openMiniHubo/miniHubo.robot.xml at master · daslrobotics/openMiniHubo · GitHub

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<Robot name="miniHubo" >
    <KinBody file="miniHubo.trunk.kinbody.xml" >
        <KinBody file="miniHubo.leftArm.kinbody.xml"/>

        <Joint name="rightTorsoDummy" type = "hinge" enable="false">
            <Body>chest</Body>
            <Body>Torso_dummy2</Body>
            <limits>0 0</limits>
        </Joint>

        <KinBody file="miniHubo.rightArm.kinbody.xml"/>

        <Joint name="leftTorsoDummy" type = "hinge" enable="false">
            <Body>chest</Body>
            <Body>Torso_dummy1</Body>
            <limits>0 0</limits>
        </Joint>

        <KinBody file="miniHubo.leftLeg.kinbody.xml"/>

        <Joint name="leftHipYawDummy" type = "hinge" enable="false">
            <Body>waist</Body>
            <Body>hipDummyLeft</Body>
            <limits>0 0</limits>
        </Joint>

        <KinBody file="miniHubo.rightLeg.kinbody.xml"/>

        <Joint name="rightHipYawDummy" type = "hinge" enable="false">
            <Body>waist</Body>
            <Body>hipDummyRight</Body>
            <limits>0 0</limits>
        </Joint>

    </KinBody>

    <Manipulator name="leftArmManip">
        <base>chest</base>
        <effector>lPalm</effector>
        <direction>-1 0 0</direction>
    </Manipulator>

    <Manipulator name="rightArmManip">
        <base>chest</base>
        <effector>rPalm</effector>
        <direction>1 0 0</direction>
    </Manipulator>

    <Manipulator name="leftLeg">
        <base>chest</base>
        <effector>llf</effector>
        <direction>0 -1 0</direction>
    </Manipulator>

    <Manipulator name="rightLeg">
        <base>waist</base>
        <effector>rlf</effector>
        <direction>0 -1 0</direction>
    </Manipulator>

</Robot>