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miniHubo.rightLeg.kinbody.xml
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148 lines (146 loc) · 4.98 KB
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<?xml version="1.0" encoding="utf-8"?>
<!-- right leg kinematic tree -->
<KinBody name = "rightLeg" >
<modelsdir>models</modelsdir>
<Body name="hipDummyRight" type="dynamic">
</Body>
<Body name="rlhy">
<offsetfrom>hipDummyRight</offsetfrom>
<Translation>-0.000000 -0.076600 -0.016550</Translation>
<Translation>0.037900 -0.042075 0.000800</Translation>
<Geom type="box" render = "false">
<Extents>0.0125 0.0195 0.04325</Extents>
</Geom>
<Geom type="trimesh">
<!--data>../models/miniHubo/hip_yaw_cog_shrinkwrap_1.wrl 1</data-->
<render>../models/miniHubo/hip_yaw_cog_shrinkwrap_1.wrl 1</render>
</Geom>
<Mass type="box">
<total>0.015</total>
<inertia>0.018457 0 0 0 0.015826 -0.000032 0 -0.000032 0.004771</inertia>
</Mass>
</Body>
<adjacent>hipDummtRight rlhy</adjacent>
<Joint name="rhy" type="hinge" circular="true">
<Body>hipDummyRight</Body>
<Body>rlhy</Body>
<offsetfrom>rlhy</offsetfrom>
<Anchor>0.000000 0.019500 0.015750</Anchor>
<axis>0 1 0</axis>
</Joint>
<Body name="rlhpr">
<offsetfrom>rlhy</offsetfrom>
<Translation>-0.001600 -0.025800 -0.001650</Translation>
<Geom type="box" render = "false">
<Extents>0.02425 0.0253 0.04525</Extents>
</Geom>
<Geom type="trimesh">
<!--data>../models/miniHubo/hippr_rt_cog_shrinkwrap_1.wrl 1</data-->
<render>../models/miniHubo/hippr_rt_cog_shrinkwrap_1.wrl 1</render>
</Geom>
<Mass type="box">
<total>0.158</total>
<inertia>0.103932 -0.000487 -0.000349 -0.000487 0.091297 -0.003423 -0.000349 -0.003423 0.043876</inertia>
</Mass>
</Body>
<adjacent>rlhy rlhpr</adjacent>
<Joint name="rhr" type="hinge" circular="true">
<Body>rlhy</Body>
<Body>rlhpr</Body>
<offsetfrom>rlhpr</offsetfrom>
<Anchor>0.001600 0.013300 0.000000 </Anchor>
<axis>0 0 1</axis>
</Joint>
<Body name="rlt">
<offsetfrom>rlhpr</offsetfrom>
<Translation>0.001600 -0.030700 0.009400</Translation>
<Geom type="box" render = "false">
<Extents>0.022 0.051 0.024</Extents>
</Geom>
<Geom type="trimesh">
<!--data>../models/miniHubo/thigh_cog_shrinkwrap_1.wrl 1</data-->
<render>../models/miniHubo/thigh_cog_shrinkwrap_1.wrl 1</render>
</Geom>
<Mass type="box">
<total>0.019</total>
<inertia>0.016916 0 0 0 0.01154 -0.000768 0 -0.000768 0.020715</inertia>
</Mass>
</Body>
<adjacent>rlhpr rlt</adjacent>
<Joint name="rhp" type="hinge" circular="true">
<Body>rlhpr</Body>
<Body>rlt</Body>
<offsetfrom>rlt</offsetfrom>
<Anchor> 0.000000 0.044000 0.008000</Anchor>
<axis>-1 0 0</axis>
</Joint>
<Body name="rls">
<offsetfrom>rlt</offsetfrom>
<Translation>-0.001600 -0.083119 0.001769</Translation>
<Geom type="box" render = "false">
<Extents>0.02425 0.0569185 0.026769</Extents>
</Geom>
<Geom type="trimesh">
<!--data>../models/miniHubo/shin_rt_cog_shrinkwrap_1.wrl 1</data-->
<render>../models/miniHubo/shin_rt_cog_shrinkwrap_1.wrl 1</render>
</Geom>
<Mass type="box">
<total>0.100</total>
<inertia>0.160798 -0.005229 -0.000381 -0.005229 0.039507 0.002243 -0.000381 0.002243 0.159297</inertia>
</Mass>
</Body>
<adjacent>rlt rls</adjacent>
<Joint name="rkn" type="hinge" circular="true">
<Body>rlt</Body>
<Body>rls</Body>
<offsetfrom>rls</offsetfrom>
<Anchor>0.000000 0.039119 -0.014769</Anchor>
<axis>1 0 0</axis>
</Joint>
<Body name="rlapr">
<offsetfrom>rls</offsetfrom>
<Translation>0.000000 -0.035582 -0.011169</Translation>
<Geom type="box" render = "false">
<Extents>0.02425 0.0253 0.04525</Extents>
</Geom>
<Geom type="trimesh">
<!--data>../models/miniHubo/anklepr_rt_cog_shrinkwrap_1.wrl 1</data-->
<render>../models/miniHubo/anklepr_rt_cog_shrinkwrap_1.wrl 1</render>
</Geom>
<Mass type="box">
<total>0.158</total>
<inertia>0.103932 0.000487 -0.000349 0.000487 0.091297 0.003423 -0.000349 0.003423 0.043876</inertia>
</Mass>
</Body>
<adjacent>rls rlapr</adjacent>
<Joint name="rap" type="hinge" circular="true">
<Body>rls</Body>
<Body>rlapr</Body>
<offsetfrom>rlapr</offsetfrom>
<Anchor>0.000000 -0.013300 0.017400 </Anchor>
<axis>-1 0 0</axis>
</Joint>
<Body name="rlf">
<offsetfrom>rlapr</offsetfrom>
<Translation>0.001600 -0.026800 0.013400</Translation>
<Geom type="box" render = "false">
<Extents>0.032 0.0205 0.055</Extents>
</Geom>
<Geom type="trimesh">
<!--data>../models/miniHubo/foot_cog_shrinkwrap_1.wrl 1</data-->
<render>../models/miniHubo/foot_cog_shrinkwrap_1.wrl 1</render>
</Geom>
<Mass type="box">
<total>0.048</total>
<inertia>0.068493 -0.000161 -0.000009 -0.000161 0.072762 -0.001749 -0.000009 -0.001749 0.033967</inertia>
</Mass>
</Body>
<adjacent>rlapr rlf</adjacent>
<Joint name="rar" type="hinge" circular="true">
<Body>rlapr</Body>
<Body>rlf</Body>
<offsetfrom>rlf</offsetfrom>
<Anchor> 0.000000 0.013500 0.000000</Anchor>
<axis>0 0 1</axis>
</Joint>
</KinBody>