diff --git a/simmechanics/data/icub3/ICUB3_ALL_SIM_MODEL.xml b/simmechanics/data/icub3/ICUB3_ALL_SIM_MODEL.xml
old mode 100644
new mode 100755
index 8cfd3c5..21fa5a0
--- a/simmechanics/data/icub3/ICUB3_ALL_SIM_MODEL.xml
+++ b/simmechanics/data/icub3/ICUB3_ALL_SIM_MODEL.xml
@@ -9,7 +9,7 @@
"Pro/E Wildfire Creo 7.0 - 2020454"
- "04/30/21||15:05:46"
+ "08/06/21||09:42:39"
"silo-mech"
@@ -84,7 +84,7 @@
"rad"
"WORLD"
-
+
"CS4"
""
"61:-:65::61(AUTOGEN)"
@@ -97,10 +97,10 @@
"rad"
"WORLD"
-
+
"CS5"
""
- "61:-:88::61(AUTOGEN)"
+ "134:-:61::61(AUTOGEN)"
0.05,21.6,-313.858
"WORLD"
"WORLD"
@@ -110,10 +110,10 @@
"rad"
"WORLD"
-
+
"CS6"
""
- "61:-:97::61(AUTOGEN)"
+ "135:-:61::61(AUTOGEN)"
-46.75,21.6,-313.858
"WORLD"
"WORLD"
@@ -143,7 +143,7 @@
"CG"
""
"SIM_ICUB3/RootPart::CG(AUTOGEN)"
- 1.72376,6.36182,-369.626
+ 1.13206,6.44551,-352.786
"WORLD"
"WORLD"
"mm"
@@ -182,7 +182,7 @@
"CS3"
""
"RootGround:-:SIM_ICUB3/RootPart::SIM_ICUB3/RootPart(AUTOGEN)"
- 1.72376,6.36182,-369.626
+ 1.13206,6.44551,-352.786
"WORLD"
"WORLD"
"mm"
@@ -246,11 +246,11 @@
"rad"
"WORLD"
-
+
"CS3"
""
- "65:-:67::65(AUTOGEN)"
- -36.15,0,-180.858
+ "61:-:65::65(AUTOGEN)"
+ 0.05,-34.6,-253.358
"WORLD"
"WORLD"
"mm"
@@ -259,11 +259,11 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "61:-:65::65(AUTOGEN)"
- 0.05,-34.6,-253.358
+ "65:-:67::65(AUTOGEN)"
+ -36.15,0,-180.858
"WORLD"
"WORLD"
"mm"
@@ -327,11 +327,11 @@
"rad"
"WORLD"
-
+
"CS3"
""
- "65:-:67::67(AUTOGEN)"
- -36.15,0,-180.858
+ "136:-:67::67(AUTOGEN)"
+ 0,0,-141.388
"WORLD"
"WORLD"
"mm"
@@ -340,11 +340,11 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "67:-:69::67(AUTOGEN)"
- 0,0,-141.388
+ "65:-:67::67(AUTOGEN)"
+ -36.15,0,-180.858
"WORLD"
"WORLD"
"mm"
@@ -358,22 +358,22 @@
"SIM_ICUB3_CHEST"
- "69"
+ "136"
""
- 5.75757
+ 6.10196
"kg"
- 0.0255632,-5.31274e-005,9.38021e-005,-5.31274e-005,0.0261369,-0.000610637,9.38021e-005,-0.000610637,0.0222276
+ 0.029959,5.54026e-005,0.000153956,5.54026e-005,0.0260511,-0.00267421,0.000153956,-0.00267421,0.0261044
"kg*m^2"
- 2.00733e+006
+ 2.00728e+006
"mm^3"
- 1.19625e+006
+ 1.19622e+006
"mm^2"
"CG"
""
- "69::CG(AUTOGEN)"
- 0.262139,-13.3964,-61.2543
+ "136::CG(AUTOGEN)"
+ 0.0607081,-4.33942,-55.5868
"WORLD"
"WORLD"
"mm"
@@ -385,7 +385,7 @@
"CS1"
""
- "69::CS1(AUTOGEN)"
+ "136::CS1(AUTOGEN)"
1.55437e-016,-1.2278e-013,1.21683e-013
"WORLD"
"WORLD"
@@ -397,13 +397,13 @@
"CS2"
- "SCSYS_CHEST_RGB"
- "1795(USERADDED)"
- 11.5,89.4115,-17.0885
+ "SCSYS_CHEST"
+ "1782(USERADDED)"
+ 0,0,-116.388
"WORLD"
"WORLD"
"mm"
- 1,0,0,0,0,-1,0,1,0
+ 0,1,0,-1,0,0,0,0,1
"3x3 Transform"
"rad"
"WORLD"
@@ -411,7 +411,7 @@
"CS3"
"SCSYS_CHEST_DEPTH"
- "1796(USERADDED)"
+ "1784(USERADDED)"
-17.5,89.4115,-17.0885
"WORLD"
"WORLD"
@@ -423,22 +423,22 @@
"CS4"
- "SCSYS_CHEST"
- "1798(USERADDED)"
- 0,0,-116.388
+ "SCSYS_CHEST_RGB"
+ "1785(USERADDED)"
+ 11.5,89.4115,-17.0885
"WORLD"
"WORLD"
"mm"
- 0,1,0,-1,0,0,0,0,1
+ 1,0,0,0,0,-1,0,1,0
"3x3 Transform"
"rad"
"WORLD"
-
+
"CS5"
""
- "69:-:73::69(AUTOGEN)"
- 95.101,-6.00179,3.64821
+ "120:-:136::136(AUTOGEN)"
+ 0.0607081,-4.33942,-55.5868
"WORLD"
"WORLD"
"mm"
@@ -447,11 +447,11 @@
"rad"
"WORLD"
-
+
"CS6"
""
- "67:-:69::69(AUTOGEN)"
- 0,0,-141.388
+ "136:-:71::136(AUTOGEN)"
+ -95.101,-6.00179,3.64821
"WORLD"
"WORLD"
"mm"
@@ -460,11 +460,11 @@
"rad"
"WORLD"
-
+
"CS7"
""
- "69:-:71::69(AUTOGEN)"
- -95.101,-6.00179,3.64821
+ "136:-:73::136(AUTOGEN)"
+ 95.101,-6.00179,3.64821
"WORLD"
"WORLD"
"mm"
@@ -473,11 +473,11 @@
"rad"
"WORLD"
-
+
"CS8"
""
- "120:-:69::69(AUTOGEN)"
- 0.262139,-13.3964,-61.2543
+ "136:-:67::136(AUTOGEN)"
+ 0,0,-141.388
"WORLD"
"WORLD"
"mm"
@@ -541,11 +541,11 @@
"rad"
"WORLD"
-
+
"CS3"
""
- "71:-:75::71(AUTOGEN)"
- -132.607,47.4666,18.937
+ "136:-:71::71(AUTOGEN)"
+ -95.101,-6.00179,3.64821
"WORLD"
"WORLD"
"mm"
@@ -554,11 +554,11 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "69:-:71::71(AUTOGEN)"
- -95.101,-6.00179,3.64821
+ "71:-:75::71(AUTOGEN)"
+ -132.607,47.4666,18.937
"WORLD"
"WORLD"
"mm"
@@ -622,11 +622,11 @@
"rad"
"WORLD"
-
+
"CS3"
""
- "73:-:77::73(AUTOGEN)"
- 132.878,46.5056,18.885
+ "136:-:73::73(AUTOGEN)"
+ 95.101,-6.00179,3.64821
"WORLD"
"WORLD"
"mm"
@@ -635,11 +635,11 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "69:-:73::73(AUTOGEN)"
- 95.101,-6.00179,3.64821
+ "73:-:77::73(AUTOGEN)"
+ 132.878,46.5056,18.885
"WORLD"
"WORLD"
"mm"
@@ -716,11 +716,11 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "75:-:81::75(AUTOGEN)"
- -143.728,17.1301,-10.5368
+ "71:-:75::75(AUTOGEN)"
+ -132.607,47.4666,18.937
"WORLD"
"WORLD"
"mm"
@@ -729,11 +729,11 @@
"rad"
"WORLD"
-
+
"CS5"
""
- "71:-:75::75(AUTOGEN)"
- -132.607,47.4666,18.937
+ "75:-:81::75(AUTOGEN)"
+ -143.728,17.1301,-10.5368
"WORLD"
"WORLD"
"mm"
@@ -810,11 +810,11 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "73:-:77::77(AUTOGEN)"
- 132.878,46.5056,18.885
+ "77:-:79::77(AUTOGEN)"
+ 143.783,17.0607,-10.5383
"WORLD"
"WORLD"
"mm"
@@ -823,11 +823,11 @@
"rad"
"WORLD"
-
+
"CS5"
""
- "77:-:79::77(AUTOGEN)"
- 143.783,17.0607,-10.5383
+ "73:-:77::77(AUTOGEN)"
+ 132.878,46.5056,18.885
"WORLD"
"WORLD"
"mm"
@@ -904,7 +904,7 @@
"rad"
"WORLD"
-
+
"CS4"
""
"126:-:79::79(AUTOGEN)"
@@ -972,7 +972,7 @@
"rad"
"WORLD"
-
+
"CS3"
""
"75:-:81::81(AUTOGEN)"
@@ -985,7 +985,7 @@
"rad"
"WORLD"
-
+
"CS4"
""
"129:-:81::81(AUTOGEN)"
@@ -1053,7 +1053,7 @@
"rad"
"WORLD"
-
+
"CS3"
""
"129:-:81::129(AUTOGEN)"
@@ -1066,7 +1066,7 @@
"rad"
"WORLD"
-
+
"CS4"
""
"110:-:129::129(AUTOGEN)"
@@ -1134,7 +1134,7 @@
"rad"
"WORLD"
-
+
"CS3"
""
"126:-:79::126(AUTOGEN)"
@@ -1147,10 +1147,10 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "111:-:126::126(AUTOGEN)"
+ "126:-:137::126(AUTOGEN)"
174.568,37.4943,-180.569
"WORLD"
"WORLD"
@@ -1165,11 +1165,11 @@
"SIM_ICUB3_R_HIP_1"
- "88"
+ "134"
""
- 2.50002
+ 2.25666
"kg"
- 0.00297897,2.5017e-005,-6.41747e-006,2.5017e-005,0.00239087,1.70293e-005,-6.41747e-006,1.70293e-005,0.00250378
+ 0.00279511,4.03052e-005,-3.82938e-006,4.03052e-005,0.00216006,1.16556e-005,-3.82938e-006,1.16556e-005,0.00229648
"kg*m^2"
461243
"mm^3"
@@ -1179,8 +1179,8 @@
"CG"
""
- "88::CG(AUTOGEN)"
- 71.6772,19.3156,-314.39
+ "134::CG(AUTOGEN)"
+ 69.3954,18.7851,-314.486
"WORLD"
"WORLD"
"mm"
@@ -1192,7 +1192,7 @@
"CS1"
""
- "88::CS1(AUTOGEN)"
+ "134::CS1(AUTOGEN)"
1.35313e-013,0,0
"WORLD"
"WORLD"
@@ -1205,7 +1205,7 @@
"CS2"
"SCSYS_R_HIP_1"
- "1299(USERADDED)"
+ "1271(USERADDED)"
40.55,21.6,-313.858
"WORLD"
"WORLD"
@@ -1215,10 +1215,10 @@
"rad"
"WORLD"
-
+
"CS3"
""
- "61:-:88::88(AUTOGEN)"
+ "134:-:61::134(AUTOGEN)"
0.05,21.6,-313.858
"WORLD"
"WORLD"
@@ -1228,10 +1228,10 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "88:-:89::88(AUTOGEN)"
+ "134:-:89::134(AUTOGEN)"
73.65,-32.45,-322.858
"WORLD"
"WORLD"
@@ -1309,10 +1309,10 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "88:-:89::89(AUTOGEN)"
+ "134:-:89::89(AUTOGEN)"
73.65,-32.45,-322.858
"WORLD"
"WORLD"
@@ -1322,7 +1322,7 @@
"rad"
"WORLD"
-
+
"CS5"
""
"89:-:90::89(AUTOGEN)"
@@ -1403,7 +1403,7 @@
"rad"
"WORLD"
-
+
"CS4"
""
"89:-:90::90(AUTOGEN)"
@@ -1416,10 +1416,10 @@
"rad"
"WORLD"
-
+
"CS5"
""
- "90:-:91::90(AUTOGEN)"
+ "132:-:90::90(AUTOGEN)"
58.65,11,-496.058
"WORLD"
"WORLD"
@@ -1434,22 +1434,22 @@
"SIM_ICUB3_R_UPPER_LEG"
- "91"
+ "132"
""
- 2.2571
+ 1.03692
"kg"
- 0.00483819,-6.66159e-005,0.000338676,-6.66159e-005,0.0048635,0.000517774,0.000338676,0.000517774,0.00195808
+ 0.00230797,-5.20176e-005,0.000257843,-5.20176e-005,0.00284743,0.000287678,0.000257843,0.000287678,0.00118211
"kg*m^2"
- 401292
+ 230178
"mm^3"
- 170606
+ 117792
"mm^2"
"CG"
""
- "91::CG(AUTOGEN)"
- 64.7686,22.0731,-567.744
+ "132::CG(AUTOGEN)"
+ 63.027,17.2675,-540.787
"WORLD"
"WORLD"
"mm"
@@ -1461,7 +1461,7 @@
"CS1"
""
- "91::CS1(AUTOGEN)"
+ "132::CS1(AUTOGEN)"
1.59236e-013,-1.22489e-014,0
"WORLD"
"WORLD"
@@ -1474,7 +1474,7 @@
"CS2"
"SCSYS_R_UPPER_LEG"
- "2541(USERADDED)"
+ "2304(USERADDED)"
58.65,11,-483.458
"WORLD"
"WORLD"
@@ -1484,11 +1484,11 @@
"rad"
"WORLD"
-
+
"CS3"
""
- "90:-:91::91(AUTOGEN)"
- 58.65,11,-496.058
+ "132:-:138::132(AUTOGEN)"
+ 83.35,26,-589.658
"WORLD"
"WORLD"
"mm"
@@ -1497,11 +1497,11 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "91:-:92::91(AUTOGEN)"
- 83.35,26,-589.658
+ "132:-:90::132(AUTOGEN)"
+ 58.65,11,-496.058
"WORLD"
"WORLD"
"mm"
@@ -1515,22 +1515,22 @@
"SIM_ICUB3_R_LOWER_LEG"
- "92"
+ "138"
""
- 5.89871
+ 5.36503
"kg"
- 0.0621727,-6.99688e-005,4.01089e-005,-6.99688e-005,0.0591797,-6.8275e-006,4.01089e-005,-6.8275e-006,0.00642096
+ 0.0603533,-8.09408e-005,0.000104015,-8.09408e-005,0.0576924,2.07085e-005,0.000104015,2.07085e-005,0.00600123
"kg*m^2"
- 1.27452e+006
+ 1.27186e+006
"mm^3"
- 707118
+ 702533
"mm^2"
"CG"
""
- "92::CG(AUTOGEN)"
- 61.4325,11.9118,-718.498
+ "138::CG(AUTOGEN)"
+ 61.1456,13.3616,-719.085
"WORLD"
"WORLD"
"mm"
@@ -1542,7 +1542,7 @@
"CS1"
""
- "92::CS1(AUTOGEN)"
+ "138::CS1(AUTOGEN)"
1.9415e-013,-3.33695e-014,0
"WORLD"
"WORLD"
@@ -1555,7 +1555,7 @@
"CS2"
"SCSYS_R_LOWER_LEG"
- "14359(USERADDED)"
+ "14357(USERADDED)"
83.55,26,-589.658
"WORLD"
"WORLD"
@@ -1565,11 +1565,11 @@
"rad"
"WORLD"
-
+
"CS3"
""
- "91:-:92::92(AUTOGEN)"
- 83.35,26,-589.658
+ "138:-:93::138(AUTOGEN)"
+ 114.95,26,-845.647
"WORLD"
"WORLD"
"mm"
@@ -1578,11 +1578,11 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "92:-:93::92(AUTOGEN)"
- 114.95,26,-845.647
+ "132:-:138::138(AUTOGEN)"
+ 83.35,26,-589.658
"WORLD"
"WORLD"
"mm"
@@ -1646,10 +1646,10 @@
"rad"
"WORLD"
-
+
"CS3"
""
- "92:-:93::93(AUTOGEN)"
+ "138:-:93::93(AUTOGEN)"
114.95,26,-845.647
"WORLD"
"WORLD"
@@ -1659,7 +1659,7 @@
"rad"
"WORLD"
-
+
"CS4"
""
"93:-:94::93(AUTOGEN)"
@@ -1753,7 +1753,7 @@
"rad"
"WORLD"
-
+
"CS5"
""
"93:-:94::94(AUTOGEN)"
@@ -1766,7 +1766,7 @@
"rad"
"WORLD"
-
+
"CS6"
""
"94:-:96::94(AUTOGEN)"
@@ -1779,7 +1779,7 @@
"rad"
"WORLD"
-
+
"CS7"
""
"94:-:95::94(AUTOGEN)"
@@ -1860,7 +1860,7 @@
"rad"
"WORLD"
-
+
"CS4"
""
"94:-:95::95(AUTOGEN)"
@@ -1954,7 +1954,7 @@
"rad"
"WORLD"
-
+
"CS5"
""
"94:-:96::96(AUTOGEN)"
@@ -1972,22 +1972,22 @@
"SIM_ICUB3_L_HIP_1"
- "97"
+ "135"
""
- 2.48546
+ 2.22935
"kg"
- 0.00285629,-2.13955e-005,3.35338e-006,-2.13955e-005,0.00230094,1.79278e-005,3.35338e-006,1.79278e-005,0.00246343
+ 0.00263718,-3.3299e-005,-6.53982e-008,-3.3299e-005,0.00206052,1.78225e-005,-6.53982e-008,1.78225e-005,0.00222144
"kg*m^2"
- 455755
+ 455756
"mm^3"
- 174715
+ 174718
"mm^2"
"CG"
""
- "97::CG(AUTOGEN)"
- -71.5694,19.6298,-314.29
+ "135::CG(AUTOGEN)"
+ -69.2477,19.3965,-314.351
"WORLD"
"WORLD"
"mm"
@@ -1999,7 +1999,7 @@
"CS1"
""
- "97::CS1(AUTOGEN)"
+ "135::CS1(AUTOGEN)"
-3.3562e-013,2.06083e-014,1.88418e-013
"WORLD"
"WORLD"
@@ -2012,7 +2012,7 @@
"CS2"
"SCSYS_L_HIP_1"
- "10508(USERADDED)"
+ "10608(USERADDED)"
-40.45,21.6,-313.858
"WORLD"
"WORLD"
@@ -2022,10 +2022,10 @@
"rad"
"WORLD"
-
+
"CS3"
""
- "61:-:97::97(AUTOGEN)"
+ "135:-:61::135(AUTOGEN)"
-46.75,21.6,-313.858
"WORLD"
"WORLD"
@@ -2035,10 +2035,10 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "97:-:98::97(AUTOGEN)"
+ "135:-:98::135(AUTOGEN)"
-73.55,-32.4,-322.858
"WORLD"
"WORLD"
@@ -2116,10 +2116,10 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "97:-:98::98(AUTOGEN)"
+ "135:-:98::98(AUTOGEN)"
-73.55,-32.4,-322.858
"WORLD"
"WORLD"
@@ -2129,7 +2129,7 @@
"rad"
"WORLD"
-
+
"CS5"
""
"98:-:99::98(AUTOGEN)"
@@ -2197,11 +2197,11 @@
"rad"
"WORLD"
-
+
"CS3"
""
- "100:-:99::99(AUTOGEN)"
- -58.55,11.05,-496.058
+ "98:-:99::99(AUTOGEN)"
+ -73.6305,-31.5986,-359.511
"WORLD"
"WORLD"
"mm"
@@ -2210,11 +2210,11 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "98:-:99::99(AUTOGEN)"
- -73.6305,-31.5986,-359.511
+ "133:-:99::99(AUTOGEN)"
+ -58.55,11.05,-496.058
"WORLD"
"WORLD"
"mm"
@@ -2228,22 +2228,22 @@
"SIM_ICUB3_L_UPPER_LEG"
- "100"
+ "133"
""
- 2.24396
+ 1.02378
"kg"
- 0.00476284,6.71293e-005,-0.00033784,6.71293e-005,0.00479384,0.000493564,-0.00033784,0.000493564,0.00194527
+ 0.00225969,5.34936e-005,-0.000261515,5.34936e-005,0.00280359,0.000270526,-0.000261515,0.000270526,0.00117148
"kg*m^2"
- 399662
+ 228547
"mm^3"
- 169020
+ 116207
"mm^2"
"CG"
""
- "100::CG(AUTOGEN)"
- -64.7347,22.2163,-568.032
+ "133::CG(AUTOGEN)"
+ -63.0495,17.4601,-541.072
"WORLD"
"WORLD"
"mm"
@@ -2255,7 +2255,7 @@
"CS1"
""
- "100::CS1(AUTOGEN)"
+ "133::CS1(AUTOGEN)"
-2.22826e-013,0,3.96135e-013
"WORLD"
"WORLD"
@@ -2268,7 +2268,7 @@
"CS2"
"SCSYS_L_UPPER_LEG"
- "2223(USERADDED)"
+ "2444(USERADDED)"
-58.55,11.05,-483.458
"WORLD"
"WORLD"
@@ -2278,11 +2278,11 @@
"rad"
"WORLD"
-
+
"CS3"
""
- "100:-:99::100(AUTOGEN)"
- -58.55,11.05,-496.058
+ "133:-:139::133(AUTOGEN)"
+ -83.25,26.05,-589.658
"WORLD"
"WORLD"
"mm"
@@ -2291,11 +2291,11 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "100:-:101::100(AUTOGEN)"
- -83.25,26.05,-589.658
+ "133:-:99::133(AUTOGEN)"
+ -58.55,11.05,-496.058
"WORLD"
"WORLD"
"mm"
@@ -2309,22 +2309,22 @@
"SIM_ICUB3_L_LOWER_LEG"
- "101"
+ "139"
""
- 5.66584
+ 5.35334
"kg"
- 0.0578975,6.56617e-005,3.07278e-005,6.56617e-005,0.0550335,0.000320278,3.07278e-005,0.000320278,0.00624087
+ 0.0600412,6.70826e-005,-0.000133621,6.70826e-005,0.0574191,-5.78783e-005,-0.000133621,-5.78783e-005,0.0059967
"kg*m^2"
- 1.239e+006
+ 1.27154e+006
"mm^3"
- 679374
+ 700240
"mm^2"
"CG"
""
- "101::CG(AUTOGEN)"
- -61.2826,11.3358,-722.336
+ "139::CG(AUTOGEN)"
+ -60.8426,13.3358,-717.834
"WORLD"
"WORLD"
"mm"
@@ -2336,7 +2336,7 @@
"CS1"
""
- "101::CS1(AUTOGEN)"
+ "139::CS1(AUTOGEN)"
-1.41404e-013,-9.22197e-014,2.95103e-013
"WORLD"
"WORLD"
@@ -2349,7 +2349,7 @@
"CS2"
"SCSYS_L_LOWER_LEG"
- "15514(USERADDED)"
+ "15781(USERADDED)"
-83.45,26.05,-589.658
"WORLD"
"WORLD"
@@ -2359,11 +2359,11 @@
"rad"
"WORLD"
-
+
"CS3"
""
- "101:-:102::101(AUTOGEN)"
- -83.25,26.05,-845.647
+ "133:-:139::139(AUTOGEN)"
+ -83.25,26.05,-589.658
"WORLD"
"WORLD"
"mm"
@@ -2372,11 +2372,11 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "100:-:101::101(AUTOGEN)"
- -83.25,26.05,-589.658
+ "102:-:139::139(AUTOGEN)"
+ -83.25,26.05,-845.647
"WORLD"
"WORLD"
"mm"
@@ -2440,7 +2440,7 @@
"rad"
"WORLD"
-
+
"CS3"
""
"102:-:103::102(AUTOGEN)"
@@ -2453,10 +2453,10 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "101:-:102::102(AUTOGEN)"
+ "102:-:139::102(AUTOGEN)"
-83.25,26.05,-845.647
"WORLD"
"WORLD"
@@ -2547,11 +2547,11 @@
"rad"
"WORLD"
-
+
"CS5"
""
- "102:-:103::103(AUTOGEN)"
- -64.75,-66.85,-880.647
+ "103:-:104::103(AUTOGEN)"
+ -64.6632,12.8705,-906.104
"WORLD"
"WORLD"
"mm"
@@ -2560,11 +2560,11 @@
"rad"
"WORLD"
-
+
"CS6"
""
- "103:-:104::103(AUTOGEN)"
- -64.6632,12.8705,-906.104
+ "102:-:103::103(AUTOGEN)"
+ -64.75,-66.85,-880.647
"WORLD"
"WORLD"
"mm"
@@ -2573,7 +2573,7 @@
"rad"
"WORLD"
-
+
"CS7"
""
"103:-:105::103(AUTOGEN)"
@@ -2654,7 +2654,7 @@
"rad"
"WORLD"
-
+
"CS4"
""
"103:-:104::104(AUTOGEN)"
@@ -2748,7 +2748,7 @@
"rad"
"WORLD"
-
+
"CS5"
""
"103:-:105::105(AUTOGEN)"
@@ -2816,7 +2816,7 @@
"rad"
"WORLD"
-
+
"CS3"
""
"110:-:129::110(AUTOGEN)"
@@ -2829,7 +2829,7 @@
"rad"
"WORLD"
-
+
"CS4"
""
"110:-:112::110(AUTOGEN)"
@@ -2847,26 +2847,26 @@
"SIM_ICUB3_R_ELBOW_1"
- "111"
+ "137"
""
- 0.397478
+ 0.230086
"kg"
- 0.00139406,5.80993e-006,5.27143e-005,5.80993e-006,0.00139077,6.49755e-005,5.27143e-005,6.49755e-005,0.000397127
+ 0.000109579,2.48894e-008,2.06325e-005,2.48894e-008,0.000124425,-6.69718e-006,2.06325e-005,-6.69718e-006,4.81791e-005
"kg*m^2"
- 164525
+ 30714.7
"mm^3"
- 131527
+ 20911.2
"mm^2"
"CG"
""
- "111::CG(AUTOGEN)"
- 155.599,18.9641,-160.677
+ "137::CG(AUTOGEN)"
+ 157.569,22.9566,-197.79
"WORLD"
"WORLD"
"mm"
- 1,0,0,0,1,0,0,0,1
+ 0.985927,0.00506786,-0.167099,-0.0129944,0.998839,-0.046377,0.16667,0.0478957,0.984849
"3x3 Transform"
"rad"
"WORLD"
@@ -2874,12 +2874,12 @@
"CS1"
""
- "111::CS1(AUTOGEN)"
- -4.70245e-014,-2.05732e-013,2.1161e-013
+ "137::CS1(AUTOGEN)"
+ -0.67327,-1.52395,24.6467
"WORLD"
"WORLD"
"mm"
- 1,0,0,0,1,0,0,0,1
+ 0.985927,0.00506786,-0.167099,-0.0129944,0.998839,-0.046377,0.16667,0.0478957,0.984849
"3x3 Transform"
"rad"
"WORLD"
@@ -2887,7 +2887,7 @@
"CS2"
"SCSYS_R_ELBOW_1"
- "386(USERADDED)"
+ "2460(USERADDED)"
152.093,31.2462,-182.415
"WORLD"
"WORLD"
@@ -2897,10 +2897,10 @@
"rad"
"WORLD"
-
+
"CS3"
""
- "111:-:113::111(AUTOGEN)"
+ "113:-:137::137(AUTOGEN)"
167.115,27.7697,-328.185
"WORLD"
"WORLD"
@@ -2910,10 +2910,10 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "111:-:126::111(AUTOGEN)"
+ "126:-:137::137(AUTOGEN)"
174.568,37.4943,-180.569
"WORLD"
"WORLD"
@@ -2991,7 +2991,7 @@
"rad"
"WORLD"
-
+
"CS4"
""
"110:-:112::112(AUTOGEN)"
@@ -3037,7 +3037,7 @@
"CS1"
""
"113::CS1(AUTOGEN)"
- 6.78738e-014,-2.46043e-013,0
+ 2.00764e-012,-4.01528e-013,4.01528e-012
"WORLD"
"WORLD"
"mm"
@@ -3059,7 +3059,7 @@
"rad"
"WORLD"
-
+
"CS3"
""
"113:-:116::113(AUTOGEN)"
@@ -3072,10 +3072,10 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "111:-:113::113(AUTOGEN)"
+ "113:-:137::113(AUTOGEN)"
167.115,27.7697,-328.185
"WORLD"
"WORLD"
@@ -3199,7 +3199,7 @@
"CS1"
""
"116::CS1(AUTOGEN)"
- 9.04984e-014,-1.92309e-013,2.26246e-013
+ 2.18609e-012,-3.40183e-013,4.01528e-012
"WORLD"
"WORLD"
"mm"
@@ -3221,11 +3221,11 @@
"rad"
"WORLD"
-
+
"CS3"
""
- "116:-:119::116(AUTOGEN)"
- 166.254,28.4509,-345.266
+ "113:-:116::116(AUTOGEN)"
+ 175.796,9.33696,-346.042
"WORLD"
"WORLD"
"mm"
@@ -3234,11 +3234,11 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "113:-:116::116(AUTOGEN)"
- 175.796,9.33696,-346.042
+ "116:-:119::116(AUTOGEN)"
+ 166.254,28.4509,-345.266
"WORLD"
"WORLD"
"mm"
@@ -3348,7 +3348,7 @@
"CS1"
""
"119::CS1(AUTOGEN)"
- 9.04984e-014,-1.86653e-013,2.28022e-013
+ 2.14148e-012,-3.2903e-013,4.1045e-012
"WORLD"
"WORLD"
"mm"
@@ -3370,7 +3370,7 @@
"rad"
"WORLD"
-
+
"CS3"
""
"116:-:119::119(AUTOGEN)"
@@ -3438,11 +3438,11 @@
"rad"
"WORLD"
-
+
"CS3"
""
- "120:-:69::120(AUTOGEN)"
- 0.262139,-13.3964,-61.2543
+ "120:-:121::120(AUTOGEN)"
+ -44.5,4.86151,97.9115
"WORLD"
"WORLD"
"mm"
@@ -3451,11 +3451,11 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "120:-:121::120(AUTOGEN)"
- -44.5,4.86151,97.9115
+ "120:-:136::120(AUTOGEN)"
+ 0.0607081,-4.33942,-55.5868
"WORLD"
"WORLD"
"mm"
@@ -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"
""
- "124:-:125::124(AUTOGEN)"
- -6.30617e-009,4.86151,185.512
+ "121:-:124::124(AUTOGEN)"
+ 0,20.1615,107.412
"WORLD"
"WORLD"
"mm"
@@ -3613,11 +3613,11 @@
"rad"
"WORLD"
-
+
"CS4"
""
- "121:-:124::124(AUTOGEN)"
- 0,20.1615,107.412
+ "124:-:125::124(AUTOGEN)"
+ -6.30617e-009,4.86151,185.512
"WORLD"
"WORLD"
"mm"
@@ -3694,7 +3694,7 @@
"rad"
"WORLD"
-
+
"CS4"
""
"124:-:125::125(AUTOGEN)"
@@ -3742,8 +3742,8 @@
- "SIM_ICUB3_R_WRIST_1--SIM_ICUB3_R_HAND"
- "116:-:119"
+ "SIM_ICUB3_R_FOREARM--SIM_ICUB3_R_WRIST_1"
+ "113:-:116"
""
@@ -3766,13 +3766,13 @@
"revolute"
""
"WORLD"
- -0.960459,-0.267012,-0.0788901
+ -0.271447,0.961047,0.0520081
- "SIM_ICUB3_R_FOREARM--SIM_ICUB3_R_WRIST_1"
- "113:-:116"
+ "SIM_ICUB3_R_ELBOW_1--SIM_ICUB3_R_FOREARM"
+ "113:-:137"
""
@@ -3795,7 +3795,7 @@
"revolute"
""
"WORLD"
- -0.271447,0.961047,0.0520081
+ -0.0619303,-0.0713662,0.995526
@@ -3858,8 +3858,8 @@
- "SIM_ICUB3_TORSO_1--SIM_ICUB3_TORSO_2"
- "65:-:67"
+ "SIM_ICUB3_R_WRIST_1--SIM_ICUB3_R_HAND"
+ "116:-:119"
""
@@ -3882,13 +3882,13 @@
"revolute"
""
"WORLD"
- 1,0,0
+ -0.960459,-0.267012,-0.0788901
- "SIM_ICUB3_ROOT_LINK--SIM_ICUB3_TORSO_1"
- "61:-:65"
+ "SIM_HEAD_NECK_2--SIM_HEAD_NECK_3"
+ "121:-:124"
""
@@ -3916,9 +3916,9 @@
- "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_HEAD_NECK_1--SIM_HEAD_NECK_2"
+ "120:-:121"
+ ""
""
@@ -3937,16 +3937,16 @@
- "weld"
+ "revolute"
""
"WORLD"
- 0.57735,0.57735,0.57735
+ 1,0,0
- "SIM_ICUB3_L_SHOULDER_1--SIM_ICUB3_L_SHOULDER_2"
- "71:-:75"
+ "SIM_HEAD_NECK_3--SIM_HEAD_HEAD"
+ "124:-:125"
""
@@ -3969,14 +3969,14 @@
"revolute"
""
"WORLD"
- -0.271447,-0.961047,-0.0520081
+ 8.0745e-011,0,-1
- "SIM_ICUB3_R_SHOULDER_1--SIM_ICUB3_R_SHOULDER_2"
- "73:-:77"
- ""
+ "SIM_ICUB3_CHEST--SIM_HEAD_NECK_1"
+ "120:-:136"
+ "Could not solve for constraint between SIM_ICUB3_CHEST and SIM_HEAD_NECK_1 because of CAD constraint "
""
@@ -3995,10 +3995,10 @@
- "revolute"
+ "weld"
""
"WORLD"
- 0.271447,-0.961047,-0.0520081
+ 0.57735,0.57735,0.57735
@@ -4032,8 +4032,8 @@
- "SIM_ICUB3_CHEST--SIM_ICUB3_R_SHOULDER_1"
- "69:-:73"
+ "SIM_ICUB3_R_SHOULDER_3--SIM_ICUB3_R_UPPERARM"
+ "126:-:79"
""
@@ -4056,13 +4056,13 @@
"revolute"
""
"WORLD"
- -0.935113,-0.250563,-0.250563
+ -0.0619303,-0.0713662,0.995526
- "SIM_ICUB3_R_SHOULDER_3--SIM_ICUB3_R_UPPERARM"
- "126:-:79"
+ "SIM_ICUB3_CHEST--SIM_ICUB3_L_SHOULDER_1"
+ "136:-:71"
""
@@ -4085,13 +4085,13 @@
"revolute"
""
"WORLD"
- -0.0619303,-0.0713662,0.995526
+ 0.935113,-0.250563,-0.250563
- "SIM_ICUB3_L_SHOULDER_3--SIM_ICUB3_L_UPPERARM"
- "129:-:81"
+ "SIM_ICUB3_CHEST--SIM_ICUB3_R_SHOULDER_1"
+ "136:-:73"
""
@@ -4114,13 +4114,13 @@
"revolute"
""
"WORLD"
- 0.0619303,-0.0713662,0.995526
+ -0.935113,-0.250563,-0.250563
"SIM_ICUB3_TORSO_2--SIM_ICUB3_CHEST"
- "67:-:69"
+ "136:-:67"
""
@@ -4148,8 +4148,8 @@
- "SIM_ICUB3_ROOT_LINK--SIM_ICUB3_R_HIP_1"
- "61:-:88"
+ "SIM_ICUB3_L_SHOULDER_1--SIM_ICUB3_L_SHOULDER_2"
+ "71:-:75"
""
@@ -4172,13 +4172,13 @@
"revolute"
""
"WORLD"
- 1,0,0
+ -0.271447,-0.961047,-0.0520081
- "SIM_ICUB3_ROOT_LINK--SIM_ICUB3_L_HIP_1"
- "61:-:97"
+ "SIM_ICUB3_ROOT_LINK--SIM_ICUB3_TORSO_1"
+ "61:-:65"
""
@@ -4201,13 +4201,13 @@
"revolute"
""
"WORLD"
- 1,0,0
+ 0,1,0
- "SIM_ICUB3_CHEST--SIM_ICUB3_L_SHOULDER_1"
- "69:-:71"
+ "SIM_ICUB3_ROOT_LINK--SIM_ICUB3_R_HIP_1"
+ "134:-:61"
""
@@ -4230,14 +4230,14 @@
"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_ROOT_LINK--SIM_ICUB3_L_HIP_1"
+ "135:-:61"
+ ""
""
@@ -4256,16 +4256,16 @@
- "weld"
+ "revolute"
""
"WORLD"
- 0.57735,0.57735,0.57735
+ 1,0,0
- "SIM_HEAD_NECK_3--SIM_HEAD_HEAD"
- "124:-:125"
+ "SIM_ICUB3_R_SHOULDER_1--SIM_ICUB3_R_SHOULDER_2"
+ "73:-:77"
""
@@ -4288,14 +4288,14 @@
"revolute"
""
"WORLD"
- 8.0745e-011,0,-1
+ 0.271447,-0.961047,-0.0520081
- "SIM_HEAD_NECK_2--SIM_HEAD_NECK_3"
- "121:-:124"
- ""
+ "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 "
""
@@ -4314,16 +4314,16 @@
- "revolute"
+ "weld"
""
"WORLD"
- 0,1,0
+ 0.57735,0.57735,0.57735
- "SIM_HEAD_NECK_1--SIM_HEAD_NECK_2"
- "120:-:121"
+ "SIM_ICUB3_L_SHOULDER_3--SIM_ICUB3_L_UPPERARM"
+ "129:-:81"
""
@@ -4346,13 +4346,13 @@
"revolute"
""
"WORLD"
- 1,0,0
+ 0.0619303,-0.0713662,0.995526
- "SIM_ICUB3_L_ANKLE_1--SIM_ICUB3_L_ANKLE_2"
- "102:-:103"
+ "SIM_ICUB3_TORSO_1--SIM_ICUB3_TORSO_2"
+ "65:-:67"
""
@@ -4375,13 +4375,13 @@
"revolute"
""
"WORLD"
- 0,1,0
+ 1,0,0
- "SIM_ICUB3_L_LOWER_LEG--SIM_ICUB3_L_ANKLE_1"
- "101:-:102"
+ "SIM_ICUB3_L_UPPERARM--SIM_ICUB3_L_ELBOW_1"
+ "110:-:129"
""
@@ -4404,14 +4404,14 @@
"revolute"
""
"WORLD"
- 1,0,0
+ 0.960459,-0.267012,-0.0788901
- "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_HIP_1--SIM_ICUB3_R_HIP_2"
+ "134:-:89"
+ ""
""
@@ -4430,17 +4430,17 @@
- "weld"
+ "revolute"
""
"WORLD"
- 0.57735,0.57735,0.57735
+ 0,1,0
- "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_HIP_1--SIM_ICUB3_L_HIP_2"
+ "135:-:98"
+ ""
""
@@ -4459,17 +4459,17 @@
- "weld"
+ "revolute"
""
"WORLD"
- 0.57735,0.57735,0.57735
+ 0,1,0
- "SIM_ICUB3_R_HIP_1--SIM_ICUB3_R_HIP_2"
- "88:-:89"
- ""
+ "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 "
""
@@ -4488,17 +4488,17 @@
- "revolute"
+ "weld"
""
"WORLD"
- 0,1,0
+ 0.57735,0.57735,0.57735
- "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_R_LOWER_LEG--SIM_ICUB3_R_ANKLE_1"
+ "138:-:93"
+ ""
""
@@ -4517,16 +4517,16 @@
- "weld"
+ "revolute"
""
"WORLD"
- 0.57735,0.57735,0.57735
+ -1,0,0
- "SIM_ICUB3_L_UPPERARM--SIM_ICUB3_L_ELBOW_1"
- "110:-:129"
+ "SIM_ICUB3_R_UPPER_LEG--SIM_ICUB3_R_LOWER_LEG"
+ "132:-:138"
""
@@ -4549,13 +4549,13 @@
"revolute"
""
"WORLD"
- 0.960459,-0.267012,-0.0788901
+ -1,0,0
- "SIM_ICUB3_R_HIP_3--SIM_ICUB3_R_UPPER_LEG"
- "90:-:91"
+ "SIM_ICUB3_L_UPPER_LEG--SIM_ICUB3_L_LOWER_LEG"
+ "133:-:139"
""
@@ -4578,13 +4578,13 @@
"revolute"
""
"WORLD"
- 0,0,1
+ 1,0,0
- "SIM_ICUB3_R_UPPER_LEG--SIM_ICUB3_R_LOWER_LEG"
- "91:-:92"
+ "SIM_ICUB3_L_HIP_3--SIM_ICUB3_L_UPPER_LEG"
+ "133:-:99"
""
@@ -4607,13 +4607,13 @@
"revolute"
""
"WORLD"
- -1,0,0
+ 0,0,1
- "SIM_ICUB3_R_LOWER_LEG--SIM_ICUB3_R_ANKLE_1"
- "92:-:93"
+ "SIM_ICUB3_R_ANKLE_1--SIM_ICUB3_R_ANKLE_2"
+ "93:-:94"
""
@@ -4636,14 +4636,14 @@
"revolute"
""
"WORLD"
- -1,0,0
+ 0,1,0
- "SIM_ICUB3_L_HIP_1--SIM_ICUB3_L_HIP_2"
- "97:-:98"
- ""
+ "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 "
""
@@ -4662,16 +4662,16 @@
- "revolute"
+ "weld"
""
"WORLD"
- 0,1,0
+ 0.57735,0.57735,0.57735
- "SIM_ICUB3_L_HIP_3--SIM_ICUB3_L_UPPER_LEG"
- "100:-:99"
+ "SIM_ICUB3_L_ANKLE_1--SIM_ICUB3_L_ANKLE_2"
+ "102:-:103"
""
@@ -4694,14 +4694,14 @@
"revolute"
""
"WORLD"
- 0,0,1
+ 0,1,0
- "SIM_ICUB3_L_UPPER_LEG--SIM_ICUB3_L_LOWER_LEG"
- "100:-:101"
- ""
+ "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 "
""
@@ -4720,17 +4720,17 @@
- "revolute"
+ "weld"
""
"WORLD"
- 1,0,0
+ 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_L_ELBOW_1--SIM_ICUB3_L_FOREARM"
+ "110:-:112"
+ ""
""
@@ -4749,17 +4749,17 @@
- "weld"
+ "revolute"
""
"WORLD"
- 0.57735,0.57735,0.57735
+ 0.0619303,-0.0713662,0.995526
- "SIM_ICUB3_L_ELBOW_1--SIM_ICUB3_L_FOREARM"
- "110:-:112"
- ""
+ "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 "
""
@@ -4778,16 +4778,16 @@
- "revolute"
+ "weld"
""
"WORLD"
- 0.0619303,-0.0713662,0.995526
+ 0.57735,0.57735,0.57735
- "SIM_ICUB3_R_ELBOW_1--SIM_ICUB3_R_FOREARM"
- "111:-:113"
+ "SIM_ICUB3_R_HIP_3--SIM_ICUB3_R_UPPER_LEG"
+ "132:-:90"
""
@@ -4810,14 +4810,14 @@
"revolute"
""
"WORLD"
- -0.0619303,-0.0713662,0.995526
+ 0,0,1
- "SIM_ICUB3_R_UPPERARM--SIM_ICUB3_R_ELBOW_1"
- "111:-:126"
- ""
+ "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 "
""
@@ -4836,16 +4836,16 @@
- "revolute"
+ "weld"
""
"WORLD"
- -0.960459,-0.267012,-0.0788901
+ 0.57735,0.57735,0.57735
- "SIM_ICUB3_R_ANKLE_1--SIM_ICUB3_R_ANKLE_2"
- "93:-:94"
+ "SIM_ICUB3_R_UPPERARM--SIM_ICUB3_R_ELBOW_1"
+ "126:-:137"
""
@@ -4868,14 +4868,14 @@
"revolute"
""
"WORLD"
- 0,1,0
+ -0.960459,-0.267012,-0.0788901
- "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_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 "
""
@@ -4902,9 +4902,9 @@
- "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_LOWER_LEG--SIM_ICUB3_L_ANKLE_1"
+ "102:-:139"
+ ""
""
@@ -4923,10 +4923,10 @@
- "weld"
+ "revolute"
""
"WORLD"
- 0.57735,0.57735,0.57735
+ 1,0,0
@@ -4970,7 +4970,7 @@
"CS1"
""
"RootGround:-:SIM_ICUB3/RootPart::RootGround(AUTOGEN)"
- 1.72376,6.36182,-369.626
+ 1.13206,6.44551,-352.786
"WORLD"
"WORLD"
"mm"
diff --git a/simmechanics/data/icub3/ICUB_3_all_options.yaml b/simmechanics/data/icub3/ICUB_3_all_options.yaml
index f134982..d618fb8 100644
--- a/simmechanics/data/icub3/ICUB_3_all_options.yaml
+++ b/simmechanics/data/icub3/ICUB_3_all_options.yaml
@@ -408,6 +408,50 @@ sensors:
model://iCub/conf_icub3/gazebo_icub_chest_inertial.ini
+assignedMasses:
+ root_link : 2.52649319
+ torso_1 : 1.714262538
+ torso_2 : 1.374672951
+ chest : 5.771074695
+ l_shoulder_1: 1.376687449
+ r_shoulder_1: 1.380716446
+ l_shoulder_2: 0.304658373
+ r_shoulder_2: 0.304658373
+ r_shoulder_3: 0.24467077
+ l_shoulder_3: 0.242239185
+ l_upper_arm : 1.968325789
+ r_upper_arm : 1.960447492
+ r_hip_1 : 2.134290199
+ r_hip_2 : 1.779000764
+ r_hip_3 : 2.1678368
+ r_upper_leg : 0.980691904
+ r_lower_leg : 5.074105512
+ r_ankle_1 : 0.346176903
+ r_ankle_2 : 1.00828013
+ r_foot_front: 0.17569926
+ r_foot_rear : 0.174817799
+ l_hip_1 : 2.108461113
+ l_hip_2 : 1.781270621
+ l_hip_3 : 2.169151426
+ l_upper_leg : 0.968264435
+ l_lower_leg : 5.063049414
+ l_ankle_1 : 0.346176903
+ l_ankle_2 : 1.011533592
+ l_foot_front: 0.175038164
+ l_foot_rear : 0.174597434
+ l_elbow_1 : 0.217768231
+ r_elbow_1 : 0.217609341
+ l_forearm : 0.858696525
+ r_forearm : 0.854281652
+ l_wrist_1 : 0.032535096
+ r_wrist_1 : 0.032535096
+ l_hand : 0.249250207
+ r_hand : 0.2499009
+ neck_1 : 0.359964395
+ neck_2 : 0.118740971
+ neck_3 : 0.179822835
+ head : 1.831737118
+
reverseRotationAxis:
r_hip_yaw
r_hip_roll
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 eb17141..179838b 100644
--- a/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in
+++ b/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in
@@ -407,7 +407,50 @@ sensors:
@ASSIGNED_COLLISION_GEOMETRIES@
-
+assignedMasses:
+ root_link : 2.52649319
+ torso_1 : 1.714262538
+ torso_2 : 1.374672951
+ chest : 5.771074695
+ l_shoulder_1: 1.376687449
+ r_shoulder_1: 1.380716446
+ l_shoulder_2: 0.304658373
+ r_shoulder_2: 0.304658373
+ r_shoulder_3: 0.24467077
+ l_shoulder_3: 0.242239185
+ l_upper_arm : 1.968325789
+ r_upper_arm : 1.960447492
+ r_hip_1 : 2.134290199
+ r_hip_2 : 1.779000764
+ r_hip_3 : 2.1678368
+ r_upper_leg : 0.980691904
+ r_lower_leg : 5.074105512
+ r_ankle_1 : 0.346176903
+ r_ankle_2 : 1.00828013
+ r_foot_front: 0.17569926
+ r_foot_rear : 0.174817799
+ l_hip_1 : 2.108461113
+ l_hip_2 : 1.781270621
+ l_hip_3 : 2.169151426
+ l_upper_leg : 0.968264435
+ l_lower_leg : 5.063049414
+ l_ankle_1 : 0.346176903
+ l_ankle_2 : 1.011533592
+ l_foot_front: 0.175038164
+ l_foot_rear : 0.174597434
+ l_elbow_1 : 0.217768231
+ r_elbow_1 : 0.217609341
+ l_forearm : 0.858696525
+ r_forearm : 0.854281652
+ l_wrist_1 : 0.032535096
+ r_wrist_1 : 0.032535096
+ l_hand : 0.249250207
+ r_hand : 0.2499009
+ neck_1 : 0.359964395
+ neck_2 : 0.118740971
+ neck_3 : 0.179822835
+ head : 1.831737118
+
assignedInertias:
# This is due to https://github.com/robotology/icub-models/issues/33
- linkName: r_shoulder_1