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