1 41 31 29 -1 41 29 27 -1 27 25 41 -1 21 19 43 -1 43 19 17 -1 43 17 15 -1 15 13 43 -1 43 13 11 -1 43 11 9 -1 9 7 43 -1 43 7 5 -1 43 5 3 -1 3 1 43 -1 43 1 95 -1 95 1 91 -1 96 97 98 -1 98 97 99 -1 98 99 100 -1 100 99 101 -1 100 101 102 -1 102 101 103 -1 102 103 104 -1 104 103 105 -1 104 105 106 -1 106 105 107 -1 106 107 108 -1 108 107 109 -1 108 109 110 -1 110 109 111 -1 110 111 112 -1 112 111 113 -1 112 113 114 -1 114 113 115 -1 114 115 116 -1 116 115 117 -1 116 117 118 -1 118 117 119 -1 118 119 120 -1 120 119 121 -1 120 121 122 -1 122 121 123 -1 122 123 124 -1 124 123 125 -1 124 125 126 -1 126 125 127 -1 126 127 128 -1 128 127 129 -1 128 129 130 -1 130 129 131 -1 130 131 132 -1 132 131 133 -1 132 133 134 -1 134 133 135 -1 134 135 136 -1 136 135 137 -1 136 137 138 -1 138 137 139 -1 138 139 140 -1 140 139 141 -1 140 141 142 -1 142 141 143 -1 142 143 144 -1 144 143 145 -1 144 145 146 -1 146 145 147 -1 146 147 148 -1 148 147 149 -1 148 149 150 -1 150 149 151 -1 150 151 152 -1 152 151 153 -1 152 153 154 -1 154 153 155 -1 154 155 156 -1 156 155 157 -1 156 157 158 -1 158 157 159 -1 158 159 160 -1 160 159 161 -1 160 161 162 -1 162 161 163 -1 162 163 164 -1 164 163 165 -1 164 165 166 -1 166 165 167 -1 166 167 168 -1 168 167 169 -1 168 169 170 -1 170 169 171 -1 170 171 172 -1 172 171 173 -1 172 173 174 -1 174 173 175 -1 174 175 176 -1 176 175 177 -1 176 177 178 -1 178 177 179 -1 178 179 180 -1 180 179 181 -1 180 181 182 -1 182 181 183 -1 182 183 184 -1 184 183 185 -1 184 185 186 -1 186 185 187 -1 186 187 188 -1 188 187 189 -1 188 189 190 -1 190 189 191 -1 190 191 192 -1 192 191 193 -1 192 193 194 -1 194 193 195 -1 194 195 196 -1 196 195 197 -1 196 197 198 -1 198 197 199 -1 198 199 200 -1 200 199 201 -1 200 201 202 -1 202 201 203 -1 202 203 204 -1 204 203 205 -1 204 205 206 -1 206 205 207 -1 206 207 208 -1 208 207 209 -1 208 209 210 -1 210 209 211 -1 210 211 212 -1 212 211 213 -1 212 213 214 -1 214 213 215 -1 214 215 216 -1 216 215 217 -1 216 217 218 -1 218 217 219 -1 218 219 220 -1 220 219 221 -1 220 221 222 -1 222 221 223 -1 222 223 96 -1 96 223 97 -1 88 92 94 -1 94 92 93 -1 94 93 194 -1 194 93 192 -1 192 93 190 -1 190 93 188 -1 188 93 186 -1 186 93 184 -1 184 93 182 -1 182 93 180 -1 180 93 178 -1 178 93 95 -1 178 95 176 -1 176 95 174 -1 174 95 172 -1 172 95 170 -1 170 95 168 -1 168 95 166 -1 166 95 164 -1 164 95 162 -1 162 95 91 -1 162 91 160 -1 160 91 158 -1 158 91 156 -1 156 91 154 -1 154 91 152 -1 152 91 150 -1 150 91 148 -1 148 91 146 -1 146 91 92 -1 146 92 144 -1 144 92 142 -1 142 92 140 -1 140 92 138 -1 138 92 136 -1 136 92 134 -1 134 92 132 -1 132 92 130 -1 130 92 88 -1 130 88 128 -1 128 88 126 -1 126 88 124 -1 124 88 122 -1 122 88 120 -1 120 88 118 -1 118 88 116 -1 116 88 114 -1 114 88 89 -1 114 89 112 -1 112 89 110 -1 110 89 108 -1 108 89 106 -1 106 89 104 -1 104 89 102 -1 102 89 100 -1 100 89 98 -1 98 89 90 -1 98 90 96 -1 96 90 222 -1 222 90 220 -1 220 90 218 -1 218 90 216 -1 216 90 214 -1 214 90 212 -1 212 90 210 -1 210 90 94 -1 210 94 208 -1 208 94 206 -1 206 94 204 -1 204 94 202 -1 202 94 200 -1 200 94 198 -1 198 94 196 -1 196 94 194 -1 224 225 226 -1 226 225 227 -1 228 224 229 -1 229 224 226 -1 230 228 231 -1 231 228 229 -1 225 232 227 -1 227 232 233 -1 231 234 230 -1 230 234 235 -1 236 237 238 -1 238 237 239 -1 240 236 241 -1 241 236 238 -1 242 240 243 -1 243 240 241 -1 243 244 242 -1 242 244 245 -1 237 246 239 -1 239 246 247 -1 234 247 235 -1 235 247 246 -1 244 233 245 -1 245 233 232 -1 97 225 99 -1 99 225 230 -1 99 230 101 -1 101 230 103 -1 103 230 105 -1 105 230 107 -1 107 230 109 -1 109 230 111 -1 111 230 113 -1 113 230 115 -1 115 230 117 -1 117 230 235 -1 117 235 119 -1 119 235 121 -1 121 235 123 -1 123 235 125 -1 125 235 127 -1 127 235 129 -1 129 235 131 -1 131 235 246 -1 131 246 133 -1 133 246 135 -1 135 246 137 -1 137 246 139 -1 139 246 141 -1 141 246 143 -1 143 246 145 -1 145 246 237 -1 145 237 147 -1 147 237 149 -1 149 237 151 -1 151 237 153 -1 153 237 155 -1 155 237 157 -1 157 237 159 -1 159 237 161 -1 161 237 163 -1 163 237 242 -1 163 242 165 -1 165 242 167 -1 167 242 169 -1 169 242 171 -1 171 242 173 -1 173 242 175 -1 175 242 177 -1 177 242 245 -1 177 245 179 -1 179 245 181 -1 181 245 183 -1 183 245 185 -1 185 245 187 -1 187 245 189 -1 189 245 191 -1 191 245 193 -1 193 245 195 -1 195 245 232 -1 195 232 197 -1 197 232 199 -1 199 232 201 -1 201 232 203 -1 203 232 205 -1 205 232 207 -1 207 232 209 -1 209 232 211 -1 211 232 213 -1 213 232 225 -1 213 225 215 -1 215 225 217 -1 217 225 219 -1 219 225 221 -1 221 225 223 -1 223 225 97 -1 224 228 225 -1 225 228 230 -1 236 240 237 -1 237 240 242 -1 233 244 227 -1 227 244 243 -1 227 243 231 -1 231 243 239 -1 231 239 234 -1 234 239 247 -1 243 241 239 -1 239 241 238 -1 231 229 227 -1 227 229 226 -1
|
|
]
|
|
creaseAngle 1
|
|
}
|
|
}
|
|
]
|
|
}
|
|
]
|
|
name "Foot_v4_2"
|
|
boundingObject Transform {
|
|
translation -0.270000 -0.050600 -0.100000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
USE Foot_v4_2
|
|
]
|
|
}
|
|
physics Physics {
|
|
density -1
|
|
mass 0.892162
|
|
centerOfMass [ -0.020314 -0.040394 0.036256 ]
|
|
inertiaMatrix [
|
|
5.514802e-03 7.237252e-03 1.976748e-03
|
|
-1.292284e-06 2.766319e-06 1.489881e-04
|
|
]
|
|
}
|
|
}
|
|
}
|
|
]
|
|
name "Ankle_Link_v5_2"
|
|
boundingObject Transform {
|
|
translation -0.250000 -0.085600 -0.070000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
USE Ankle_Link_v5_2
|
|
]
|
|
}
|
|
physics Physics {
|
|
density -1
|
|
mass 0.029664
|
|
centerOfMass [ 0.000000 -0.014239 0.030000 ]
|
|
inertiaMatrix [
|
|
3.134717e-05 1.458241e-05 2.691498e-05
|
|
-1.084202e-19 1.084202e-19 -8.131516e-20
|
|
]
|
|
}
|
|
}
|
|
}
|
|
]
|
|
name "Lower_Leg_v6_2"
|
|
boundingObject Transform {
|
|
translation -0.300000 -0.438800 -0.100000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
USE Lower_Leg_v6_2
|
|
]
|
|
}
|
|
physics Physics {
|
|
density -1
|
|
mass 1.427289
|
|
centerOfMass [ -0.050000 -0.141478 -0.000000 ]
|
|
inertiaMatrix [
|
|
2.027203e-02 3.070800e-03 2.027882e-02
|
|
-1.290634e-15 -2.206568e-15 2.775558e-17
|
|
]
|
|
}
|
|
}
|
|
}
|
|
]
|
|
name "Upper_Leg_v4_2"
|
|
boundingObject Transform {
|
|
translation -0.250000 -0.737000 -0.100000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
USE Upper_Leg_v4_2
|
|
]
|
|
}
|
|
physics Physics {
|
|
density -1
|
|
mass 1.721418
|
|
centerOfMass [ 0.000000 -0.157572 -0.000000 ]
|
|
inertiaMatrix [
|
|
2.364706e-02 1.202868e-02 2.456431e-02
|
|
-5.551115e-17 0.000000e+00 0.000000e+00
|
|
]
|
|
}
|
|
}
|
|
}
|
|
]
|
|
name "Leg_Roll_v4_2"
|
|
boundingObject Transform {
|
|
translation -0.250000 -0.812000 -0.025000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
USE Leg_Roll_v4_2
|
|
]
|
|
}
|
|
physics Physics {
|
|
density -1
|
|
mass 1.353280
|
|
centerOfMass [ 0.000000 -0.035223 0.075000 ]
|
|
inertiaMatrix [
|
|
8.928053e-03 8.372645e-03 2.693884e-03
|
|
-5.551115e-17 -6.938894e-18 -1.387779e-17
|
|
]
|
|
}
|
|
}
|
|
}
|
|
]
|
|
name "Leg_Pitch_v5_2"
|
|
boundingObject Transform {
|
|
translation -0.200000 -0.812000 -0.100000
|
|
rotation 0.000000 1.000000 0.000000 0.000000
|
|
children [
|
|
USE Leg_Pitch_v5_2
|
|
]
|
|
}
|
|
physics Physics {
|
|
density -1
|
|
mass 0.328067
|
|
centerOfMass [ 0.046835 0.003165 -0.000000 ]
|
|
inertiaMatrix [
|
|
1.088363e-03 1.088363e-03 9.464762e-04
|
|
-5.307554e-05 -1.734723e-18 0.000000e+00
|
|
]
|
|
}
|
|
}
|
|
}
|
|
]
|
|
name IS name
|
|
boundingObject USE base_link
|
|
physics Physics {
|
|
density -1
|
|
mass 1.152101
|
|
centerOfMass [ 0.100000 0.872167 0.100000 ]
|
|
inertiaMatrix [
|
|
5.223497e-03 8.530264e-03 8.991902e-03
|
|
1.387779e-17 -5.204170e-18 1.387779e-17
|
|
]
|
|
}
|
|
}
|
|
}
|