From c670d21ddb3e371952e53437e6f5b493ab67f220 Mon Sep 17 00:00:00 2001 From: AlexAntn Date: Fri, 30 Apr 2021 17:19:22 +0200 Subject: [PATCH 1/3] updating iCub3 with new arm covers and corresponding options --- .../data/icub3/ICUB3_ALL_SIM_MODEL.xml | 612 ++--- .../data/icub3/ICUB_3_all_options.yaml | 55 + .../icub3/ICUB_3_all_options_gazebo.yaml.in | 56 + .../icub3/ICUB_3_joint_all_parameters.csv | 4 +- .../simmechanics/sim_icub3_l_upperarm_prt.stl | 1300 ++++----- .../simmechanics/sim_icub3_r_upperarm_prt.stl | 2370 +++++++++-------- 6 files changed, 2282 insertions(+), 2115 deletions(-) diff --git a/simmechanics/data/icub3/ICUB3_ALL_SIM_MODEL.xml b/simmechanics/data/icub3/ICUB3_ALL_SIM_MODEL.xml index 53ca1570..8cfd3c54 100644 --- a/simmechanics/data/icub3/ICUB3_ALL_SIM_MODEL.xml +++ b/simmechanics/data/icub3/ICUB3_ALL_SIM_MODEL.xml @@ -7,11 +7,11 @@ "Simscape Multibody Link Version 5.0" - "Pro/E Wildfire Creo 7.0 - 2020053" + "Pro/E Wildfire Creo 7.0 - 2020454" - "01/14/21||17:09:51" + "04/30/21||15:05:46" - "ngenesio" + "silo-mech" "SIM_ICUB3" @@ -84,7 +84,7 @@ "rad" "WORLD" - + "CS4" "" "61:-:65::61(AUTOGEN)" @@ -97,7 +97,7 @@ "rad" "WORLD" - + "CS5" "" "61:-:88::61(AUTOGEN)" @@ -110,7 +110,7 @@ "rad" "WORLD" - + "CS6" "" "61:-:97::61(AUTOGEN)" @@ -143,7 +143,7 @@ "CG" "" "SIM_ICUB3/RootPart::CG(AUTOGEN)" - 3.35377,6.00625,-366.043 + 1.72376,6.36182,-369.626 "WORLD" "WORLD" "mm" @@ -182,7 +182,7 @@ "CS3" "" "RootGround:-:SIM_ICUB3/RootPart::SIM_ICUB3/RootPart(AUTOGEN)" - 3.35377,6.00625,-366.043 + 1.72376,6.36182,-369.626 "WORLD" "WORLD" "mm" @@ -246,11 +246,11 @@ "rad" "WORLD" - + "CS3" "" - "61:-:65::65(AUTOGEN)" - 0.05,-34.6,-253.358 + "65:-:67::65(AUTOGEN)" + -36.15,0,-180.858 "WORLD" "WORLD" "mm" @@ -259,11 +259,11 @@ "rad" "WORLD" - + "CS4" "" - "65:-:67::65(AUTOGEN)" - -36.15,0,-180.858 + "61:-:65::65(AUTOGEN)" + 0.05,-34.6,-253.358 "WORLD" "WORLD" "mm" @@ -327,7 +327,7 @@ "rad" "WORLD" - + "CS3" "" "65:-:67::67(AUTOGEN)" @@ -340,7 +340,7 @@ "rad" "WORLD" - + "CS4" "" "67:-:69::67(AUTOGEN)" @@ -434,7 +434,7 @@ "rad" "WORLD" - + "CS5" "" "69:-:73::69(AUTOGEN)" @@ -447,7 +447,7 @@ "rad" "WORLD" - + "CS6" "" "67:-:69::69(AUTOGEN)" @@ -460,7 +460,7 @@ "rad" "WORLD" - + "CS7" "" "69:-:71::69(AUTOGEN)" @@ -473,7 +473,7 @@ "rad" "WORLD" - + "CS8" "" "120:-:69::69(AUTOGEN)" @@ -541,7 +541,7 @@ "rad" "WORLD" - + "CS3" "" "71:-:75::71(AUTOGEN)" @@ -554,7 +554,7 @@ "rad" "WORLD" - + "CS4" "" "69:-:71::71(AUTOGEN)" @@ -622,7 +622,7 @@ "rad" "WORLD" - + "CS3" "" "73:-:77::73(AUTOGEN)" @@ -635,7 +635,7 @@ "rad" "WORLD" - + "CS4" "" "69:-:73::73(AUTOGEN)" @@ -681,7 +681,7 @@ "CS1" "" "75::CS1(AUTOGEN)" - 0,-1.24513e-013,2.99392e-013 + 2.49496e-014,-1.4502e-013,5.73841e-013 "WORLD" "WORLD" "mm" @@ -716,7 +716,7 @@ "rad" "WORLD" - + "CS4" "" "75:-:81::75(AUTOGEN)" @@ -729,7 +729,7 @@ "rad" "WORLD" - + "CS5" "" "71:-:75::75(AUTOGEN)" @@ -775,7 +775,7 @@ "CS1" "" "77::CS1(AUTOGEN)" - -1.11347e-013,-1.41404e-013,9.61546e-014 + 0,-1.13897e-013,9.96596e-014 "WORLD" "WORLD" "mm" @@ -810,7 +810,7 @@ "rad" "WORLD" - + "CS4" "" "73:-:77::77(AUTOGEN)" @@ -823,7 +823,7 @@ "rad" "WORLD" - + "CS5" "" "77:-:79::77(AUTOGEN)" @@ -869,7 +869,7 @@ "CS1" "" "79::CS1(AUTOGEN)" - -1.13687e-013,-1.38556e-013,1.06581e-013 + 0,-1.04805e-013,9.9476e-014 "WORLD" "WORLD" "mm" @@ -891,7 +891,7 @@ "rad" "WORLD" - + "CS3" "" "77:-:79::79(AUTOGEN)" @@ -904,10 +904,10 @@ "rad" "WORLD" - + "CS4" "" - "79:-:85::79(AUTOGEN)" + "126:-:79::79(AUTOGEN)" 150.414,15.3135,-89.0379 "WORLD" "WORLD" @@ -950,7 +950,7 @@ "CS1" "" "81::CS1(AUTOGEN)" - 5.7971e-015,-1.1616e-013,3.01264e-013 + 0,-1.43885e-013,5.61329e-013 "WORLD" "WORLD" "mm" @@ -972,7 +972,7 @@ "rad" "WORLD" - + "CS3" "" "75:-:81::81(AUTOGEN)" @@ -985,10 +985,10 @@ "rad" "WORLD" - + "CS4" "" - "81:-:83::81(AUTOGEN)" + "129:-:81::81(AUTOGEN)" -155.551,21.2334,-171.617 "WORLD" "WORLD" @@ -1003,22 +1003,22 @@ "SIM_ICUB3_L_UPPERARM" - "83" + "129" "" - 1.9475 + 2.08118 "kg" - 0.00402757,0.000270166,-0.000286443,0.000270166,0.0208452,0.000223927,-0.000286443,0.000223927,0.0187793 + 0.00439069,0.000223557,-0.000293049,0.000223557,0.0213252,0.000211614,-0.000293049,0.000211614,0.0192586 "kg*m^2" - 669473 + 776420 "mm^3" - 468346 + 503163 "mm^2" "CG" "" - "83::CG(AUTOGEN)" - -122.18,17.2496,-109.954 + "129::CG(AUTOGEN)" + -124.356,16.6401,-109.909 "WORLD" "WORLD" "mm" @@ -1030,8 +1030,8 @@ "CS1" "" - "83::CS1(AUTOGEN)" - 2.4901e-013,-1.83645e-013,5.47823e-013 + "129::CS1(AUTOGEN)" + 3.21524e-013,-1.8704e-013,7.29612e-013 "WORLD" "WORLD" "mm" @@ -1053,10 +1053,10 @@ "rad" "WORLD" - + "CS3" "" - "81:-:83::83(AUTOGEN)" + "129:-:81::129(AUTOGEN)" -155.551,21.2334,-171.617 "WORLD" "WORLD" @@ -1066,10 +1066,10 @@ "rad" "WORLD" - + "CS4" "" - "110:-:83::83(AUTOGEN)" + "110:-:129::129(AUTOGEN)" -174.568,37.4943,-180.569 "WORLD" "WORLD" @@ -1084,22 +1084,22 @@ "SIM_ICUB3_R_UPPERARM" - "85" + "126" "" - 2.06334 + 2.07285 "kg" - 0.00382639,-5.03894e-006,0.000205684,-5.03894e-006,0.00368146,0.000261155,0.000205684,0.000261155,0.00167002 + 0.0043558,1.22463e-005,0.000215164,1.22463e-005,0.00418487,0.000218498,0.000215164,0.000218498,0.00214117 "kg*m^2" - 614339 + 775136 "mm^3" - 452438 + 501248 "mm^2" "CG" "" - "85::CG(AUTOGEN)" - 153.395,17.1105,-106.778 + "126::CG(AUTOGEN)" + 153.942,16.6108,-109.959 "WORLD" "WORLD" "mm" @@ -1111,8 +1111,8 @@ "CS1" "" - "85::CS1(AUTOGEN)" - -6.78738e-014,-1.95137e-013,1.24435e-013 + "126::CS1(AUTOGEN)" + -4.70245e-014,-1.32256e-013,1.88098e-013 "WORLD" "WORLD" "mm" @@ -1124,7 +1124,7 @@ "CS2" "SCSYS_R_UPPERARM" - "837(USERADDED)" + "846(USERADDED)" 148.587,13.2082,-59.6699 "WORLD" "WORLD" @@ -1134,10 +1134,10 @@ "rad" "WORLD" - + "CS3" "" - "79:-:85::85(AUTOGEN)" + "126:-:79::126(AUTOGEN)" 150.414,15.3135,-89.0379 "WORLD" "WORLD" @@ -1147,10 +1147,10 @@ "rad" "WORLD" - + "CS4" "" - "111:-:85::85(AUTOGEN)" + "111:-:126::126(AUTOGEN)" 174.568,37.4943,-180.569 "WORLD" "WORLD" @@ -1215,11 +1215,11 @@ "rad" "WORLD" - + "CS3" "" - "88:-:89::88(AUTOGEN)" - 73.65,-32.45,-322.858 + "61:-:88::88(AUTOGEN)" + 0.05,21.6,-313.858 "WORLD" "WORLD" "mm" @@ -1228,11 +1228,11 @@ "rad" "WORLD" - + "CS4" "" - "61:-:88::88(AUTOGEN)" - 0.05,21.6,-313.858 + "88:-:89::88(AUTOGEN)" + 73.65,-32.45,-322.858 "WORLD" "WORLD" "mm" @@ -1309,11 +1309,11 @@ "rad" "WORLD" - + "CS4" "" - "89:-:90::89(AUTOGEN)" - 73.7173,-31.6539,-359.504 + "88:-:89::89(AUTOGEN)" + 73.65,-32.45,-322.858 "WORLD" "WORLD" "mm" @@ -1322,11 +1322,11 @@ "rad" "WORLD" - + "CS5" "" - "88:-:89::89(AUTOGEN)" - 73.65,-32.45,-322.858 + "89:-:90::89(AUTOGEN)" + 73.7173,-31.6539,-359.504 "WORLD" "WORLD" "mm" @@ -1403,7 +1403,7 @@ "rad" "WORLD" - + "CS4" "" "89:-:90::90(AUTOGEN)" @@ -1416,7 +1416,7 @@ "rad" "WORLD" - + "CS5" "" "90:-:91::90(AUTOGEN)" @@ -1484,7 +1484,7 @@ "rad" "WORLD" - + "CS3" "" "90:-:91::91(AUTOGEN)" @@ -1497,7 +1497,7 @@ "rad" "WORLD" - + "CS4" "" "91:-:92::91(AUTOGEN)" @@ -1565,7 +1565,7 @@ "rad" "WORLD" - + "CS3" "" "91:-:92::92(AUTOGEN)" @@ -1578,7 +1578,7 @@ "rad" "WORLD" - + "CS4" "" "92:-:93::92(AUTOGEN)" @@ -1646,7 +1646,7 @@ "rad" "WORLD" - + "CS3" "" "92:-:93::93(AUTOGEN)" @@ -1659,7 +1659,7 @@ "rad" "WORLD" - + "CS4" "" "93:-:94::93(AUTOGEN)" @@ -1753,11 +1753,11 @@ "rad" "WORLD" - + "CS5" "" - "94:-:95::94(AUTOGEN)" - 64.7794,13.0005,-906.112 + "93:-:94::94(AUTOGEN)" + 64.85,-66.9,-880.647 "WORLD" "WORLD" "mm" @@ -1766,11 +1766,11 @@ "rad" "WORLD" - + "CS6" "" - "93:-:94::94(AUTOGEN)" - 64.85,-66.9,-880.647 + "94:-:96::94(AUTOGEN)" + 64.7794,13.0005,-906.112 "WORLD" "WORLD" "mm" @@ -1779,10 +1779,10 @@ "rad" "WORLD" - + "CS7" "" - "94:-:96::94(AUTOGEN)" + "94:-:95::94(AUTOGEN)" 64.7794,13.0005,-906.112 "WORLD" "WORLD" @@ -1860,7 +1860,7 @@ "rad" "WORLD" - + "CS4" "" "94:-:95::95(AUTOGEN)" @@ -1954,7 +1954,7 @@ "rad" "WORLD" - + "CS5" "" "94:-:96::96(AUTOGEN)" @@ -2022,7 +2022,7 @@ "rad" "WORLD" - + "CS3" "" "61:-:97::97(AUTOGEN)" @@ -2035,7 +2035,7 @@ "rad" "WORLD" - + "CS4" "" "97:-:98::97(AUTOGEN)" @@ -2116,7 +2116,7 @@ "rad" "WORLD" - + "CS4" "" "97:-:98::98(AUTOGEN)" @@ -2129,7 +2129,7 @@ "rad" "WORLD" - + "CS5" "" "98:-:99::98(AUTOGEN)" @@ -2197,11 +2197,11 @@ "rad" "WORLD" - + "CS3" "" - "98:-:99::99(AUTOGEN)" - -73.6305,-31.5986,-359.511 + "100:-:99::99(AUTOGEN)" + -58.55,11.05,-496.058 "WORLD" "WORLD" "mm" @@ -2210,11 +2210,11 @@ "rad" "WORLD" - + "CS4" "" - "100:-:99::99(AUTOGEN)" - -58.55,11.05,-496.058 + "98:-:99::99(AUTOGEN)" + -73.6305,-31.5986,-359.511 "WORLD" "WORLD" "mm" @@ -2278,7 +2278,7 @@ "rad" "WORLD" - + "CS3" "" "100:-:99::100(AUTOGEN)" @@ -2291,7 +2291,7 @@ "rad" "WORLD" - + "CS4" "" "100:-:101::100(AUTOGEN)" @@ -2359,7 +2359,7 @@ "rad" "WORLD" - + "CS3" "" "101:-:102::101(AUTOGEN)" @@ -2372,7 +2372,7 @@ "rad" "WORLD" - + "CS4" "" "100:-:101::101(AUTOGEN)" @@ -2440,11 +2440,11 @@ "rad" "WORLD" - + "CS3" "" - "101:-:102::102(AUTOGEN)" - -83.25,26.05,-845.647 + "102:-:103::102(AUTOGEN)" + -64.75,-66.85,-880.647 "WORLD" "WORLD" "mm" @@ -2453,11 +2453,11 @@ "rad" "WORLD" - + "CS4" "" - "102:-:103::102(AUTOGEN)" - -64.75,-66.85,-880.647 + "101:-:102::102(AUTOGEN)" + -83.25,26.05,-845.647 "WORLD" "WORLD" "mm" @@ -2547,7 +2547,7 @@ "rad" "WORLD" - + "CS5" "" "102:-:103::103(AUTOGEN)" @@ -2560,10 +2560,10 @@ "rad" "WORLD" - + "CS6" "" - "103:-:105::103(AUTOGEN)" + "103:-:104::103(AUTOGEN)" -64.6632,12.8705,-906.104 "WORLD" "WORLD" @@ -2573,10 +2573,10 @@ "rad" "WORLD" - + "CS7" "" - "103:-:104::103(AUTOGEN)" + "103:-:105::103(AUTOGEN)" -64.6632,12.8705,-906.104 "WORLD" "WORLD" @@ -2654,7 +2654,7 @@ "rad" "WORLD" - + "CS4" "" "103:-:104::104(AUTOGEN)" @@ -2748,7 +2748,7 @@ "rad" "WORLD" - + "CS5" "" "103:-:105::105(AUTOGEN)" @@ -2794,7 +2794,7 @@ "CS1" "" "110::CS1(AUTOGEN)" - 3.23714e-013,-1.12055e-013,2.73911e-013 + 3.46256e-013,-3.21524e-013,7.91443e-013 "WORLD" "WORLD" "mm" @@ -2816,10 +2816,10 @@ "rad" "WORLD" - + "CS3" "" - "110:-:83::110(AUTOGEN)" + "110:-:129::110(AUTOGEN)" -174.568,37.4943,-180.569 "WORLD" "WORLD" @@ -2829,7 +2829,7 @@ "rad" "WORLD" - + "CS4" "" "110:-:112::110(AUTOGEN)" @@ -2875,7 +2875,7 @@ "CS1" "" "111::CS1(AUTOGEN)" - -4.52492e-014,-2.09278e-013,-2.26246e-014 + -4.70245e-014,-2.05732e-013,2.1161e-013 "WORLD" "WORLD" "mm" @@ -2897,11 +2897,11 @@ "rad" "WORLD" - + "CS3" "" - "111:-:85::111(AUTOGEN)" - 174.568,37.4943,-180.569 + "111:-:113::111(AUTOGEN)" + 167.115,27.7697,-328.185 "WORLD" "WORLD" "mm" @@ -2910,11 +2910,11 @@ "rad" "WORLD" - + "CS4" "" - "111:-:113::111(AUTOGEN)" - 167.115,27.7697,-328.185 + "111:-:126::111(AUTOGEN)" + 174.568,37.4943,-180.569 "WORLD" "WORLD" "mm" @@ -2978,11 +2978,11 @@ "rad" "WORLD" - + "CS3" "" - "110:-:112::112(AUTOGEN)" - -167.115,27.7697,-328.185 + "112:-:114::112(AUTOGEN)" + -165.589,45.4722,-344.087 "WORLD" "WORLD" "mm" @@ -2991,11 +2991,11 @@ "rad" "WORLD" - + "CS4" "" - "112:-:114::112(AUTOGEN)" - -165.589,45.4722,-344.087 + "110:-:112::112(AUTOGEN)" + -167.115,27.7697,-328.185 "WORLD" "WORLD" "mm" @@ -3059,7 +3059,7 @@ "rad" "WORLD" - + "CS3" "" "113:-:116::113(AUTOGEN)" @@ -3072,7 +3072,7 @@ "rad" "WORLD" - + "CS4" "" "111:-:113::113(AUTOGEN)" @@ -3140,7 +3140,7 @@ "rad" "WORLD" - + "CS3" "" "114:-:118::114(AUTOGEN)" @@ -3153,7 +3153,7 @@ "rad" "WORLD" - + "CS4" "" "112:-:114::114(AUTOGEN)" @@ -3221,7 +3221,7 @@ "rad" "WORLD" - + "CS3" "" "116:-:119::116(AUTOGEN)" @@ -3234,7 +3234,7 @@ "rad" "WORLD" - + "CS4" "" "113:-:116::116(AUTOGEN)" @@ -3302,7 +3302,7 @@ "rad" "WORLD" - + "CS3" "" "114:-:118::118(AUTOGEN)" @@ -3370,7 +3370,7 @@ "rad" "WORLD" - + "CS3" "" "116:-:119::119(AUTOGEN)" @@ -3438,7 +3438,7 @@ "rad" "WORLD" - + "CS3" "" "120:-:69::120(AUTOGEN)" @@ -3451,7 +3451,7 @@ "rad" "WORLD" - + "CS4" "" "120:-:121::120(AUTOGEN)" @@ -3519,7 +3519,7 @@ "rad" "WORLD" - + "CS3" "" "121:-:124::121(AUTOGEN)" @@ -3532,7 +3532,7 @@ "rad" "WORLD" - + "CS4" "" "120:-:121::121(AUTOGEN)" @@ -3600,11 +3600,11 @@ "rad" "WORLD" - + "CS3" "" - "121:-:124::124(AUTOGEN)" - 0,20.1615,107.412 + "124:-:125::124(AUTOGEN)" + -6.30617e-009,4.86151,185.512 "WORLD" "WORLD" "mm" @@ -3613,11 +3613,11 @@ "rad" "WORLD" - + "CS4" "" - "124:-:125::124(AUTOGEN)" - -6.30617e-009,4.86151,185.512 + "121:-:124::124(AUTOGEN)" + 0,20.1615,107.412 "WORLD" "WORLD" "mm" @@ -3694,7 +3694,7 @@ "rad" "WORLD" - + "CS4" "" "124:-:125::125(AUTOGEN)" @@ -3742,8 +3742,8 @@ - "SIM_ICUB3_R_SHOULDER_1--SIM_ICUB3_R_SHOULDER_2" - "73:-:77" + "SIM_ICUB3_R_WRIST_1--SIM_ICUB3_R_HAND" + "116:-:119" "" @@ -3766,14 +3766,14 @@ "revolute" "" "WORLD" - 0.271447,-0.961047,-0.0520081 + -0.960459,-0.267012,-0.0788901 - "SIM_ICUB3_R_SHOULDER_2--SIM_ICUB3_R_SHOULDER_3" - "77:-:79" - "Could not solve for constraint between SIM_ICUB3_R_SHOULDER_2 and SIM_ICUB3_R_SHOULDER_3 because of CAD constraint " + "SIM_ICUB3_R_FOREARM--SIM_ICUB3_R_WRIST_1" + "113:-:116" + "" "" @@ -3792,17 +3792,17 @@ - "weld" + "revolute" "" "WORLD" - 0.57735,0.57735,0.57735 + -0.271447,0.961047,0.0520081 - "SIM_ICUB3_R_HIP_2--SIM_ICUB3_R_HIP_3" - "89:-:90" - "Could not solve for constraint between SIM_ICUB3_R_HIP_2 and SIM_ICUB3_R_HIP_3 because of CAD constraint " + "SIM_ICUB3_L_WRIST_1--SIM_ICUB3_L_HAND" + "114:-:118" + "" "" @@ -3821,16 +3821,16 @@ - "weld" + "revolute" "" "WORLD" - 0.57735,0.57735,0.57735 + 0.960459,-0.267012,-0.0788901 - "SIM_ICUB3_R_HIP_1--SIM_ICUB3_R_HIP_2" - "88:-:89" + "SIM_ICUB3_L_FOREARM--SIM_ICUB3_L_WRIST_1" + "112:-:114" "" @@ -3853,13 +3853,13 @@ "revolute" "" "WORLD" - 0,1,0 + 0.271447,0.961047,0.0520081 - "SIM_ICUB3_R_HIP_3--SIM_ICUB3_R_UPPER_LEG" - "90:-:91" + "SIM_ICUB3_TORSO_1--SIM_ICUB3_TORSO_2" + "65:-:67" "" @@ -3882,13 +3882,13 @@ "revolute" "" "WORLD" - 0,0,1 + 1,0,0 - "SIM_ICUB3_R_UPPER_LEG--SIM_ICUB3_R_LOWER_LEG" - "91:-:92" + "SIM_ICUB3_ROOT_LINK--SIM_ICUB3_TORSO_1" + "61:-:65" "" @@ -3911,14 +3911,14 @@ "revolute" "" "WORLD" - -1,0,0 + 0,1,0 - "SIM_ICUB3_R_LOWER_LEG--SIM_ICUB3_R_ANKLE_1" - "92:-:93" - "" + "SIM_ICUB3_L_SHOULDER_2--SIM_ICUB3_L_SHOULDER_3" + "75:-:81" + "Could not solve for constraint between SIM_ICUB3_L_SHOULDER_2 and SIM_ICUB3_L_SHOULDER_3 because of CAD constraint " "" @@ -3937,17 +3937,17 @@ - "revolute" + "weld" "" "WORLD" - -1,0,0 + 0.57735,0.57735,0.57735 - "SIM_ICUB3_R_ANKLE_2--SIM_ICUB3_R_FOOT_FRONT" - "94:-:95" - "Could not solve for constraint between SIM_ICUB3_R_ANKLE_2 and SIM_ICUB3_R_FOOT_FRONT because of CAD constraint " + "SIM_ICUB3_L_SHOULDER_1--SIM_ICUB3_L_SHOULDER_2" + "71:-:75" + "" "" @@ -3966,16 +3966,16 @@ - "weld" + "revolute" "" "WORLD" - 0.57735,0.57735,0.57735 + -0.271447,-0.961047,-0.0520081 - "SIM_ICUB3_R_ANKLE_1--SIM_ICUB3_R_ANKLE_2" - "93:-:94" + "SIM_ICUB3_R_SHOULDER_1--SIM_ICUB3_R_SHOULDER_2" + "73:-:77" "" @@ -3998,14 +3998,14 @@ "revolute" "" "WORLD" - 0,1,0 + 0.271447,-0.961047,-0.0520081 - "SIM_ICUB3_R_ANKLE_2--SIM_ICUB3_R_FOOT_REAR" - "94:-:96" - "Could not solve for constraint between SIM_ICUB3_R_ANKLE_2 and SIM_ICUB3_R_FOOT_REAR because of CAD constraint " + "SIM_ICUB3_R_SHOULDER_2--SIM_ICUB3_R_SHOULDER_3" + "77:-:79" + "Could not solve for constraint between SIM_ICUB3_R_SHOULDER_2 and SIM_ICUB3_R_SHOULDER_3 because of CAD constraint " "" @@ -4032,8 +4032,8 @@ - "SIM_ICUB3_ROOT_LINK--SIM_ICUB3_TORSO_1" - "61:-:65" + "SIM_ICUB3_CHEST--SIM_ICUB3_R_SHOULDER_1" + "69:-:73" "" @@ -4056,13 +4056,13 @@ "revolute" "" "WORLD" - 0,1,0 + -0.935113,-0.250563,-0.250563 - "SIM_ICUB3_ROOT_LINK--SIM_ICUB3_R_HIP_1" - "61:-:88" + "SIM_ICUB3_R_SHOULDER_3--SIM_ICUB3_R_UPPERARM" + "126:-:79" "" @@ -4085,13 +4085,13 @@ "revolute" "" "WORLD" - 1,0,0 + -0.0619303,-0.0713662,0.995526 - "SIM_ICUB3_ROOT_LINK--SIM_ICUB3_L_HIP_1" - "61:-:97" + "SIM_ICUB3_L_SHOULDER_3--SIM_ICUB3_L_UPPERARM" + "129:-:81" "" @@ -4114,14 +4114,14 @@ "revolute" "" "WORLD" - 1,0,0 + 0.0619303,-0.0713662,0.995526 - "SIM_ICUB3_L_SHOULDER_2--SIM_ICUB3_L_SHOULDER_3" - "75:-:81" - "Could not solve for constraint between SIM_ICUB3_L_SHOULDER_2 and SIM_ICUB3_L_SHOULDER_3 because of CAD constraint " + "SIM_ICUB3_TORSO_2--SIM_ICUB3_CHEST" + "67:-:69" + "" "" @@ -4140,16 +4140,16 @@ - "weld" + "revolute" "" "WORLD" - 0.57735,0.57735,0.57735 + 0,0,1 - "SIM_ICUB3_L_SHOULDER_1--SIM_ICUB3_L_SHOULDER_2" - "71:-:75" + "SIM_ICUB3_ROOT_LINK--SIM_ICUB3_R_HIP_1" + "61:-:88" "" @@ -4172,13 +4172,13 @@ "revolute" "" "WORLD" - -0.271447,-0.961047,-0.0520081 + 1,0,0 - "SIM_ICUB3_CHEST--SIM_ICUB3_R_SHOULDER_1" - "69:-:73" + "SIM_ICUB3_ROOT_LINK--SIM_ICUB3_L_HIP_1" + "61:-:97" "" @@ -4201,13 +4201,13 @@ "revolute" "" "WORLD" - -0.935113,-0.250563,-0.250563 + 1,0,0 - "SIM_ICUB3_TORSO_1--SIM_ICUB3_TORSO_2" - "65:-:67" + "SIM_ICUB3_CHEST--SIM_ICUB3_L_SHOULDER_1" + "69:-:71" "" @@ -4230,14 +4230,14 @@ "revolute" "" "WORLD" - 1,0,0 + 0.935113,-0.250563,-0.250563 - "SIM_ICUB3_R_SHOULDER_3--SIM_ICUB3_R_UPPERARM" - "79:-:85" - "" + "SIM_ICUB3_CHEST--SIM_HEAD_NECK_1" + "120:-:69" + "Could not solve for constraint between SIM_ICUB3_CHEST and SIM_HEAD_NECK_1 because of CAD constraint " "" @@ -4256,16 +4256,16 @@ - "revolute" + "weld" "" "WORLD" - -0.0619303,-0.0713662,0.995526 + 0.57735,0.57735,0.57735 - "SIM_ICUB3_L_SHOULDER_3--SIM_ICUB3_L_UPPERARM" - "81:-:83" + "SIM_HEAD_NECK_3--SIM_HEAD_HEAD" + "124:-:125" "" @@ -4288,13 +4288,13 @@ "revolute" "" "WORLD" - 0.0619303,-0.0713662,0.995526 + 8.0745e-011,0,-1 - "SIM_ICUB3_L_UPPERARM--SIM_ICUB3_L_ELBOW_1" - "110:-:83" + "SIM_HEAD_NECK_2--SIM_HEAD_NECK_3" + "121:-:124" "" @@ -4317,13 +4317,13 @@ "revolute" "" "WORLD" - 0.960459,-0.267012,-0.0788901 + 0,1,0 - "SIM_ICUB3_R_UPPERARM--SIM_ICUB3_R_ELBOW_1" - "111:-:85" + "SIM_HEAD_NECK_1--SIM_HEAD_NECK_2" + "120:-:121" "" @@ -4346,13 +4346,13 @@ "revolute" "" "WORLD" - -0.960459,-0.267012,-0.0788901 + 1,0,0 - "SIM_ICUB3_TORSO_2--SIM_ICUB3_CHEST" - "67:-:69" + "SIM_ICUB3_L_ANKLE_1--SIM_ICUB3_L_ANKLE_2" + "102:-:103" "" @@ -4375,13 +4375,13 @@ "revolute" "" "WORLD" - 0,0,1 + 0,1,0 - "SIM_ICUB3_CHEST--SIM_ICUB3_L_SHOULDER_1" - "69:-:71" + "SIM_ICUB3_L_LOWER_LEG--SIM_ICUB3_L_ANKLE_1" + "101:-:102" "" @@ -4404,14 +4404,14 @@ "revolute" "" "WORLD" - 0.935113,-0.250563,-0.250563 + 1,0,0 - "SIM_ICUB3_CHEST--SIM_HEAD_NECK_1" - "120:-:69" - "Could not solve for constraint between SIM_ICUB3_CHEST and SIM_HEAD_NECK_1 because of CAD constraint " + "SIM_ICUB3_L_ANKLE_2--SIM_ICUB3_L_FOOT_FRONT" + "103:-:104" + "Could not solve for constraint between SIM_ICUB3_L_ANKLE_2 and SIM_ICUB3_L_FOOT_FRONT because of CAD constraint " "" @@ -4438,9 +4438,9 @@ - "SIM_ICUB3_L_HIP_1--SIM_ICUB3_L_HIP_2" - "97:-:98" - "" + "SIM_ICUB3_L_ANKLE_2--SIM_ICUB3_L_FOOT_REAR" + "103:-:105" + "Could not solve for constraint between SIM_ICUB3_L_ANKLE_2 and SIM_ICUB3_L_FOOT_REAR because of CAD constraint " "" @@ -4459,17 +4459,17 @@ - "revolute" + "weld" "" "WORLD" - 0,1,0 + 0.57735,0.57735,0.57735 - "SIM_ICUB3_L_HIP_2--SIM_ICUB3_L_HIP_3" - "98:-:99" - "Could not solve for constraint between SIM_ICUB3_L_HIP_2 and SIM_ICUB3_L_HIP_3 because of CAD constraint " + "SIM_ICUB3_R_HIP_1--SIM_ICUB3_R_HIP_2" + "88:-:89" + "" "" @@ -4488,17 +4488,17 @@ - "weld" + "revolute" "" "WORLD" - 0.57735,0.57735,0.57735 + 0,1,0 - "SIM_ICUB3_L_HIP_3--SIM_ICUB3_L_UPPER_LEG" - "100:-:99" - "" + "SIM_ICUB3_R_HIP_2--SIM_ICUB3_R_HIP_3" + "89:-:90" + "Could not solve for constraint between SIM_ICUB3_R_HIP_2 and SIM_ICUB3_R_HIP_3 because of CAD constraint " "" @@ -4517,16 +4517,16 @@ - "revolute" + "weld" "" "WORLD" - 0,0,1 + 0.57735,0.57735,0.57735 - "SIM_ICUB3_L_LOWER_LEG--SIM_ICUB3_L_ANKLE_1" - "101:-:102" + "SIM_ICUB3_L_UPPERARM--SIM_ICUB3_L_ELBOW_1" + "110:-:129" "" @@ -4549,13 +4549,13 @@ "revolute" "" "WORLD" - 1,0,0 + 0.960459,-0.267012,-0.0788901 - "SIM_ICUB3_L_UPPER_LEG--SIM_ICUB3_L_LOWER_LEG" - "100:-:101" + "SIM_ICUB3_R_HIP_3--SIM_ICUB3_R_UPPER_LEG" + "90:-:91" "" @@ -4578,13 +4578,13 @@ "revolute" "" "WORLD" - 1,0,0 + 0,0,1 - "SIM_ICUB3_L_ANKLE_1--SIM_ICUB3_L_ANKLE_2" - "102:-:103" + "SIM_ICUB3_R_UPPER_LEG--SIM_ICUB3_R_LOWER_LEG" + "91:-:92" "" @@ -4607,13 +4607,13 @@ "revolute" "" "WORLD" - 0,1,0 + -1,0,0 - "SIM_ICUB3_R_WRIST_1--SIM_ICUB3_R_HAND" - "116:-:119" + "SIM_ICUB3_R_LOWER_LEG--SIM_ICUB3_R_ANKLE_1" + "92:-:93" "" @@ -4636,13 +4636,13 @@ "revolute" "" "WORLD" - -0.960459,-0.267012,-0.0788901 + -1,0,0 - "SIM_ICUB3_R_FOREARM--SIM_ICUB3_R_WRIST_1" - "113:-:116" + "SIM_ICUB3_L_HIP_1--SIM_ICUB3_L_HIP_2" + "97:-:98" "" @@ -4665,13 +4665,13 @@ "revolute" "" "WORLD" - -0.271447,0.961047,0.0520081 + 0,1,0 - "SIM_ICUB3_L_WRIST_1--SIM_ICUB3_L_HAND" - "114:-:118" + "SIM_ICUB3_L_HIP_3--SIM_ICUB3_L_UPPER_LEG" + "100:-:99" "" @@ -4694,13 +4694,13 @@ "revolute" "" "WORLD" - 0.960459,-0.267012,-0.0788901 + 0,0,1 - "SIM_HEAD_NECK_2--SIM_HEAD_NECK_3" - "121:-:124" + "SIM_ICUB3_L_UPPER_LEG--SIM_ICUB3_L_LOWER_LEG" + "100:-:101" "" @@ -4723,14 +4723,14 @@ "revolute" "" "WORLD" - 0,1,0 + 1,0,0 - "SIM_HEAD_NECK_1--SIM_HEAD_NECK_2" - "120:-:121" - "" + "SIM_ICUB3_L_HIP_2--SIM_ICUB3_L_HIP_3" + "98:-:99" + "Could not solve for constraint between SIM_ICUB3_L_HIP_2 and SIM_ICUB3_L_HIP_3 because of CAD constraint " "" @@ -4749,17 +4749,17 @@ - "revolute" + "weld" "" "WORLD" - 1,0,0 + 0.57735,0.57735,0.57735 - "SIM_ICUB3_L_ANKLE_2--SIM_ICUB3_L_FOOT_REAR" - "103:-:105" - "Could not solve for constraint between SIM_ICUB3_L_ANKLE_2 and SIM_ICUB3_L_FOOT_REAR because of CAD constraint " + "SIM_ICUB3_L_ELBOW_1--SIM_ICUB3_L_FOREARM" + "110:-:112" + "" "" @@ -4778,16 +4778,16 @@ - "weld" + "revolute" "" "WORLD" - 0.57735,0.57735,0.57735 + 0.0619303,-0.0713662,0.995526 - "SIM_HEAD_NECK_3--SIM_HEAD_HEAD" - "124:-:125" + "SIM_ICUB3_R_ELBOW_1--SIM_ICUB3_R_FOREARM" + "111:-:113" "" @@ -4810,13 +4810,13 @@ "revolute" "" "WORLD" - 8.0745e-011,0,-1 + -0.0619303,-0.0713662,0.995526 - "SIM_ICUB3_L_ELBOW_1--SIM_ICUB3_L_FOREARM" - "110:-:112" + "SIM_ICUB3_R_UPPERARM--SIM_ICUB3_R_ELBOW_1" + "111:-:126" "" @@ -4839,13 +4839,13 @@ "revolute" "" "WORLD" - 0.0619303,-0.0713662,0.995526 + -0.960459,-0.267012,-0.0788901 - "SIM_ICUB3_R_ELBOW_1--SIM_ICUB3_R_FOREARM" - "111:-:113" + "SIM_ICUB3_R_ANKLE_1--SIM_ICUB3_R_ANKLE_2" + "93:-:94" "" @@ -4868,14 +4868,14 @@ "revolute" "" "WORLD" - -0.0619303,-0.0713662,0.995526 + 0,1,0 - "SIM_ICUB3_L_ANKLE_2--SIM_ICUB3_L_FOOT_FRONT" - "103:-:104" - "Could not solve for constraint between SIM_ICUB3_L_ANKLE_2 and SIM_ICUB3_L_FOOT_FRONT because of CAD constraint " + "SIM_ICUB3_R_ANKLE_2--SIM_ICUB3_R_FOOT_REAR" + "94:-:96" + "Could not solve for constraint between SIM_ICUB3_R_ANKLE_2 and SIM_ICUB3_R_FOOT_REAR because of CAD constraint " "" @@ -4902,9 +4902,9 @@ - "SIM_ICUB3_L_FOREARM--SIM_ICUB3_L_WRIST_1" - "112:-:114" - "" + "SIM_ICUB3_R_ANKLE_2--SIM_ICUB3_R_FOOT_FRONT" + "94:-:95" + "Could not solve for constraint between SIM_ICUB3_R_ANKLE_2 and SIM_ICUB3_R_FOOT_FRONT because of CAD constraint " "" @@ -4923,10 +4923,10 @@ - "revolute" + "weld" "" "WORLD" - 0.271447,0.961047,0.0520081 + 0.57735,0.57735,0.57735 @@ -4970,7 +4970,7 @@ "CS1" "" "RootGround:-:SIM_ICUB3/RootPart::RootGround(AUTOGEN)" - 3.35377,6.00625,-366.043 + 1.72376,6.36182,-369.626 "WORLD" "WORLD" "mm" diff --git a/simmechanics/data/icub3/ICUB_3_all_options.yaml b/simmechanics/data/icub3/ICUB_3_all_options.yaml index 025391be..f01faf53 100644 --- a/simmechanics/data/icub3/ICUB_3_all_options.yaml +++ b/simmechanics/data/icub3/ICUB_3_all_options.yaml @@ -743,4 +743,59 @@ XMLBlobs: 1 + - | + + true + + + + + 0.001 0.001 0.001 + model://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl + + + + + true + + + + + + + + + + collision_right + + + + - | + + true + + + + + 0.001 0.001 0.001 + model://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl + + + + + true + + + + + + + + + + collision_left + + + + diff --git a/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in b/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in index 229e0962..c3248102 100644 --- a/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in +++ b/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in @@ -832,4 +832,60 @@ XMLBlobs: 1 + - | + + true + + + + + 0.001 0.001 0.001 + model://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl + + + + + true + + + + + + + + + + collision_right + + + + - | + + true + + + + + 0.001 0.001 0.001 + model://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl + + + + + true + + + + + + + + + + collision_left + + + + + diff --git a/simmechanics/data/icub3/ICUB_3_joint_all_parameters.csv b/simmechanics/data/icub3/ICUB_3_joint_all_parameters.csv index d26319ff..65215261 100644 --- a/simmechanics/data/icub3/ICUB_3_joint_all_parameters.csv +++ b/simmechanics/data/icub3/ICUB_3_joint_all_parameters.csv @@ -3,10 +3,10 @@ torso_yaw,-43,43,2,0,120, torso_pitch,-18,45,2,0,120, torso_roll,-23,23,2,0,120, r_shoulder_pitch,-88,13,2,0,120, -r_shoulder_roll,12,160,2,0,120, +r_shoulder_roll,12,163,2,0,120, r_shoulder_yaw,-50,80,2,0,120, l_shoulder_pitch,-88,13,2,0,120, -l_shoulder_roll,12,160,2,0,120, +l_shoulder_roll,12,163,2,0,120, l_shoulder_yaw,-50,80,2,0,120, l_hip_pitch,-45,115,2,0,120, l_hip_roll,-10,115,2,0,120, diff --git a/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl b/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl index c662d11e..bdccdf4b 100644 --- a/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl +++ b/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl @@ -1,471 +1,520 @@ solid SIM_ICUB3_L_UPPERARM - facet normal -7.408568e-01 -6.001512e-01 -3.015787e-01 + facet normal -7.403935e-01 -6.026969e-01 -2.976137e-01 outer loop - vertex -1.930579e+02 -2.194796e+01 -1.845677e+02 - vertex -2.021438e+02 -1.032782e+01 -1.853719e+02 - vertex -1.887431e+02 -2.223932e+01 -1.945876e+02 + vertex -1.928508e+02 -2.212152e+01 -1.846090e+02 + vertex -2.021439e+02 -1.032680e+01 -1.853754e+02 + vertex -1.887436e+02 -2.224056e+01 -1.945857e+02 endloop endfacet - facet normal -7.444376e-01 -5.752462e-01 -3.389756e-01 + facet normal -7.444260e-01 -5.752764e-01 -3.389498e-01 outer loop - vertex -1.986084e+02 -1.000337e+01 -1.936866e+02 - vertex -1.887431e+02 -2.223932e+01 -1.945876e+02 - vertex -2.021438e+02 -1.032782e+01 -1.853719e+02 + vertex -1.986093e+02 -1.000434e+01 -1.936856e+02 + vertex -1.887436e+02 -2.224056e+01 -1.945857e+02 + vertex -2.021439e+02 -1.032680e+01 -1.853754e+02 endloop endfacet - facet normal -4.854561e-01 -8.546366e-01 -1.841974e-01 + facet normal -4.823222e-01 -8.555045e-01 -1.883544e-01 outer loop - vertex -1.773479e+02 -3.037247e+01 -1.868838e+02 - vertex -1.930579e+02 -2.194796e+01 -1.845677e+02 - vertex -1.887431e+02 -2.223932e+01 -1.945876e+02 + vertex -1.778090e+02 -3.027738e+01 -1.860828e+02 + vertex -1.928508e+02 -2.212152e+01 -1.846090e+02 + vertex -1.887436e+02 -2.224056e+01 -1.945857e+02 endloop endfacet - facet normal -4.065062e-01 -2.633283e-01 -8.748776e-01 + facet normal -4.065775e-01 -2.634584e-01 -8.748053e-01 outer loop - vertex -1.818234e+02 -2.006844e+01 -1.984562e+02 - vertex -1.887431e+02 -2.223932e+01 -1.945876e+02 - vertex -1.986084e+02 -1.000337e+01 -1.936866e+02 + vertex -1.818221e+02 -2.006971e+01 -1.984563e+02 + vertex -1.887436e+02 -2.224056e+01 -1.945857e+02 + vertex -1.986093e+02 -1.000434e+01 -1.936856e+02 endloop endfacet - facet normal -3.859705e-01 -8.591140e-01 -3.360803e-01 + facet normal -3.855874e-01 -8.648237e-01 -3.215623e-01 outer loop - vertex -1.743559e+02 -2.779193e+01 -1.969165e+02 - vertex -1.773479e+02 -3.037247e+01 -1.868838e+02 - vertex -1.887431e+02 -2.223932e+01 -1.945876e+02 + vertex -1.743551e+02 -2.778673e+01 -1.969229e+02 + vertex -1.778090e+02 -3.027738e+01 -1.860828e+02 + vertex -1.887436e+02 -2.224056e+01 -1.945857e+02 endloop endfacet - facet normal -3.144963e-01 -4.686385e-01 -8.255120e-01 + facet normal -3.146888e-01 -4.685258e-01 -8.255026e-01 outer loop - vertex -1.818234e+02 -2.006844e+01 -1.984562e+02 - vertex -1.743559e+02 -2.779193e+01 -1.969165e+02 - vertex -1.887431e+02 -2.223932e+01 -1.945876e+02 + vertex -1.818221e+02 -2.006971e+01 -1.984563e+02 + vertex -1.743551e+02 -2.778673e+01 -1.969229e+02 + vertex -1.887436e+02 -2.224056e+01 -1.945857e+02 endloop endfacet - facet normal -7.874953e-01 -6.093511e-01 9.242535e-02 + facet normal -7.857536e-01 -6.184623e-01 9.784423e-03 outer loop - vertex -1.976443e+02 -1.082722e+01 -1.503274e+02 - vertex -2.021438e+02 -1.032782e+01 -1.853719e+02 - vertex -1.930579e+02 -2.194796e+01 -1.845677e+02 + vertex -2.003679e+02 -1.202541e+01 -1.501169e+02 + vertex -2.021439e+02 -1.032680e+01 -1.853754e+02 + vertex -1.928508e+02 -2.212152e+01 -1.846090e+02 endloop endfacet - facet normal -9.057742e-01 -1.622707e-01 -3.914605e-01 + facet normal -9.057524e-01 -1.622040e-01 -3.915385e-01 outer loop - 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facet normal -7.842896e-01 -6.202324e-01 1.419578e-02 + facet normal -9.887774e-01 -1.413830e-01 4.827084e-02 outer loop - vertex -1.873134e+02 -2.295951e+01 -1.096401e+02 - vertex -1.976443e+02 -1.082722e+01 -1.503274e+02 - vertex -1.877720e+02 -2.328156e+01 -1.490477e+02 + vertex -2.022515e+02 1.416408e+01 -1.119940e+02 + vertex -2.003679e+02 -1.202541e+01 -1.501169e+02 + vertex -1.986358e+02 -1.088168e+01 -1.112880e+02 endloop endfacet - facet normal -9.740392e-01 -2.064638e-01 9.284551e-02 + facet normal -9.742600e-01 -2.053732e-01 9.294776e-02 outer loop - vertex -1.992753e+02 1.397598e+01 -1.122827e+02 - vertex -2.030492e+02 1.426705e+01 -1.512274e+02 - vertex -1.976443e+02 -1.082722e+01 -1.503274e+02 + vertex -2.022515e+02 1.416408e+01 -1.119940e+02 + vertex -2.060162e+02 1.440783e+01 -1.509155e+02 + vertex -2.003679e+02 -1.202541e+01 -1.501169e+02 endloop endfacet - facet normal -9.887963e-01 -1.408479e-01 4.943462e-02 + facet normal -5.213778e-01 -8.532920e-01 -7.612438e-03 outer loop - vertex -1.958485e+02 -9.787502e+00 -1.114453e+02 - vertex -1.992753e+02 1.397598e+01 -1.122827e+02 - vertex -1.976443e+02 -1.082722e+01 -1.503274e+02 + vertex -1.746797e+02 -3.489791e+01 -1.098826e+02 + vertex -1.913411e+02 -2.437184e+01 -1.486269e+02 + vertex -1.774601e+02 -3.285940e+01 -1.479551e+02 endloop endfacet - facet normal -8.413437e-01 -5.378719e-01 5.324097e-02 + facet normal -8.363157e-01 -5.471741e-01 3.430036e-02 outer loop - vertex -1.873134e+02 -2.295951e+01 -1.096401e+02 - vertex -1.958485e+02 -9.787502e+00 -1.114453e+02 - vertex -1.976443e+02 -1.082722e+01 -1.503274e+02 + vertex -1.890321e+02 -2.553609e+01 -1.109026e+02 + vertex -1.986358e+02 -1.088168e+01 -1.112880e+02 + vertex -1.913411e+02 -2.437184e+01 -1.486269e+02 endloop endfacet - facet normal 5.145948e-01 8.140951e-01 -2.691493e-01 + facet normal -5.466946e-01 -8.372974e-01 7.620081e-03 outer loop - vertex -1.877720e+02 -2.328156e+01 -1.490477e+02 - vertex -1.893362e+02 -2.214005e+01 -1.485856e+02 - vertex -1.764707e+02 -3.003645e+01 -1.478718e+02 + vertex -1.746797e+02 -3.489791e+01 -1.098826e+02 + vertex -1.890321e+02 -2.553609e+01 -1.109026e+02 + vertex -1.913411e+02 -2.437184e+01 -1.486269e+02 endloop endfacet - 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vertex -1.747754e+02 4.105176e+01 -1.951392e+02 - vertex -1.776220e+02 -2.395893e+00 -1.960367e+02 - vertex -2.038663e+02 8.940073e+00 -1.897788e+02 + vertex -1.742807e+02 -3.460058e+01 -7.174283e+01 + vertex -1.876547e+02 -2.494026e+01 -7.393431e+01 + vertex -1.890321e+02 -2.553609e+01 -1.109026e+02 endloop endfacet - facet normal -9.956978e-01 8.887987e-02 -2.619603e-02 + facet normal -1.989732e-01 -9.799567e-01 9.721063e-03 outer loop - vertex -2.021175e+02 3.053987e+01 -1.829652e+02 - vertex -2.038663e+02 8.940073e+00 -1.897788e+02 - vertex -2.014895e+02 3.958370e+01 -1.761498e+02 + vertex -1.492734e+02 -3.966751e+01 -7.067269e+01 + vertex -1.742807e+02 -3.460058e+01 -7.174283e+01 + vertex -1.746797e+02 -3.489791e+01 -1.098826e+02 endloop endfacet - facet normal -4.816971e-01 2.988653e-01 -8.238006e-01 + facet normal -1.721105e-01 -9.850427e-01 -8.303457e-03 outer loop - vertex -1.747754e+02 4.105176e+01 -1.951392e+02 - vertex -2.038663e+02 8.940073e+00 -1.897788e+02 - vertex -2.021175e+02 3.053987e+01 -1.829652e+02 + vertex -1.492734e+02 -3.966751e+01 -7.067269e+01 + vertex -1.746797e+02 -3.489791e+01 -1.098826e+02 + vertex -1.516633e+02 -3.893092e+01 -1.085198e+02 endloop endfacet - facet normal -8.668224e-02 2.625067e-02 -9.958901e-01 + facet normal -8.634944e-01 -4.890827e-01 1.231895e-01 outer loop - vertex -1.359899e+02 3.480167e+01 -1.986799e+02 - vertex -1.776220e+02 -2.395893e+00 -1.960367e+02 - vertex -1.747754e+02 4.105176e+01 -1.951392e+02 + vertex -1.902031e+02 -1.126652e+01 -3.750983e+01 + vertex -1.955590e+02 -1.092132e+01 -7.368153e+01 + vertex -1.876547e+02 -2.494026e+01 -7.393431e+01 endloop endfacet - facet normal -1.956062e-01 1.500614e-01 -9.691335e-01 + facet normal -9.839460e-01 -1.044684e-01 1.446952e-01 outer loop - vertex -1.359899e+02 3.480167e+01 -1.986799e+02 - vertex -1.394852e+02 2.257961e+01 -1.998669e+02 - vertex -1.776220e+02 -2.395893e+00 -1.960367e+02 + vertex -1.930379e+02 1.233637e+01 -3.974582e+01 + vertex -1.955590e+02 -1.092132e+01 -7.368153e+01 + vertex -1.902031e+02 -1.126652e+01 -3.750983e+01 endloop endfacet - facet normal -9.653146e-01 2.430521e-01 9.535971e-02 + facet normal -9.832889e-01 -1.076413e-01 1.468209e-01 outer loop - vertex -1.933043e+02 3.829388e+01 -1.138198e+02 - vertex -2.030492e+02 1.426705e+01 -1.512274e+02 - vertex -1.992753e+02 1.397598e+01 -1.122827e+02 + vertex -1.930379e+02 1.233637e+01 -3.974582e+01 + vertex -1.981944e+02 1.340390e+01 -7.349731e+01 + vertex -1.955590e+02 -1.092132e+01 -7.368153e+01 endloop endfacet - facet normal -9.751753e-01 1.641782e-01 1.485891e-01 + facet normal -5.920111e-01 -8.023255e-01 7.613579e-02 outer loop - vertex -1.933043e+02 3.829388e+01 -1.138198e+02 - vertex -1.999763e+02 4.411988e+01 -1.640448e+02 - vertex -2.030492e+02 1.426705e+01 -1.512274e+02 + vertex -1.727304e+02 -3.234696e+01 -3.593907e+01 + vertex -1.876547e+02 -2.494026e+01 -7.393431e+01 + vertex -1.742807e+02 -3.460058e+01 -7.174283e+01 endloop endfacet - facet normal -9.847078e-01 -1.382654e-01 1.059867e-01 + facet normal -8.697204e-01 -4.789923e-01 1.189660e-01 outer loop - vertex -1.951179e+02 1.384578e+01 -7.382619e+01 - vertex -1.992753e+02 1.397598e+01 -1.122827e+02 - vertex -1.958485e+02 -9.787502e+00 -1.114453e+02 + vertex -1.829684e+02 -2.503747e+01 -4.006561e+01 + vertex -1.902031e+02 -1.126652e+01 -3.750983e+01 + vertex -1.876547e+02 -2.494026e+01 -7.393431e+01 endloop endfacet - facet normal -9.562309e-01 2.733927e-01 1.043017e-01 + facet normal -6.005286e-01 -7.955094e-01 8.081015e-02 outer loop - vertex -1.889682e+02 3.645237e+01 -7.670208e+01 - vertex -1.992753e+02 1.397598e+01 -1.122827e+02 - vertex -1.951179e+02 1.384578e+01 -7.382619e+01 + vertex -1.727304e+02 -3.234696e+01 -3.593907e+01 + vertex -1.829684e+02 -2.503747e+01 -4.006561e+01 + vertex -1.876547e+02 -2.494026e+01 -7.393431e+01 endloop endfacet - facet normal -9.617516e-01 2.440165e-01 1.244580e-01 + facet normal -2.532186e-01 -9.647492e-01 7.168939e-02 outer loop - vertex -1.889682e+02 3.645237e+01 -7.670208e+01 - vertex -1.933043e+02 3.829388e+01 -1.138198e+02 - vertex -1.992753e+02 1.397598e+01 -1.122827e+02 + vertex -1.506112e+02 -3.812189e+01 -3.552564e+01 + vertex -1.727304e+02 -3.234696e+01 -3.593907e+01 + vertex -1.742807e+02 -3.460058e+01 -7.174283e+01 endloop endfacet - facet normal -8.411651e-01 -5.389293e-01 4.468124e-02 + facet normal -1.999152e-01 -9.791717e-01 3.545096e-02 outer loop - vertex -1.858780e+02 -2.195894e+01 -7.054947e+01 - vertex -1.958485e+02 -9.787502e+00 -1.114453e+02 - vertex -1.873134e+02 -2.295951e+01 -1.096401e+02 + vertex -1.506112e+02 -3.812189e+01 -3.552564e+01 + vertex -1.742807e+02 -3.460058e+01 -7.174283e+01 + vertex -1.492734e+02 -3.966751e+01 -7.067269e+01 endloop endfacet - facet normal -9.916442e-01 -9.968367e-02 8.188332e-02 + facet normal -8.641712e-01 -4.812676e-01 1.469342e-01 outer loop - vertex -1.927341e+02 -9.936740e+00 -7.390984e+01 - vertex -1.951179e+02 1.384578e+01 -7.382619e+01 - vertex -1.958485e+02 -9.787502e+00 -1.114453e+02 + vertex -1.840720e+02 -2.073062e+01 -3.244918e+01 + vertex -1.902031e+02 -1.126652e+01 -3.750983e+01 + vertex -1.829684e+02 -2.503747e+01 -4.006561e+01 endloop endfacet - facet normal -8.748727e-01 -4.791672e-01 7.068565e-02 + facet normal -7.581938e-01 -1.521530e-01 6.340281e-01 outer loop - vertex -1.858780e+02 -2.195894e+01 -7.054947e+01 - vertex -1.927341e+02 -9.936740e+00 -7.390984e+01 - vertex -1.958485e+02 -9.787502e+00 -1.114453e+02 + vertex -1.772860e+02 -1.725013e+01 -2.349903e+01 + vertex -1.902031e+02 -1.126652e+01 -3.750983e+01 + vertex -1.840720e+02 -2.073062e+01 -3.244918e+01 endloop endfacet - facet normal -5.520286e-01 -8.327875e-01 4.158615e-02 + facet normal -9.121488e-01 -7.131765e-02 4.036067e-01 outer loop - vertex -1.734042e+02 -3.219214e+01 -1.098942e+02 - vertex -1.858780e+02 -2.195894e+01 -7.054947e+01 - vertex -1.873134e+02 -2.295951e+01 -1.096401e+02 + vertex -1.877017e+02 9.543896e+00 -2.817950e+01 + vertex -1.930379e+02 1.233637e+01 -3.974582e+01 + vertex -1.902031e+02 -1.126652e+01 -3.750983e+01 endloop endfacet - facet normal -9.934213e-01 -9.977149e-02 5.621132e-02 + facet normal -8.987002e-01 -8.488839e-02 4.302695e-01 outer loop - vertex -1.930379e+02 1.233637e+01 -3.974582e+01 - vertex -1.951179e+02 1.384578e+01 -7.382619e+01 - vertex -1.927341e+02 -9.936740e+00 -7.390984e+01 + vertex -1.851014e+02 -1.210831e+01 -2.702015e+01 + vertex -1.877017e+02 9.543896e+00 -2.817950e+01 + vertex -1.902031e+02 -1.126652e+01 -3.750983e+01 endloop endfacet - facet normal -9.650978e-01 2.523399e-01 7.007766e-02 + facet normal -6.056645e-01 -7.606832e-01 2.335198e-01 outer loop - vertex -1.877234e+02 3.430640e+01 -4.566630e+01 - vertex -1.951179e+02 1.384578e+01 -7.382619e+01 - vertex -1.930379e+02 1.233637e+01 -3.974582e+01 + vertex -1.772860e+02 -1.725013e+01 -2.349903e+01 + vertex -1.851014e+02 -1.210831e+01 -2.702015e+01 + vertex -1.902031e+02 -1.126652e+01 -3.750983e+01 endloop endfacet - facet normal -9.614917e-01 2.688257e-01 5.715241e-02 + facet normal -6.320295e-01 -7.102230e-01 3.100354e-01 outer loop - vertex -1.877234e+02 3.430640e+01 -4.566630e+01 - vertex -1.889682e+02 3.645237e+01 -7.670208e+01 - vertex -1.951179e+02 1.384578e+01 -7.382619e+01 + vertex -1.840720e+02 -2.073062e+01 -3.244918e+01 + vertex -1.829684e+02 -2.503747e+01 -4.006561e+01 + vertex -1.727304e+02 -3.234696e+01 -3.593907e+01 endloop endfacet - facet normal -8.740312e-01 -4.825161e-01 5.698759e-02 + facet normal -4.704193e-01 -6.413778e-01 6.060860e-01 outer loop + vertex -1.772860e+02 -1.725013e+01 -2.349903e+01 vertex -1.840720e+02 -2.073062e+01 -3.244918e+01 - vertex -1.927341e+02 -9.936740e+00 -7.390984e+01 - vertex -1.858780e+02 -2.195894e+01 -7.054947e+01 + vertex -1.727304e+02 -3.234696e+01 -3.593907e+01 endloop endfacet - facet normal -9.910060e-01 -1.159598e-01 6.678673e-02 + facet normal -7.241116e-01 -5.554193e-01 4.088665e-01 outer loop - vertex -1.900837e+02 -1.108481e+01 -3.657609e+01 - vertex -1.930379e+02 1.233637e+01 -3.974582e+01 - vertex -1.927341e+02 -9.936740e+00 -7.390984e+01 + vertex -1.694856e+02 -2.975365e+01 -2.666969e+01 + vertex -1.772860e+02 -1.725013e+01 -2.349903e+01 + vertex -1.727304e+02 -3.234696e+01 -3.593907e+01 endloop endfacet - facet normal -8.563299e-01 -5.144674e-01 4.497117e-02 + facet normal -2.353432e-01 -8.704647e-01 4.323248e-01 outer loop - vertex -1.840720e+02 -2.073062e+01 -3.244918e+01 - vertex -1.900837e+02 -1.108481e+01 -3.657609e+01 - vertex -1.927341e+02 -9.936740e+00 -7.390984e+01 + vertex -1.510569e+02 -3.330663e+01 -2.607299e+01 + vertex -1.727304e+02 -3.234696e+01 -3.593907e+01 + vertex -1.506112e+02 -3.812189e+01 -3.552564e+01 endloop endfacet - facet normal -6.232181e-01 -7.801332e-01 5.469319e-02 + facet normal -1.891538e-01 -9.264604e-01 3.254106e-01 outer loop - vertex -1.742189e+02 -3.134821e+01 -7.162246e+01 - vertex -1.840720e+02 -2.073062e+01 -3.244918e+01 - vertex -1.858780e+02 -2.195894e+01 -7.054947e+01 + vertex -1.510569e+02 -3.330663e+01 -2.607299e+01 + vertex -1.694856e+02 -2.975365e+01 -2.666969e+01 + vertex -1.727304e+02 -3.234696e+01 -3.593907e+01 endloop endfacet - facet normal -6.269965e-01 -7.790127e-01 3.832124e-03 + facet normal -6.687440e-01 3.448274e-01 -6.586923e-01 outer loop - vertex -1.742189e+02 -3.134821e+01 -7.162246e+01 - vertex -1.858780e+02 -2.195894e+01 -7.054947e+01 - vertex -1.734042e+02 -3.219214e+01 -1.098942e+02 + vertex -2.014895e+02 3.958370e+01 -1.761498e+02 + vertex -2.038665e+02 8.940053e+00 -1.897787e+02 + vertex -2.078163e+02 1.484081e+01 -1.826795e+02 endloop endfacet - facet normal -9.118196e-01 -6.004009e-02 4.061776e-01 + facet normal -9.717915e-01 2.285502e-01 5.819033e-02 outer loop - vertex -1.877017e+02 9.543896e+00 -2.817950e+01 - vertex -1.930379e+02 1.233637e+01 -3.974582e+01 - vertex -1.900837e+02 -1.108481e+01 -3.657609e+01 + vertex -1.995361e+02 4.237998e+01 -1.525605e+02 + vertex -2.078163e+02 1.484081e+01 -1.826795e+02 + vertex -2.060162e+02 1.440783e+01 -1.509155e+02 endloop endfacet - facet normal -8.517357e-01 2.589999e-01 4.554837e-01 + facet normal -9.707315e-01 2.343340e-01 5.261060e-02 outer loop - vertex -1.845582e+02 2.783693e+01 -3.270318e+01 - vertex -1.930379e+02 1.233637e+01 -3.974582e+01 - vertex -1.877017e+02 9.543896e+00 -2.817950e+01 + vertex -1.995361e+02 4.237998e+01 -1.525605e+02 + vertex -2.014895e+02 3.958370e+01 -1.761498e+02 + vertex -2.078163e+02 1.484081e+01 -1.826795e+02 endloop endfacet - facet normal -8.756700e-01 3.113080e-01 3.691739e-01 + facet normal -2.177231e-01 3.441323e-02 -9.754037e-01 outer loop - vertex -1.845582e+02 2.783693e+01 -3.270318e+01 - vertex -1.877234e+02 3.430640e+01 -4.566630e+01 - vertex -1.930379e+02 1.233637e+01 -3.974582e+01 + vertex -1.747754e+02 4.105176e+01 -1.951392e+02 + vertex -1.776220e+02 -2.395893e+00 -1.960367e+02 + vertex -2.038665e+02 8.940053e+00 -1.897787e+02 endloop endfacet - facet normal -7.450378e-01 -1.909002e-01 6.391211e-01 + facet normal -9.956963e-01 8.889204e-02 -2.621231e-02 outer loop - vertex -1.772860e+02 -1.725013e+01 -2.349903e+01 - vertex -1.900837e+02 -1.108481e+01 -3.657609e+01 - vertex -1.840720e+02 -2.073062e+01 -3.244918e+01 + vertex -2.021175e+02 3.053987e+01 -1.829652e+02 + vertex -2.038665e+02 8.940053e+00 -1.897787e+02 + vertex -2.014895e+02 3.958370e+01 -1.761498e+02 endloop endfacet - facet normal -8.872955e-01 -8.225850e-02 4.538065e-01 + facet normal -4.816969e-01 2.988643e-01 -8.238011e-01 outer loop - vertex -1.851014e+02 -1.210831e+01 -2.702015e+01 - vertex -1.877017e+02 9.543896e+00 -2.817950e+01 - vertex -1.900837e+02 -1.108481e+01 -3.657609e+01 + vertex -1.747754e+02 4.105176e+01 -1.951392e+02 + vertex -2.038665e+02 8.940053e+00 -1.897787e+02 + vertex -2.021175e+02 3.053987e+01 -1.829652e+02 endloop endfacet - facet normal -6.058122e-01 -7.602867e-01 2.344266e-01 + facet normal -8.668224e-02 2.625067e-02 -9.958901e-01 outer loop - vertex -1.772860e+02 -1.725013e+01 -2.349903e+01 - vertex -1.851014e+02 -1.210831e+01 -2.702015e+01 - vertex -1.900837e+02 -1.108481e+01 -3.657609e+01 + vertex -1.359899e+02 3.480167e+01 -1.986799e+02 + vertex -1.776220e+02 -2.395893e+00 -1.960367e+02 + vertex -1.747754e+02 4.105176e+01 -1.951392e+02 endloop endfacet - facet normal -4.704193e-01 -6.413778e-01 6.060860e-01 + facet normal -1.956062e-01 1.500614e-01 -9.691335e-01 outer loop - vertex -1.727304e+02 -3.234696e+01 -3.593907e+01 - vertex -1.772860e+02 -1.725013e+01 -2.349903e+01 - vertex -1.840720e+02 -2.073062e+01 -3.244918e+01 + vertex -1.359899e+02 3.480167e+01 -1.986799e+02 + vertex -1.394852e+02 2.257961e+01 -1.998669e+02 + vertex -1.776220e+02 -2.395893e+00 -1.960367e+02 endloop endfacet - facet normal -7.139503e-01 -7.001222e-01 1.018540e-02 + facet normal -9.644304e-01 2.467419e-01 9.482845e-02 outer loop - vertex -1.727304e+02 -3.234696e+01 -3.593907e+01 - vertex -1.840720e+02 -2.073062e+01 -3.244918e+01 - vertex -1.742189e+02 -3.134821e+01 -7.162246e+01 + vertex -1.958981e+02 3.962164e+01 -1.136183e+02 + vertex -2.060162e+02 1.440783e+01 -1.509155e+02 + vertex -2.022515e+02 1.416408e+01 -1.119940e+02 + endloop + endfacet + facet normal -9.672437e-01 2.303480e-01 1.066743e-01 + outer loop + vertex -1.958981e+02 3.962164e+01 -1.136183e+02 + vertex -1.995361e+02 4.237998e+01 -1.525605e+02 + vertex -2.060162e+02 1.440783e+01 -1.509155e+02 + endloop + endfacet + facet normal -9.560577e-01 2.732852e-01 1.061549e-01 + outer loop + vertex -1.916546e+02 3.710397e+01 -7.561202e+01 + vertex -2.022515e+02 1.416408e+01 -1.119940e+02 + vertex -1.981944e+02 1.340390e+01 -7.349731e+01 + endloop + endfacet + facet normal -9.609067e-01 2.477043e-01 1.236966e-01 + outer loop + vertex -1.916546e+02 3.710397e+01 -7.561202e+01 + vertex -1.958981e+02 3.962164e+01 -1.136183e+02 + vertex -2.022515e+02 1.416408e+01 -1.119940e+02 + endloop + endfacet + facet normal -9.501456e-01 2.712688e-01 1.537419e-01 + outer loop + vertex -1.877234e+02 3.430640e+01 -4.566630e+01 + vertex -1.981944e+02 1.340390e+01 -7.349731e+01 + vertex -1.930379e+02 1.233637e+01 -3.974582e+01 + endloop + endfacet + facet normal -9.494898e-01 2.754188e-01 1.503784e-01 + outer loop + vertex -1.877234e+02 3.430640e+01 -4.566630e+01 + vertex -1.916546e+02 3.710397e+01 -7.561202e+01 + vertex -1.981944e+02 1.340390e+01 -7.349731e+01 + endloop + endfacet + facet normal -8.517357e-01 2.589999e-01 4.554837e-01 + outer loop + vertex -1.845582e+02 2.783693e+01 -3.270318e+01 + vertex -1.930379e+02 1.233637e+01 -3.974582e+01 + vertex -1.877017e+02 9.543896e+00 -2.817950e+01 + endloop + endfacet + facet normal -8.756700e-01 3.113080e-01 3.691739e-01 + outer loop + vertex -1.845582e+02 2.783693e+01 -3.270318e+01 + vertex -1.877234e+02 3.430640e+01 -4.566630e+01 + vertex -1.930379e+02 1.233637e+01 -3.974582e+01 endloop endfacet facet normal -4.952226e-01 -1.296009e-02 8.686695e-01 @@ -503,13 +552,6 @@ solid SIM_ICUB3_L_UPPERARM vertex -1.772860e+02 -1.725013e+01 -2.349903e+01 endloop endfacet - facet normal -7.241116e-01 -5.554193e-01 4.088665e-01 - outer loop - vertex -1.694856e+02 -2.975365e+01 -2.666969e+01 - vertex -1.772860e+02 -1.725013e+01 -2.349903e+01 - vertex -1.727304e+02 -3.234696e+01 -3.593907e+01 - endloop - endfacet facet normal -8.016153e-02 -2.917084e-01 9.531424e-01 outer loop vertex -1.525156e+02 -2.574081e+01 -2.401434e+01 @@ -552,18 +594,18 @@ solid SIM_ICUB3_L_UPPERARM vertex -2.014895e+02 3.958370e+01 -1.761498e+02 endloop endfacet - facet normal -7.512771e-01 6.433679e-01 -1.471751e-01 + facet normal -8.280591e-01 5.606369e-01 2.115643e-03 outer loop - vertex -1.897198e+02 5.734121e+01 -1.586044e+02 + vertex -1.897947e+02 5.677334e+01 -1.540073e+02 vertex -2.014895e+02 3.958370e+01 -1.761498e+02 - vertex -1.999763e+02 4.411988e+01 -1.640448e+02 + vertex -1.995361e+02 4.237998e+01 -1.525605e+02 endloop endfacet - facet normal -8.627877e-01 5.003608e-01 7.236368e-02 + facet normal -8.615486e-01 5.036160e-01 6.406989e-02 outer loop vertex -1.932602e+02 5.284340e+01 -1.697161e+02 vertex -2.014895e+02 3.958370e+01 -1.761498e+02 - vertex -1.897198e+02 5.734121e+01 -1.586044e+02 + vertex -1.897947e+02 5.677334e+01 -1.540073e+02 endloop endfacet facet normal 2.279762e-01 3.068655e-01 -9.240457e-01 @@ -608,102 +650,88 @@ solid SIM_ICUB3_L_UPPERARM vertex -1.646560e+02 4.818895e+01 -1.848270e+02 endloop endfacet - facet normal -8.346936e-01 5.233023e-01 1.715848e-01 - outer loop - vertex -1.841335e+02 5.173281e+01 -1.101940e+02 - vertex -1.999763e+02 4.411988e+01 -1.640448e+02 - vertex -1.933043e+02 3.829388e+01 -1.138198e+02 - endloop - endfacet - facet normal -6.959467e-01 7.104778e-01 1.043047e-01 - outer loop - vertex -1.872641e+02 5.436087e+01 -1.489833e+02 - vertex -1.999763e+02 4.411988e+01 -1.640448e+02 - vertex -1.841335e+02 5.173281e+01 -1.101940e+02 - endloop - endfacet - facet normal -7.277544e-01 6.666912e-01 1.609236e-01 + facet normal -8.380367e-01 5.331292e-01 1.160505e-01 outer loop - vertex -1.758832e+02 6.656677e+01 -1.480825e+02 - vertex -1.999763e+02 4.411988e+01 -1.640448e+02 - vertex -1.872641e+02 5.436087e+01 -1.489833e+02 + vertex -1.873206e+02 5.367328e+01 -1.162295e+02 + vertex -1.995361e+02 4.237998e+01 -1.525605e+02 + vertex -1.958981e+02 3.962164e+01 -1.136183e+02 endloop endfacet - facet normal -6.866198e-01 2.520450e-01 6.819285e-01 + facet normal -8.193153e-01 5.645574e-01 9.998653e-02 outer loop - vertex -1.758832e+02 6.656677e+01 -1.480825e+02 - vertex -1.897198e+02 5.734121e+01 -1.586044e+02 - vertex -1.999763e+02 4.411988e+01 -1.640448e+02 + vertex -1.873206e+02 5.367328e+01 -1.162295e+02 + vertex -1.897947e+02 5.677334e+01 -1.540073e+02 + vertex -1.995361e+02 4.237998e+01 -1.525605e+02 endloop endfacet - facet normal -8.350348e-01 5.328978e-01 1.368827e-01 + facet normal -8.229892e-01 5.533222e-01 1.285431e-01 outer loop - vertex -1.800542e+02 4.831369e+01 -7.199746e+01 - vertex -1.841335e+02 5.173281e+01 -1.101940e+02 - vertex -1.933043e+02 3.829388e+01 -1.138198e+02 + vertex -1.823464e+02 4.998077e+01 -7.144587e+01 + vertex -1.958981e+02 3.962164e+01 -1.136183e+02 + vertex -1.916546e+02 3.710397e+01 -7.561202e+01 endloop endfacet - facet normal -8.161927e-01 5.644588e-01 1.233518e-01 + facet normal -8.351537e-01 5.325376e-01 1.375575e-01 outer loop - vertex -1.800542e+02 4.831369e+01 -7.199746e+01 - vertex -1.933043e+02 3.829388e+01 -1.138198e+02 - vertex -1.889682e+02 3.645237e+01 -7.670208e+01 + vertex -1.864267e+02 5.350421e+01 -1.098590e+02 + vertex -1.958981e+02 3.962164e+01 -1.136183e+02 + vertex -1.823464e+02 4.998077e+01 -7.144587e+01 endloop endfacet - facet normal -6.275625e-01 7.717315e-01 1.029357e-01 + facet normal -5.798109e-01 5.566786e-01 -5.949187e-01 outer loop - vertex -1.710612e+02 6.312471e+01 -1.159043e+02 - vertex -1.872641e+02 5.436087e+01 -1.489833e+02 - vertex -1.841335e+02 5.173281e+01 -1.101940e+02 + vertex -1.712534e+02 6.593651e+01 -1.130138e+02 + vertex -1.958981e+02 3.962164e+01 -1.136183e+02 + vertex -1.864267e+02 5.350421e+01 -1.098590e+02 endloop endfacet - facet normal -6.325684e-01 7.625039e-01 1.358124e-01 + facet normal -4.850513e-01 4.368648e-01 7.575450e-01 outer loop - vertex -1.678695e+02 5.934457e+01 -7.717714e+01 - vertex -1.841335e+02 5.173281e+01 -1.101940e+02 - vertex -1.800542e+02 4.831369e+01 -7.199746e+01 + vertex -1.712534e+02 6.593651e+01 -1.130138e+02 + vertex -1.873206e+02 5.367328e+01 -1.162295e+02 + vertex -1.958981e+02 3.962164e+01 -1.136183e+02 endloop endfacet - facet normal -6.196688e-01 7.745733e-01 1.266756e-01 + facet normal -8.225038e-01 5.200530e-01 2.302875e-01 outer loop - vertex -1.678695e+02 5.934457e+01 -7.717714e+01 - vertex -1.710612e+02 6.312471e+01 -1.159043e+02 - vertex -1.841335e+02 5.173281e+01 -1.101940e+02 + vertex -1.778038e+02 4.315388e+01 -3.980435e+01 + vertex -1.823464e+02 4.998077e+01 -7.144587e+01 + vertex -1.916546e+02 3.710397e+01 -7.561202e+01 endloop endfacet - facet normal -7.260554e-01 6.637140e-01 1.797977e-01 + facet normal -7.074780e-01 6.890200e-01 1.572463e-01 outer loop - vertex -1.710612e+02 6.312471e+01 -1.159043e+02 - vertex -1.758832e+02 6.656677e+01 -1.480825e+02 - vertex -1.872641e+02 5.436087e+01 -1.489833e+02 + vertex -1.778038e+02 4.315388e+01 -3.980435e+01 + vertex -1.916546e+02 3.710397e+01 -7.561202e+01 + vertex -1.877234e+02 3.430640e+01 -4.566630e+01 endloop endfacet - facet normal -8.178184e-01 5.565511e-01 1.463690e-01 + facet normal -6.336928e-01 7.613310e-01 1.371443e-01 outer loop - vertex -1.778038e+02 4.315388e+01 -3.980435e+01 - vertex -1.800542e+02 4.831369e+01 -7.199746e+01 - vertex -1.889682e+02 3.645237e+01 -7.670208e+01 + vertex -1.690711e+02 6.190084e+01 -7.627737e+01 + vertex -1.864267e+02 5.350421e+01 -1.098590e+02 + vertex -1.823464e+02 4.998077e+01 -7.144587e+01 endloop endfacet - facet normal -6.887346e-01 7.208629e-01 7.746848e-02 + facet normal -6.950955e-01 6.756747e-01 2.455727e-01 outer loop + vertex -1.694199e+02 5.545059e+01 -4.990704e+01 + vertex -1.823464e+02 4.998077e+01 -7.144587e+01 vertex -1.778038e+02 4.315388e+01 -3.980435e+01 - vertex -1.889682e+02 3.645237e+01 -7.670208e+01 - vertex -1.877234e+02 3.430640e+01 -4.566630e+01 endloop endfacet - facet normal -7.522087e-01 6.403821e-01 1.552190e-01 + facet normal -6.205974e-01 7.635301e-01 1.785516e-01 outer loop vertex -1.694199e+02 5.545059e+01 -4.990704e+01 - vertex -1.800542e+02 4.831369e+01 -7.199746e+01 - vertex -1.778038e+02 4.315388e+01 -3.980435e+01 + vertex -1.690711e+02 6.190084e+01 -7.627737e+01 + vertex -1.823464e+02 4.998077e+01 -7.144587e+01 endloop endfacet - facet normal -6.528057e-01 7.542297e-01 7.058510e-02 + facet normal -6.137159e-01 7.800211e-01 1.221467e-01 outer loop - vertex -1.694199e+02 5.545059e+01 -4.990704e+01 - vertex -1.678695e+02 5.934457e+01 -7.717714e+01 - vertex -1.800542e+02 4.831369e+01 -7.199746e+01 + vertex -1.690711e+02 6.190084e+01 -7.627737e+01 + vertex -1.712534e+02 6.593651e+01 -1.130138e+02 + vertex -1.864267e+02 5.350421e+01 -1.098590e+02 endloop endfacet facet normal -6.865198e-01 3.459909e-01 6.395161e-01 @@ -748,39 +776,53 @@ solid SIM_ICUB3_L_UPPERARM vertex -1.778038e+02 4.315388e+01 -3.980435e+01 endloop endfacet - facet normal -4.172704e-01 8.808455e-01 -2.235992e-01 + facet normal -5.569743e-01 8.262867e-01 -8.384476e-02 outer loop - vertex -1.758832e+02 6.656677e+01 -1.480825e+02 + vertex -1.765054e+02 6.628169e+01 -1.485832e+02 vertex -1.932602e+02 5.284340e+01 -1.697161e+02 - vertex -1.897198e+02 5.734121e+01 -1.586044e+02 + vertex -1.897947e+02 5.677334e+01 -1.540073e+02 endloop endfacet - facet normal -4.976120e-01 8.555299e-01 -1.430068e-01 + facet normal -6.050236e-01 7.902764e-01 9.700358e-02 + outer loop + vertex -1.712534e+02 6.593651e+01 -1.130138e+02 + vertex -1.765054e+02 6.628169e+01 -1.485832e+02 + vertex -1.897947e+02 5.677334e+01 -1.540073e+02 + endloop + endfacet + facet normal -6.165222e-01 7.803831e-01 1.044158e-01 + outer loop + vertex -1.712534e+02 6.593651e+01 -1.130138e+02 + vertex -1.897947e+02 5.677334e+01 -1.540073e+02 + vertex -1.873206e+02 5.367328e+01 -1.162295e+02 + endloop + endfacet + facet normal -4.932336e-01 8.562577e-01 -1.534387e-01 outer loop vertex -1.830932e+02 5.954840e+01 -1.649811e+02 vertex -1.932602e+02 5.284340e+01 -1.697161e+02 - vertex -1.758832e+02 6.656677e+01 -1.480825e+02 + vertex -1.765054e+02 6.628169e+01 -1.485832e+02 endloop endfacet - facet normal -2.421158e-02 9.268639e-01 -3.746159e-01 + facet normal -2.911316e-02 9.287144e-01 -3.696512e-01 outer loop vertex -1.537110e+02 7.040501e+01 -1.400190e+02 vertex -1.830932e+02 5.954840e+01 -1.649811e+02 - vertex -1.758832e+02 6.656677e+01 -1.480825e+02 + vertex -1.765054e+02 6.628169e+01 -1.485832e+02 endloop endfacet - facet normal -2.044677e-01 9.738895e-01 9.865181e-02 + facet normal -2.522345e-01 9.665423e-01 4.662325e-02 outer loop - vertex -1.513017e+02 6.799256e+01 -1.112098e+02 - vertex -1.537110e+02 7.040501e+01 -1.400190e+02 - vertex -1.758832e+02 6.656677e+01 -1.480825e+02 + vertex -1.515358e+02 7.098730e+01 -1.110477e+02 + vertex -1.765054e+02 6.628169e+01 -1.485832e+02 + vertex -1.712534e+02 6.593651e+01 -1.130138e+02 endloop endfacet - facet normal -2.684835e-01 9.527387e-01 1.421463e-01 + facet normal -1.755974e-01 9.844399e-01 -6.601520e-03 outer loop - vertex -1.513017e+02 6.799256e+01 -1.112098e+02 - vertex -1.758832e+02 6.656677e+01 -1.480825e+02 - vertex -1.710612e+02 6.312471e+01 -1.159043e+02 + vertex -1.515358e+02 7.098730e+01 -1.110477e+02 + vertex -1.537110e+02 7.040501e+01 -1.400190e+02 + vertex -1.765054e+02 6.628169e+01 -1.485832e+02 endloop endfacet facet normal 3.216219e-02 9.021496e-01 -4.302229e-01 @@ -790,144 +832,116 @@ solid SIM_ICUB3_L_UPPERARM vertex -1.537110e+02 7.040501e+01 -1.400190e+02 endloop endfacet - facet normal 1.596784e-01 -9.264725e-01 -3.408100e-01 + facet normal -2.573056e-01 9.593464e-01 1.159673e-01 + outer loop + vertex -1.492302e+02 6.713621e+01 -7.407386e+01 + vertex -1.515358e+02 7.098730e+01 -1.110477e+02 + vertex -1.712534e+02 6.593651e+01 -1.130138e+02 + endloop + endfacet + facet normal -2.657923e-01 9.564246e-01 1.208571e-01 + outer loop + vertex -1.492302e+02 6.713621e+01 -7.407386e+01 + vertex -1.712534e+02 6.593651e+01 -1.130138e+02 + vertex -1.690711e+02 6.190084e+01 -7.627737e+01 + endloop + endfacet + facet normal 1.560310e-01 -9.456176e-01 -2.854148e-01 outer loop vertex -1.220280e+02 -2.451651e+01 -1.935016e+02 - vertex -1.539775e+02 -3.214745e+01 -1.877265e+02 - vertex -1.564189e+02 -2.903628e+01 -1.973279e+02 + vertex -1.538389e+02 -3.244210e+01 -1.846335e+02 + vertex -1.564186e+02 -2.903623e+01 -1.973279e+02 endloop endfacet - facet normal 3.468523e-01 -9.373890e-01 -3.154932e-02 + facet normal 3.300520e-01 -9.384638e-01 -1.017420e-01 outer loop - vertex -1.323974e+02 -2.561540e+01 -1.445552e+02 - vertex -1.541993e+02 -3.362742e+01 -1.461928e+02 - vertex -1.539775e+02 -3.214745e+01 -1.877265e+02 + vertex -1.326175e+02 -2.932334e+01 -1.445586e+02 + vertex -1.538992e+02 -3.662070e+01 -1.462861e+02 + vertex -1.538389e+02 -3.244210e+01 -1.846335e+02 endloop endfacet - facet normal 2.370734e-01 -9.710759e-01 2.842297e-02 + facet normal 2.294514e-01 -9.722400e-01 -4.584118e-02 outer loop - vertex -1.323974e+02 -2.561540e+01 -1.445552e+02 - vertex -1.539775e+02 -3.214745e+01 -1.877265e+02 + vertex -1.326175e+02 -2.932334e+01 -1.445586e+02 + vertex -1.538389e+02 -3.244210e+01 -1.846335e+02 vertex -1.220280e+02 -2.451651e+01 -1.935016e+02 endloop endfacet - facet normal 1.304902e-01 -4.153324e-01 -9.002618e-01 + facet normal 1.304921e-01 -4.153471e-01 -9.002547e-01 outer loop vertex -1.218688e+02 -2.354423e+01 -1.948537e+02 - vertex -1.564189e+02 -2.903628e+01 -1.973279e+02 - vertex -1.515167e+02 -2.253350e+01 -1.996174e+02 + vertex -1.564186e+02 -2.903623e+01 -1.973279e+02 + vertex -1.515165e+02 -2.253372e+01 -1.996174e+02 endloop endfacet - facet normal 1.529290e-01 -9.578856e-01 -2.430389e-01 + facet normal 1.529286e-01 -9.578857e-01 -2.430389e-01 outer loop vertex -1.220280e+02 -2.451651e+01 -1.935016e+02 - vertex -1.564189e+02 -2.903628e+01 -1.973279e+02 + vertex -1.564186e+02 -2.903623e+01 -1.973279e+02 vertex -1.220413e+02 -2.424087e+01 -1.945964e+02 endloop endfacet - facet normal 1.248539e-01 -3.708677e-01 -9.202547e-01 + facet normal 1.248540e-01 -3.708677e-01 -9.202547e-01 outer loop vertex -1.218688e+02 -2.354423e+01 -1.948537e+02 vertex -1.220413e+02 -2.424087e+01 -1.945964e+02 - vertex -1.564189e+02 -2.903628e+01 -1.973279e+02 + vertex -1.564186e+02 -2.903623e+01 -1.973279e+02 endloop endfacet - facet normal 9.693532e-03 -8.114492e-03 -9.999201e-01 + facet normal 9.693515e-03 -8.114981e-03 -9.999201e-01 outer loop vertex -1.218472e+02 2.196591e+01 -1.996909e+02 - vertex -1.515167e+02 -2.253350e+01 -1.996174e+02 + vertex -1.515165e+02 -2.253372e+01 -1.996174e+02 vertex -1.394852e+02 2.257961e+01 -1.998669e+02 endloop endfacet - facet normal 1.542977e-01 -1.044991e-01 -9.824827e-01 + facet normal 1.542990e-01 -1.044991e-01 -9.824824e-01 outer loop vertex -1.218472e+02 2.196591e+01 -1.996909e+02 vertex -1.218688e+02 -2.354423e+01 -1.948537e+02 - vertex -1.515167e+02 -2.253350e+01 -1.996174e+02 - endloop - endfacet - facet normal 3.376427e-01 -9.380212e-01 -7.818957e-02 - outer loop - vertex -1.301122e+02 -2.823550e+01 -1.068640e+02 - vertex -1.518965e+02 -3.596149e+01 -1.082475e+02 - vertex -1.541993e+02 -3.362742e+01 -1.461928e+02 - endloop - endfacet - facet normal 3.493452e-01 -9.330354e-01 -8.604039e-02 - outer loop - vertex -1.301122e+02 -2.823550e+01 -1.068640e+02 - vertex -1.541993e+02 -3.362742e+01 -1.461928e+02 - vertex -1.323974e+02 -2.561540e+01 -1.445552e+02 - endloop - endfacet - facet normal -1.715948e-01 -9.850731e-01 -1.364651e-02 - outer loop - vertex -1.505174e+02 -3.672226e+01 -7.067211e+01 - vertex -1.734042e+02 -3.219214e+01 -1.098942e+02 - vertex -1.518965e+02 -3.596149e+01 -1.082475e+02 + vertex -1.515165e+02 -2.253372e+01 -1.996174e+02 endloop endfacet - facet normal -2.217355e-01 -9.749625e-01 1.677920e-02 + facet normal 3.129501e-01 -9.466886e-01 -7.643847e-02 outer loop - vertex -1.505174e+02 -3.672226e+01 -7.067211e+01 - vertex -1.742189e+02 -3.134821e+01 -7.162246e+01 - vertex -1.734042e+02 -3.219214e+01 -1.098942e+02 + vertex -1.302932e+02 -3.202606e+01 -1.065442e+02 + vertex -1.516633e+02 -3.893092e+01 -1.085198e+02 + vertex -1.538992e+02 -3.662070e+01 -1.462861e+02 endloop endfacet - facet normal 2.939846e-01 -9.553351e-01 -3.013174e-02 + facet normal 3.294365e-01 -9.401623e-01 -8.698565e-02 outer loop - vertex -1.298664e+02 -3.039824e+01 -6.969187e+01 - vertex -1.505174e+02 -3.672226e+01 -7.067211e+01 - vertex -1.518965e+02 -3.596149e+01 -1.082475e+02 + vertex -1.302932e+02 -3.202606e+01 -1.065442e+02 + vertex -1.538992e+02 -3.662070e+01 -1.462861e+02 + vertex -1.326175e+02 -2.932334e+01 -1.445586e+02 endloop endfacet - facet normal 3.369254e-01 -9.398100e-01 -5.690763e-02 + facet normal 3.029274e-01 -9.522692e-01 -3.766168e-02 outer loop - vertex -1.298664e+02 -3.039824e+01 -6.969187e+01 - vertex -1.518965e+02 -3.596149e+01 -1.082475e+02 - vertex -1.301122e+02 -2.823550e+01 -1.068640e+02 + vertex -1.287445e+02 -3.315320e+01 -7.026405e+01 + vertex -1.492734e+02 -3.966751e+01 -7.067269e+01 + vertex -1.516633e+02 -3.893092e+01 -1.085198e+02 endloop endfacet - facet normal -2.194519e-01 -9.748272e-01 -3.940554e-02 + facet normal 3.107545e-01 -9.495277e-01 -4.276489e-02 outer loop - vertex -1.506112e+02 -3.812189e+01 -3.552564e+01 - vertex -1.742189e+02 -3.134821e+01 -7.162246e+01 - vertex -1.505174e+02 -3.672226e+01 -7.067211e+01 + vertex -1.287445e+02 -3.315320e+01 -7.026405e+01 + vertex -1.516633e+02 -3.893092e+01 -1.085198e+02 + vertex -1.302932e+02 -3.202606e+01 -1.065442e+02 endloop endfacet - facet normal -2.522900e-01 -9.675100e-01 -1.655598e-02 - outer loop - vertex -1.506112e+02 -3.812189e+01 -3.552564e+01 - vertex -1.727304e+02 -3.234696e+01 -3.593907e+01 - vertex -1.742189e+02 -3.134821e+01 -7.162246e+01 - endloop - endfacet - facet normal 2.681300e-01 -9.626479e-01 -3.762043e-02 + facet normal 2.737177e-01 -9.603679e-01 5.265098e-02 outer loop vertex -1.284345e+02 -3.188513e+01 -3.705587e+01 vertex -1.506112e+02 -3.812189e+01 -3.552564e+01 - vertex -1.505174e+02 -3.672226e+01 -7.067211e+01 + vertex -1.492734e+02 -3.966751e+01 -7.067269e+01 endloop endfacet - facet normal 2.947906e-01 -9.538964e-01 -5.639339e-02 + facet normal 3.016834e-01 -9.528171e-01 3.356712e-02 outer loop vertex -1.284345e+02 -3.188513e+01 -3.705587e+01 - vertex -1.505174e+02 -3.672226e+01 -7.067211e+01 - vertex -1.298664e+02 -3.039824e+01 -6.969187e+01 - endloop - endfacet - facet normal -2.353432e-01 -8.704647e-01 4.323248e-01 - outer loop - vertex -1.510569e+02 -3.330663e+01 -2.607299e+01 - vertex -1.727304e+02 -3.234696e+01 -3.593907e+01 - vertex -1.506112e+02 -3.812189e+01 -3.552564e+01 - endloop - endfacet - facet normal -1.891538e-01 -9.264604e-01 3.254106e-01 - outer loop - vertex -1.510569e+02 -3.330663e+01 -2.607299e+01 - vertex -1.694856e+02 -2.975365e+01 -2.666969e+01 - vertex -1.727304e+02 -3.234696e+01 -3.593907e+01 + vertex -1.492734e+02 -3.966751e+01 -7.067269e+01 + vertex -1.287445e+02 -3.315320e+01 -7.026405e+01 endloop endfacet facet normal 2.247235e-01 -8.639314e-01 4.506904e-01 @@ -1077,88 +1091,74 @@ solid SIM_ICUB3_L_UPPERARM vertex -1.210607e+02 4.535901e+01 -3.992887e+01 endloop endfacet - facet normal 2.245417e-01 8.578611e-01 -4.622287e-01 + facet normal 2.245294e-01 8.578651e-01 -4.622273e-01 outer loop - vertex -1.243544e+02 6.249969e+01 -1.404298e+02 + vertex -1.243532e+02 6.249868e+01 -1.404319e+02 vertex -1.654365e+02 5.040829e+01 -1.828274e+02 vertex -1.537110e+02 7.040501e+01 -1.400190e+02 endloop endfacet - facet normal 2.432517e-01 9.680607e-01 6.072105e-02 + facet normal 2.574600e-01 9.655122e-01 -3.873689e-02 outer loop - vertex -1.291881e+02 6.238239e+01 -1.103565e+02 + vertex -1.263008e+02 6.427098e+01 -1.107303e+02 vertex -1.537110e+02 7.040501e+01 -1.400190e+02 - vertex -1.513017e+02 6.799256e+01 -1.112098e+02 + vertex -1.515358e+02 7.098730e+01 -1.110477e+02 endloop endfacet - facet normal 2.603467e-01 9.644374e-01 4.560814e-02 + facet normal 2.592976e-01 9.649448e-01 -4.057548e-02 outer loop - vertex -1.291881e+02 6.238239e+01 -1.103565e+02 - vertex -1.243544e+02 6.249969e+01 -1.404298e+02 + vertex -1.263008e+02 6.427098e+01 -1.107303e+02 + vertex -1.243532e+02 6.249868e+01 -1.404319e+02 vertex -1.537110e+02 7.040501e+01 -1.400190e+02 endloop endfacet - facet normal 1.998212e-01 8.740273e-01 -4.428857e-01 + facet normal 1.998274e-01 8.740202e-01 -4.428969e-01 outer loop vertex -1.202101e+02 5.210975e+01 -1.590643e+02 vertex -1.654365e+02 5.040829e+01 -1.828274e+02 - vertex -1.243544e+02 6.249969e+01 -1.404298e+02 - endloop - endfacet - facet normal -2.633321e-01 9.578005e-01 1.152148e-01 - outer loop - vertex -1.491262e+02 6.419155e+01 -7.463893e+01 - vertex -1.513017e+02 6.799256e+01 -1.112098e+02 - vertex -1.710612e+02 6.312471e+01 -1.159043e+02 - endloop - endfacet - facet normal -2.632874e-01 9.578157e-01 1.151906e-01 - outer loop - vertex -1.491262e+02 6.419155e+01 -7.463893e+01 - vertex -1.710612e+02 6.312471e+01 -1.159043e+02 - vertex -1.678695e+02 5.934457e+01 -7.717714e+01 + vertex -1.243532e+02 6.249868e+01 -1.404319e+02 endloop endfacet - facet normal 1.148481e-01 9.887400e-01 9.593290e-02 + facet normal 2.310436e-01 9.690879e-01 8.653015e-02 outer loop - vertex -1.270898e+02 6.040798e+01 -6.202455e+01 - vertex -1.513017e+02 6.799256e+01 -1.112098e+02 - vertex -1.491262e+02 6.419155e+01 -7.463893e+01 + vertex -1.275364e+02 6.190998e+01 -7.346763e+01 + vertex -1.515358e+02 7.098730e+01 -1.110477e+02 + vertex -1.492302e+02 6.713621e+01 -7.407386e+01 endloop endfacet - facet normal 2.447540e-01 9.691525e-01 2.896491e-02 + facet normal 2.557573e-01 9.642342e-01 6.957511e-02 outer loop - vertex -1.270898e+02 6.040798e+01 -6.202455e+01 - vertex -1.291881e+02 6.238239e+01 -1.103565e+02 - vertex -1.513017e+02 6.799256e+01 -1.112098e+02 + vertex -1.275364e+02 6.190998e+01 -7.346763e+01 + vertex -1.263008e+02 6.427098e+01 -1.107303e+02 + vertex -1.515358e+02 7.098730e+01 -1.110477e+02 endloop endfacet - facet normal -2.662209e-01 9.526934e-01 1.466345e-01 + facet normal -2.734203e-01 9.246838e-01 2.649551e-01 outer loop vertex -1.483702e+02 6.074744e+01 -5.088978e+01 - vertex -1.491262e+02 6.419155e+01 -7.463893e+01 - vertex -1.678695e+02 5.934457e+01 -7.717714e+01 + vertex -1.492302e+02 6.713621e+01 -7.407386e+01 + vertex -1.690711e+02 6.190084e+01 -7.627737e+01 endloop endfacet - facet normal -2.366855e-01 9.636226e-01 1.241426e-01 + facet normal -2.275232e-01 9.465777e-01 2.285255e-01 outer loop vertex -1.483702e+02 6.074744e+01 -5.088978e+01 - vertex -1.678695e+02 5.934457e+01 -7.717714e+01 + vertex -1.690711e+02 6.190084e+01 -7.627737e+01 vertex -1.694199e+02 5.545059e+01 -4.990704e+01 endloop endfacet - facet normal 3.443325e-01 9.306232e-01 1.239980e-01 + facet normal 2.757608e-01 9.292563e-01 2.458427e-01 outer loop vertex -1.295930e+02 5.240430e+01 -4.041597e+01 - vertex -1.491262e+02 6.419155e+01 -7.463893e+01 + vertex -1.492302e+02 6.713621e+01 -7.407386e+01 vertex -1.483702e+02 6.074744e+01 -5.088978e+01 endloop endfacet - facet normal -3.549458e-02 9.384831e-01 3.434962e-01 + facet normal 2.172228e-01 9.344224e-01 2.822570e-01 outer loop vertex -1.295930e+02 5.240430e+01 -4.041597e+01 - vertex -1.270898e+02 6.040798e+01 -6.202455e+01 - vertex -1.491262e+02 6.419155e+01 -7.463893e+01 + vertex -1.275364e+02 6.190998e+01 -7.346763e+01 + vertex -1.492302e+02 6.713621e+01 -7.407386e+01 endloop endfacet facet normal 9.604587e-01 -2.670119e-01 -7.889009e-02 @@ -1175,143 +1175,143 @@ solid SIM_ICUB3_L_UPPERARM vertex -1.220413e+02 -2.424087e+01 -1.945964e+02 endloop endfacet - facet normal 9.175247e-01 -3.899577e-01 7.798348e-02 + facet normal 9.419212e-01 -3.357678e-01 6.660160e-03 outer loop - vertex -1.218325e+02 -1.485661e+01 -1.474973e+02 + vertex -1.197001e+02 -1.707800e+01 -1.477153e+02 vertex -1.220280e+02 -2.451651e+01 -1.935016e+02 vertex -1.203481e+02 -1.972039e+01 -1.892830e+02 endloop endfacet - facet normal 7.253022e-01 -6.743514e-01 1.385167e-01 + facet normal 6.960361e-01 -7.134771e-01 8.052465e-02 outer loop - vertex -1.323974e+02 -2.561540e+01 -1.445552e+02 + vertex -1.326175e+02 -2.932334e+01 -1.445586e+02 vertex -1.220280e+02 -2.451651e+01 -1.935016e+02 - vertex -1.218325e+02 -1.485661e+01 -1.474973e+02 + vertex -1.197001e+02 -1.707800e+01 -1.477153e+02 endloop endfacet - facet normal 9.739999e-01 -1.712432e-01 -1.483240e-01 + facet normal 9.740001e-01 -1.712393e-01 -1.483268e-01 outer loop - vertex -1.135803e+02 1.508195e+01 -1.850205e+02 + vertex -1.135804e+02 1.508195e+01 -1.850206e+02 vertex -1.203481e+02 -1.972039e+01 -1.892830e+02 vertex -1.218688e+02 -2.354423e+01 -1.948537e+02 endloop endfacet - facet normal 8.463678e-01 -5.247421e-01 9.114438e-02 + facet normal 8.556875e-01 -5.171242e-01 1.953298e-02 outer loop - vertex -1.148999e+02 -3.194736e+00 -1.447327e+02 - vertex -1.218325e+02 -1.485661e+01 -1.474973e+02 + vertex -1.123738e+02 -4.845415e+00 -1.448112e+02 + vertex -1.197001e+02 -1.707800e+01 -1.477153e+02 vertex -1.203481e+02 -1.972039e+01 -1.892830e+02 endloop endfacet - facet normal 8.977116e-01 -1.227490e-01 -4.231388e-01 + facet normal 8.977323e-01 -1.227561e-01 -4.230930e-01 outer loop - vertex -1.099738e+02 1.755012e+01 -1.780853e+02 + vertex -1.099736e+02 1.755327e+01 -1.780845e+02 vertex -1.203481e+02 -1.972039e+01 -1.892830e+02 - vertex -1.135803e+02 1.508195e+01 -1.850205e+02 + vertex -1.135804e+02 1.508195e+01 -1.850206e+02 endloop endfacet - facet normal -9.656078e-01 2.570614e-01 3.899913e-02 + facet normal -9.656107e-01 2.570547e-01 3.897293e-02 outer loop - vertex -1.099738e+02 1.755012e+01 -1.780853e+02 + vertex -1.099736e+02 1.755327e+01 -1.780845e+02 vertex -1.200571e+02 -1.857803e+01 -1.896056e+02 vertex -1.203481e+02 -1.972039e+01 -1.892830e+02 endloop endfacet - facet normal 9.670846e-01 -2.532908e-01 -2.431142e-02 + facet normal 9.599077e-01 -2.678956e-01 -8.251722e-02 outer loop - 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vertex -1.298664e+02 -3.039824e+01 -6.969187e+01 + vertex -1.287445e+02 -3.315320e+01 -7.026405e+01 vertex -1.171264e+02 -1.938375e+01 -3.480346e+01 endloop endfacet @@ -1357,25 +1357,25 @@ solid SIM_ICUB3_L_UPPERARM vertex -1.211116e+02 -1.549996e+01 -2.947447e+01 endloop endfacet - facet normal 8.897443e-01 1.490473e-01 -4.314394e-01 + facet normal 8.897464e-01 1.490437e-01 -4.314362e-01 outer loop vertex -1.174838e+02 3.716147e+01 -1.854429e+02 - vertex -1.135803e+02 1.508195e+01 -1.850205e+02 + vertex -1.135804e+02 1.508195e+01 -1.850206e+02 vertex -1.218472e+02 2.196591e+01 -1.996909e+02 endloop endfacet - facet normal 9.064171e-01 1.527149e-01 -3.938099e-01 + facet normal 9.064178e-01 1.527107e-01 -3.938098e-01 outer loop vertex -1.118869e+02 3.877080e+01 -1.719367e+02 - vertex -1.135803e+02 1.508195e+01 -1.850205e+02 + vertex -1.135804e+02 1.508195e+01 -1.850206e+02 vertex -1.174838e+02 3.716147e+01 -1.854429e+02 endloop endfacet - facet normal 8.301601e-01 2.229064e-01 -5.110253e-01 + facet normal 8.301041e-01 2.229476e-01 -5.110984e-01 outer loop vertex -1.118869e+02 3.877080e+01 -1.719367e+02 - vertex -1.099738e+02 1.755012e+01 -1.780853e+02 - vertex -1.135803e+02 1.508195e+01 -1.850205e+02 + vertex -1.099736e+02 1.755327e+01 -1.780845e+02 + vertex -1.135804e+02 1.508195e+01 -1.850206e+02 endloop endfacet facet normal 9.786750e-01 -1.584380e-01 -1.307392e-01 @@ -1399,227 +1399,227 @@ solid SIM_ICUB3_L_UPPERARM vertex -1.055432e+02 1.257406e+01 -4.340494e+01 endloop endfacet - facet normal 6.626911e-02 -8.651507e-01 4.971143e-01 + facet normal 6.621082e-02 -8.651567e-01 4.971117e-01 outer loop vertex -1.202101e+02 5.210975e+01 -1.590643e+02 - vertex -1.243544e+02 6.249969e+01 -1.404298e+02 + vertex -1.243532e+02 6.249868e+01 -1.404319e+02 vertex -1.174838e+02 3.716147e+01 -1.854429e+02 endloop endfacet - facet normal 4.891666e-01 7.898456e-01 -3.699459e-01 + facet normal 5.310414e-01 7.704707e-01 -3.526613e-01 outer loop - vertex -1.152613e+02 5.267540e+01 -1.493815e+02 + vertex -1.147178e+02 5.211847e+01 -1.486008e+02 vertex -1.174838e+02 3.716147e+01 -1.854429e+02 - vertex -1.243544e+02 6.249969e+01 -1.404298e+02 + vertex -1.243532e+02 6.249868e+01 -1.404319e+02 endloop endfacet - 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vertex -1.073416e+02 1.704474e+01 -1.074486e+02 + vertex -1.097003e+02 -6.493510e+00 -1.064968e+02 + vertex -1.123738e+02 -4.845415e+00 -1.448112e+02 + vertex -1.043360e+02 1.714209e+01 -1.076117e+02 endloop endfacet - facet normal 9.736374e-01 -2.252199e-01 -3.614111e-02 + facet normal 9.741725e-01 -2.228221e-01 -3.658220e-02 outer loop - vertex -1.063203e+02 1.550986e+01 -7.037053e+01 - vertex -1.124562e+02 -5.186960e+00 -1.066953e+02 - vertex -1.073416e+02 1.704474e+01 -1.074486e+02 + vertex -1.033221e+02 1.546203e+01 -7.037829e+01 + vertex -1.097003e+02 -6.493510e+00 -1.064968e+02 + vertex -1.043360e+02 1.714209e+01 -1.076117e+02 endloop endfacet - facet normal 9.959085e-01 8.717041e-02 -2.382288e-02 + facet normal 9.883956e-01 1.505634e-01 -2.012154e-02 outer loop - vertex -1.081997e+02 4.004576e+01 -5.915849e+01 - vertex -1.063203e+02 1.550986e+01 -7.037053e+01 - vertex -1.073416e+02 1.704474e+01 -1.074486e+02 + vertex -1.069552e+02 3.903542e+01 -7.245139e+01 + vertex -1.033221e+02 1.546203e+01 -7.037829e+01 + vertex -1.043360e+02 1.714209e+01 -1.076117e+02 endloop endfacet - 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vertex -1.112024e+02 -7.064643e+00 -6.882453e+01 - vertex -1.063203e+02 1.550986e+01 -7.037053e+01 + vertex -1.084180e+02 -8.195637e+00 -6.929307e+01 + vertex -1.033221e+02 1.546203e+01 -7.037829e+01 endloop endfacet - facet normal 9.881346e-01 1.531365e-01 -1.180202e-02 + facet normal 9.784050e-01 1.809297e-01 9.994080e-02 outer loop vertex -1.090524e+02 3.476862e+01 -4.923083e+01 vertex -1.055432e+02 1.257406e+01 -4.340494e+01 - vertex -1.063203e+02 1.550986e+01 -7.037053e+01 + vertex -1.033221e+02 1.546203e+01 -7.037829e+01 endloop endfacet - facet normal 9.944072e-01 2.987918e-02 1.012990e-01 + facet normal 9.797917e-01 1.613972e-01 1.181488e-01 outer loop vertex -1.090524e+02 3.476862e+01 -4.923083e+01 - vertex -1.063203e+02 1.550986e+01 -7.037053e+01 - vertex -1.081997e+02 4.004576e+01 -5.915849e+01 + vertex -1.033221e+02 1.546203e+01 -7.037829e+01 + vertex -1.069552e+02 3.903542e+01 -7.245139e+01 endloop endfacet - facet normal 9.797975e-01 -1.854572e-01 -7.484987e-02 + facet normal 9.840882e-01 -1.749422e-01 3.107562e-02 outer loop vertex -1.094331e+02 -8.900557e+00 -4.111565e+01 - vertex -1.112024e+02 -7.064643e+00 -6.882453e+01 + vertex -1.084180e+02 -8.195637e+00 -6.929307e+01 vertex -1.055432e+02 1.257406e+01 -4.340494e+01 endloop endfacet diff --git a/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl b/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl index 30721711..6eea12b1 100644 --- a/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl +++ b/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl @@ -1,2074 +1,2130 @@ solid SIM_ICUB3_R_UPPERARM - facet normal -9.491908e-01 -3.027900e-01 -8.576134e-02 + facet normal -8.861301e-01 -4.493335e-01 -1.134584e-01 outer loop vertex 1.272674e+02 -2.361554e+01 -1.893539e+02 - vertex 1.211442e+02 -8.826877e+00 -1.737961e+02 + vertex 1.186324e+02 -1.045070e+01 -1.740503e+02 vertex 1.273308e+02 -2.313481e+01 -1.917530e+02 endloop endfacet - facet normal -9.545295e-01 -2.781678e-01 -1.072194e-01 + facet normal -9.205928e-01 -3.210958e-01 -2.222754e-01 outer loop vertex 1.260273e+02 -1.773729e+01 -1.941514e+02 vertex 1.273308e+02 -2.313481e+01 -1.917530e+02 - vertex 1.211442e+02 -8.826877e+00 -1.737961e+02 + vertex 1.186324e+02 -1.045070e+01 -1.740503e+02 endloop endfacet - facet normal 6.551641e-02 -9.787352e-01 -1.943839e-01 + facet normal -1.799703e-01 -9.635726e-01 -1.978344e-01 outer loop - vertex 1.397970e+02 -2.596426e+01 -1.733049e+02 + vertex 1.394522e+02 -2.914860e+01 -1.734891e+02 vertex 1.272674e+02 -2.361554e+01 -1.893539e+02 vertex 1.273308e+02 -2.313481e+01 -1.917530e+02 endloop endfacet - facet normal -9.604587e-01 -2.670119e-01 -7.889009e-02 + facet normal -2.377675e-01 -4.417925e-01 -8.650353e-01 outer loop - vertex 1.262024e+02 -1.837115e+01 -1.941388e+02 + vertex 1.331027e+02 -1.769750e+01 -1.961165e+02 vertex 1.273308e+02 -2.313481e+01 -1.917530e+02 vertex 1.260273e+02 -1.773729e+01 -1.941514e+02 endloop endfacet - facet normal -5.175884e-01 7.212210e-01 4.603722e-01 + facet normal -2.249032e-01 -9.599921e-01 -1.668343e-01 outer loop - vertex 1.273846e+02 -2.352825e+01 -1.910762e+02 - vertex 1.397970e+02 -2.596426e+01 -1.733049e+02 + vertex 1.413806e+02 -2.606301e+01 -1.938437e+02 + vertex 1.394522e+02 -2.914860e+01 -1.734891e+02 vertex 1.273308e+02 -2.313481e+01 -1.917530e+02 endloop endfacet - 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vertex 1.211442e+02 -8.826877e+00 -1.737961e+02 + vertex 1.186324e+02 -1.045070e+01 -1.740503e+02 endloop endfacet - facet normal -7.534400e-01 -6.464441e-01 -1.201589e-01 + facet normal -9.246843e-01 -3.678951e-01 -9.804174e-02 outer loop - vertex 1.281868e+02 -2.208681e+01 -1.466187e+02 - vertex 1.211442e+02 -8.826877e+00 -1.737961e+02 - vertex 1.307075e+02 -1.951868e+01 -1.762406e+02 + vertex 1.082571e+02 8.124879e+00 -1.458992e+02 + vertex 1.186324e+02 -1.045070e+01 -1.740503e+02 + vertex 1.165275e+02 -1.298912e+01 -1.446727e+02 endloop endfacet - facet normal -7.736107e-01 -6.249909e-01 -1.044649e-01 + facet normal -9.192098e-01 -3.844644e-01 -8.509088e-02 outer loop - vertex 1.281868e+02 -2.208681e+01 -1.466187e+02 - vertex 1.188121e+02 -1.083097e+01 -1.445360e+02 - vertex 1.211442e+02 -8.826877e+00 -1.737961e+02 + vertex 1.082571e+02 8.124879e+00 -1.458992e+02 + vertex 1.106565e+02 8.936352e+00 -1.754854e+02 + vertex 1.186324e+02 -1.045070e+01 -1.740503e+02 endloop endfacet - facet normal -9.262220e-01 -3.638175e-01 -9.873990e-02 + facet normal -2.859877e-01 -9.516365e-01 -1.122453e-01 outer loop - 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vertex 1.744701e+02 5.072286e+01 -5.974262e+01 - vertex 1.558140e+02 6.038439e+01 -5.789669e+01 + vertex 1.727863e+02 4.722080e+01 -1.918023e+02 + vertex 1.764225e+02 3.514909e+01 -1.952138e+02 + vertex 1.686384e+02 3.673364e+01 -1.945394e+02 endloop endfacet - facet normal -1.666109e-01 9.819759e-01 -8.924173e-02 + facet normal 3.665356e-01 6.642497e-01 6.514783e-01 outer loop - vertex 1.518315e+02 6.841893e+01 -1.181104e+02 - vertex 1.348755e+02 6.386686e+01 -1.365433e+02 - vertex 1.351068e+02 6.559033e+01 -1.180109e+02 + vertex 1.736697e+02 4.684656e+01 -4.053578e+01 + vertex 1.543712e+02 5.245664e+01 -3.539810e+01 + vertex 1.643629e+02 4.346645e+01 -3.185317e+01 endloop endfacet - facet normal -1.652791e-01 9.808642e-01 1.028993e-01 + facet normal 4.610841e-02 -9.184804e-02 -9.947050e-01 outer loop - vertex 1.527157e+02 6.561471e+01 -8.995958e+01 - vertex 1.518315e+02 6.841893e+01 -1.181104e+02 - vertex 1.351068e+02 6.559033e+01 -1.180109e+02 + vertex 1.817500e+02 2.405635e+01 -2.925494e+01 + vertex 1.643629e+02 4.346645e+01 -3.185317e+01 + vertex 1.675849e+02 4.070875e+01 -3.144918e+01 endloop endfacet - 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facet normal 9.012077e-01 4.188396e-01 1.113469e-01 + facet normal 8.973338e-01 4.253872e-01 1.176341e-01 outer loop - vertex 1.897513e+02 4.601321e+01 -1.204224e+02 - vertex 1.973515e+02 2.923769e+01 -1.188342e+02 - vertex 2.004573e+02 3.047422e+01 -1.486228e+02 + vertex 1.892536e+02 4.554153e+01 -9.102826e+01 + vertex 1.970359e+02 2.856758e+01 -8.901244e+01 + vertex 2.002530e+02 2.993625e+01 -1.185022e+02 endloop endfacet - facet normal 9.000341e-01 4.219154e-01 1.092065e-01 + facet normal 9.003189e-01 4.173769e-01 1.233791e-01 outer loop - vertex 1.897513e+02 4.601321e+01 -1.204224e+02 - vertex 2.004573e+02 3.047422e+01 -1.486228e+02 - vertex 1.924214e+02 4.793168e+01 -1.498408e+02 + vertex 1.892536e+02 4.554153e+01 -9.102826e+01 + vertex 2.002530e+02 2.993625e+01 -1.185022e+02 + vertex 1.923015e+02 4.755247e+01 -1.200725e+02 endloop endfacet - facet normal 8.970031e-01 4.260068e-01 1.179135e-01 + facet normal 8.832980e-01 4.489023e-01 1.351714e-01 outer loop - vertex 1.867908e+02 4.388192e+01 -9.140334e+01 - vertex 1.941484e+02 2.783044e+01 -8.938330e+01 - vertex 1.973515e+02 2.923769e+01 -1.188342e+02 + vertex 1.848328e+02 4.458948e+01 -6.247753e+01 + vertex 1.934664e+02 2.694447e+01 -6.029625e+01 + vertex 1.970359e+02 2.856758e+01 -8.901244e+01 endloop endfacet - facet normal 8.995967e-01 4.191714e-01 1.225611e-01 + facet normal 8.914376e-01 4.267964e-01 1.522624e-01 outer loop - vertex 1.867908e+02 4.388192e+01 -9.140334e+01 - vertex 1.973515e+02 2.923769e+01 -1.188342e+02 - vertex 1.897513e+02 4.601321e+01 -1.204224e+02 + vertex 1.848328e+02 4.458948e+01 -6.247753e+01 + vertex 1.970359e+02 2.856758e+01 -8.901244e+01 + vertex 1.892536e+02 4.554153e+01 -9.102826e+01 endloop endfacet - facet normal 8.804556e-01 4.543624e-01 1.354724e-01 + facet normal 8.867109e-01 4.110688e-01 2.115803e-01 outer loop - vertex 1.820088e+02 4.353680e+01 -6.316386e+01 - vertex 1.906085e+02 2.615981e+01 -6.077327e+01 - vertex 1.941484e+02 2.783044e+01 -8.938330e+01 + vertex 1.840322e+02 3.829359e+01 -4.280838e+01 + vertex 1.895760e+02 2.358092e+01 -3.745731e+01 + vertex 1.934664e+02 2.694447e+01 -6.029625e+01 endloop endfacet - facet normal 8.903378e-01 4.277438e-01 1.559934e-01 + facet normal 8.746673e-01 4.501838e-01 1.796987e-01 outer loop - vertex 1.820088e+02 4.353680e+01 -6.316386e+01 - vertex 1.941484e+02 2.783044e+01 -8.938330e+01 - vertex 1.867908e+02 4.388192e+01 -9.140334e+01 + vertex 1.840322e+02 3.829359e+01 -4.280838e+01 + vertex 1.934664e+02 2.694447e+01 -6.029625e+01 + vertex 1.848328e+02 4.458948e+01 -6.247753e+01 endloop endfacet endsolid SIM_ICUB3_R_UPPERARM From 80812bf0e34bc23cc1bb3277ef247f499f808794 Mon Sep 17 00:00:00 2001 From: AlexAntn Date: Thu, 27 May 2021 10:12:06 +0200 Subject: [PATCH 2/3] removing duplicated sections on the collision sensors --- simmechanics/data/icub3/ICUB_3_all_options.yaml | 14 -------------- 1 file changed, 14 deletions(-) diff --git a/simmechanics/data/icub3/ICUB_3_all_options.yaml b/simmechanics/data/icub3/ICUB_3_all_options.yaml index f01faf53..f1349826 100644 --- a/simmechanics/data/icub3/ICUB_3_all_options.yaml +++ b/simmechanics/data/icub3/ICUB_3_all_options.yaml @@ -747,13 +747,6 @@ XMLBlobs: true - - - - 0.001 0.001 0.001 - model://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl - - true @@ -774,13 +767,6 @@ XMLBlobs: true - - - - 0.001 0.001 0.001 - model://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl - - true From c2d1f982816e2c38d68c3541651f1b5502d5c84c Mon Sep 17 00:00:00 2001 From: AlexAntn Date: Mon, 12 Jul 2021 10:23:21 +0200 Subject: [PATCH 3/3] removing a duplicated segment from gazebo options of iCub3 --- .../data/icub3/ICUB_3_all_options_gazebo.yaml.in | 14 -------------- 1 file changed, 14 deletions(-) diff --git a/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in b/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in index c3248102..eb171417 100644 --- a/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in +++ b/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in @@ -836,13 +836,6 @@ XMLBlobs: true - - - - 0.001 0.001 0.001 - model://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl - - true @@ -863,13 +856,6 @@ XMLBlobs: true - - - - 0.001 0.001 0.001 - model://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl - - true