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Copy pathminiHubo.leftLeg.kinbody.xml
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miniHubo.leftLeg.kinbody.xml
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<?xml version="1.0" encoding="utf-8"?>
<!-- left leg kinematic tree -->
<KinBody name = "leftLeg" >
<modelsdir>models</modelsdir>
<Body name="hipDummyLeft" type="dynamic">
</Body>
<Body name="llhy">
<offsetfrom>hipDummyLeft</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>miniHubo/hip_yaw_cog_shrinkwrap_1.wrl 1</data-->
<render>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>hipDummyLeft llhy</adjacent>
<Joint name="lhy" type="hinge" circular="true">
<Body>hipDummyLeft</Body>
<Body>llhy</Body>
<offsetfrom>llhy</offsetfrom>
<Anchor>0.000000 0.019500 0.015750</Anchor>
<axis>0 1 0</axis>
</Joint>
<Body name="llhpr">
<offsetfrom>llhy</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>miniHubo/hippr_lf_cog_shrinkwrap_1.wrl 1</data-->
<render>miniHubo/hippr_lf_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>llhy llhpr</adjacent>
<Joint name="lhr" type="hinge" circular="true">
<Body>llhy</Body>
<Body>llhpr</Body>
<offsetfrom>llhpr</offsetfrom>
<Anchor>0.001600 0.013300 0.000000 </Anchor>
<axis>0 0 -1</axis>
</Joint>
<Body name="llt">
<offsetfrom>llhpr</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>miniHubo/thigh_cog_shrinkwrap_1.wrl 1</data-->
<render>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>llhpr llt</adjacent>
<Joint name="lhp" type="hinge" circular="true">
<Body>llhpr</Body>
<Body>llt</Body>
<offsetfrom>llt</offsetfrom>
<Anchor> 0.000000 0.044000 0.008000</Anchor>
<axis>-1 0 0</axis>
</Joint>
<Body name="lls">
<offsetfrom>llt</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>miniHubo/shin_lf_cog_shrinkwrap_1.wrl 1</data-->
<render>miniHubo/shin_lf_cog_shrinkwrap_1.wrl 1</render>
</Geom>
<Mass type="box">
<total>0.100</total>
<inertia>0.160967 0.005246 0.000414 0.005246 0.03966 0.002326 0.000414 0.002326 0.159313</inertia>
</Mass>
</Body>
<adjacent>llt lls</adjacent>
<Joint name="lkn" type="hinge" circular="true">
<Body>llt</Body>
<Body>lls</Body>
<offsetfrom>lls</offsetfrom>
<Anchor>0.000000 0.039119 -0.014769</Anchor>
<axis>1 0 0</axis>
</Joint>
<Body name="llapr">
<offsetfrom>lls</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>miniHubo/anklepr_lf_cog_shrinkwrap_1.wrl 1</data-->
<render>miniHubo/anklepr_lf_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>lls llapr</adjacent>
<Joint name="lap" type="hinge" circular="true">
<Body>lls</Body>
<Body>llapr</Body>
<offsetfrom>llapr</offsetfrom>
<Anchor>0.000000 -0.013300 0.017400 </Anchor>
<axis>-1 0 0</axis>
</Joint>
<Body name="llf">
<offsetfrom>llapr</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>miniHubo/foot_cog_shrinkwrap_1.wrl 1</data-->
<render>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>llapr llf</adjacent>
<Joint name="llar" type="hinge" circular="true">
<Body>llapr</Body>
<Body>llf</Body>
<offsetfrom>llf</offsetfrom>
<Anchor> 0.000000 0.013500 0.000000</Anchor>
<axis>0 0 1</axis>
</Joint>
</KinBody>