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miniHubo.leftArm.kinbody.xml
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miniHubo.leftArm.kinbody.xml
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<?xml version="1.0" encoding="utf-8"?>
<!-- left arm kinematic tree -->
<KinBody name = "leftArm" >
<modelsdir>models</modelsdir>
<Body name="Torso_dummy2" type="dynamic">
</Body>
<Body name="las">
<offsetfrom>Torso_dummy2</offsetfrom>
<Translation>0.076500 0.022625 0.000000</Translation>
<Geom type="box" render="false">
<Extents>0.01700 0.01250 0.02200</Extents>
</Geom>
<Geom type="trimesh">
<!--data>miniHubo/shoulder_rt_cog_shrinkwrap_1.wrl 1</data-->
<render>miniHubo/shoulder_rt_cog_shrinkwrap_1.wrl 1</render>
</Geom>
<Mass type="box">
<total>0.009</total>
<inertia>0.003225 0 0 0 0.004119 0 0 0 0.002129</inertia>
</Mass>
</Body>
<adjacent>Torso_dummy2 las</adjacent>
<Joint name="lsp" type="hinge">
<Body>Torso_dummy2</Body>
<Body>las</Body>
<offsetfrom>las</offsetfrom>
<Anchor>-0.017000 0.000000 0.000000</Anchor>
<axis>-1 0 0 </axis>
</Joint>
<Body name="lab">
<offsetfrom>las</offsetfrom>
<Translation>0.010000 -0.037825 -0.007990</Translation>
<Geom type="box" render="false">
<Extents>0.01780 0.04983 0.03063</Extents>
</Geom>
<Geom type="trimesh">
<!--data>miniHubo/bicep_cog_shrinkwrap_1.wrl 1</data-->
<render>miniHubo/bicep_cog_shrinkwrap_1.wrl 1</render>
</Geom>
<Mass type="box">
<total>0.140</total>
<inertia>0.128338 0 0 0 0.034871 -0.018017 0 -0.018017 0.112464</inertia>
</Mass>
</Body>
<adjacent>las lab</adjacent>
<Joint name="lsr" type="hinge">
<Body>las</Body>
<Body>lab</Body>
<offsetfrom>lab</offsetfrom>
<Anchor>0.000000 0.037825 0.000000</Anchor>
<axis>0 0 1</axis>
</Joint>
<Body name="lae">
<offsetfrom>lab</offsetfrom>
<Translation>0.000000 -0.061475 0.007975</Translation>
<Geom type="box" render="false">
<Extents>0.02200 0.01700 0.01250</Extents>
</Geom>
<Geom type="trimesh">
<!--data>miniHubo/elbow_cog_shrinkwrap_1.wrl 1</data-->
<render>miniHubo/elbow_cog_shrinkwrap_1.wrl 1</render>
</Geom>
<Mass type="box">
<total>0.009</total>
<inertia>0.002129 0 0 0 0.003225 0 0 0 0.004119</inertia>
</Mass>
</Body>
<adjacent>lab lae</adjacent>
<Joint name="lsy" type="hinge">
<Body>lab</Body>
<Body>lae</Body>
<offsetfrom>lae</offsetfrom>
<Anchor>0.000000 0.017000 0.000000</Anchor>
<axis>0 -1 0 </axis>
</Joint>
<Body name="laf">
<offsetfrom>lae</offsetfrom>
<Translation>-0.001600 -0.023300 0.000000</Translation>
<Geom type="box" render="false">
<Extents>0.02425 0.02530 0.01780</Extents>
</Geom>
<Geom type="trimesh">
<!--data>miniHubo/forearm_rt_cog_shrinkwrap_1.wrl 1</data> -->
<render>miniHubo/forearm_rt_cog_shrinkwrap_1.wrl 1</render>
</Geom>
<Mass type="box">
<total>0.065</total>
<inertia>0.015576 0 0 0 0.011951 0 0 0 0.019327</inertia>
</Mass>
</Body>
<adjacent>lae laf</adjacent>
<Joint name="lep" type="hinge">
<Body>lae</Body>
<Body>laf</Body>
<offsetfrom>laf</offsetfrom>
<Anchor>0.000000 0.013300 0.000000</Anchor>
<axis>-1 0 0 </axis>
</Joint>
<Body name="lPalm" type="dynamic">
<offsetfrom>laf</offsetfrom>
<RotationAxis>0 0 -1 90</RotationAxis>
<RotationAxis>1 0 0 180</RotationAxis>
<Translation>0.0 -0.02530 0.0</Translation>
</Body>
<adjacent>lPalm laf</adjacent>
<Joint name="leftPalmDummyJoint" type="hinge" enabled="false">
<Body>laf</Body>
<Body>lPalm</Body>
<offsetfrom>laf</offsetfrom>
<limit>0 0</limit>
</Joint>
</KinBody>