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Merge devel in master #237

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merged 3 commits into from
Sep 6, 2024
Merged

Merge devel in master #237

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07fea8b
Automatic build of models via icub-models-generator.
traversaro Jul 5, 2024
3faa952
Automatic build of models via icub-models-generator.
traversaro Jul 9, 2024
03dda1a
Merge branch 'master' into devel
traversaro Sep 6, 2024
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21 changes: 21 additions & 0 deletions iCub/robots/iCubDarmstadt01/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -983,6 +983,13 @@
<limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="imu_frame"/>
<joint name="imu_frame_fixed_joint" type="fixed">
<origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
<parent link="head"/>
<child link="imu_frame"/>
<dynamics damping="0.1"/>
</joint>
<link name="head_imu_0"/>
<joint name="head_imu_0_fixed_joint" type="fixed">
<origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
Expand Down Expand Up @@ -1080,6 +1087,13 @@
<limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="r_arm_ft"/>
<joint name="r_arm_ft_fixed_joint" type="fixed">
<origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
<parent link="r_shoulder_3"/>
<child link="r_arm_ft"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_arm_ft_imu"/>
<joint name="r_arm_ft_imu_fixed_joint" type="fixed">
<origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
Expand Down Expand Up @@ -1507,6 +1521,13 @@
<limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
<origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
<parent link="l_shoulder_3"/>
<child link="l_arm_ft"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_arm_ft_imu"/>
<joint name="l_arm_ft_imu_fixed_joint" type="fixed">
<origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
Expand Down
21 changes: 21 additions & 0 deletions iCub/robots/iCubErzelli02/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -983,6 +983,13 @@
<limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="imu_frame"/>
<joint name="imu_frame_fixed_joint" type="fixed">
<origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
<parent link="head"/>
<child link="imu_frame"/>
<dynamics damping="0.1"/>
</joint>
<link name="head_imu_0"/>
<joint name="head_imu_0_fixed_joint" type="fixed">
<origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
Expand Down Expand Up @@ -1080,6 +1087,13 @@
<limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="r_arm_ft"/>
<joint name="r_arm_ft_fixed_joint" type="fixed">
<origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
<parent link="r_shoulder_3"/>
<child link="r_arm_ft"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_arm_ft_imu"/>
<joint name="r_arm_ft_imu_fixed_joint" type="fixed">
<origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
Expand Down Expand Up @@ -1507,6 +1521,13 @@
<limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
<origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
<parent link="l_shoulder_3"/>
<child link="l_arm_ft"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_arm_ft_imu"/>
<joint name="l_arm_ft_imu_fixed_joint" type="fixed">
<origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
Expand Down
21 changes: 21 additions & 0 deletions iCub/robots/iCubGazeboV2_5/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -983,6 +983,13 @@
<limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="imu_frame"/>
<joint name="imu_frame_fixed_joint" type="fixed">
<origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
<parent link="head"/>
<child link="imu_frame"/>
<dynamics damping="0.1"/>
</joint>
<link name="head_imu_0"/>
<joint name="head_imu_0_fixed_joint" type="fixed">
<origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
Expand Down Expand Up @@ -1080,6 +1087,13 @@
<limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="r_arm_ft"/>
<joint name="r_arm_ft_fixed_joint" type="fixed">
<origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
<parent link="r_shoulder_3"/>
<child link="r_arm_ft"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_arm_ft_imu"/>
<joint name="r_arm_ft_imu_fixed_joint" type="fixed">
<origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
Expand Down Expand Up @@ -1507,6 +1521,13 @@
<limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
<origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
<parent link="l_shoulder_3"/>
<child link="l_arm_ft"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_arm_ft_imu"/>
<joint name="l_arm_ft_imu_fixed_joint" type="fixed">
<origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
Expand Down
28 changes: 28 additions & 0 deletions iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,13 @@
<child link="root_link_ems_gyro_eb5"/>
<dynamics damping="0.1"/>
</joint>
<link name="root_link_imu_frame"/>
<joint name="root_link_imu_frame_fixed_joint" type="fixed">
<origin xyz="0.08515499999999998 -0.011000000000000022 -0.11230899999999999" rpy="-2.0943952105869323 0 -1.5707963267948963"/>
<parent link="root_link"/>
<child link="root_link_imu_frame"/>
<dynamics damping="0.1"/>
</joint>
<link name="root_link_imu_acc"/>
<joint name="root_link_imu_acc_fixed_joint" type="fixed">
<origin xyz="0.08515499999999998 -0.011000000000000022 -0.11230899999999999" rpy="-2.0943952105869323 0 -1.5707963267948963"/>
Expand Down Expand Up @@ -243,6 +250,13 @@
<limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="imu_frame"/>
<joint name="imu_frame_fixed_joint" type="fixed">
<origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
<parent link="head"/>
<child link="imu_frame"/>
<dynamics damping="0.1"/>
</joint>
<link name="head_imu_0"/>
<joint name="head_imu_0_fixed_joint" type="fixed">
<origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
Expand Down Expand Up @@ -340,6 +354,13 @@
<limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="r_arm_ft"/>
<joint name="r_arm_ft_fixed_joint" type="fixed">
<origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
<parent link="r_shoulder_3"/>
<child link="r_arm_ft"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_arm_ft_imu"/>
<joint name="r_arm_ft_imu_fixed_joint" type="fixed">
<origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
Expand Down Expand Up @@ -767,6 +788,13 @@
<limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
<origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
<parent link="l_shoulder_3"/>
<child link="l_arm_ft"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_arm_ft_imu"/>
<joint name="l_arm_ft_imu_fixed_joint" type="fixed">
<origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
Expand Down
21 changes: 21 additions & 0 deletions iCub/robots/iCubGazeboV2_6/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -983,6 +983,13 @@
<limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="imu_frame"/>
<joint name="imu_frame_fixed_joint" type="fixed">
<origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="-1.5707963267948997 0 -3.141592653589793"/>
<parent link="head"/>
<child link="imu_frame"/>
<dynamics damping="0.1"/>
</joint>
<link name="head_imu_0"/>
<joint name="head_imu_0_fixed_joint" type="fixed">
<origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="-1.5707963267948997 0 -3.141592653589793"/>
Expand Down Expand Up @@ -1080,6 +1087,13 @@
<limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="r_arm_ft"/>
<joint name="r_arm_ft_fixed_joint" type="fixed">
<origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
<parent link="r_shoulder_3"/>
<child link="r_arm_ft"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_arm_ft_imu"/>
<joint name="r_arm_ft_imu_fixed_joint" type="fixed">
<origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
Expand Down Expand Up @@ -1507,6 +1521,13 @@
<limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
<origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
<parent link="l_shoulder_3"/>
<child link="l_arm_ft"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_arm_ft_imu"/>
<joint name="l_arm_ft_imu_fixed_joint" type="fixed">
<origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
Expand Down
21 changes: 21 additions & 0 deletions iCub/robots/iCubGazeboV2_7/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -983,6 +983,13 @@
<limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="imu_frame"/>
<joint name="imu_frame_fixed_joint" type="fixed">
<origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="-1.5707963267948997 0 -3.141592653589793"/>
<parent link="head"/>
<child link="imu_frame"/>
<dynamics damping="0.1"/>
</joint>
<link name="head_imu_0"/>
<joint name="head_imu_0_fixed_joint" type="fixed">
<origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="-1.5707963267948997 0 -3.141592653589793"/>
Expand Down Expand Up @@ -1080,6 +1087,13 @@
<limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="r_arm_ft"/>
<joint name="r_arm_ft_fixed_joint" type="fixed">
<origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
<parent link="r_shoulder_3"/>
<child link="r_arm_ft"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_arm_ft_imu"/>
<joint name="r_arm_ft_imu_fixed_joint" type="fixed">
<origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
Expand Down Expand Up @@ -1507,6 +1521,13 @@
<limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
<origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
<parent link="l_shoulder_3"/>
<child link="l_arm_ft"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_arm_ft_imu"/>
<joint name="l_arm_ft_imu_fixed_joint" type="fixed">
<origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
Expand Down
14 changes: 14 additions & 0 deletions iCub/robots/iCubGazeboV3/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -403,6 +403,13 @@
<limit effort="50000" lower="-0.7504915783575618" upper="0.7504915783575618" velocity="120.0"/>
<dynamics damping="2.0" friction="0.0"/>
</joint>
<link name="chest_depth_frame"/>
<joint name="chest_depth_frame_fixed_joint" type="fixed">
<origin xyz="0.0894115 0.0175 0.09929950000000001" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
<parent link="chest"/>
<child link="chest_depth_frame"/>
<dynamics damping="0.1"/>
</joint>
<link name="chest_imu_0"/>
<joint name="chest_imu_0_fixed_joint" type="fixed">
<origin xyz="0.0894115 0.0175 0.09929950000000001" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
Expand Down Expand Up @@ -535,6 +542,13 @@
<limit effort="50000" lower="-0.7853981633974483" upper="0.7853981633974483" velocity="120.0"/>
<dynamics damping="2.0" friction="0.0"/>
</joint>
<link name="imu_frame"/>
<joint name="imu_frame_fixed_joint" type="fixed">
<origin xyz="0.0035000000000000005 0.0055 0.10133400000000001" rpy="3.141592653589793 0 -1.5707963267948966"/>
<parent link="head"/>
<child link="imu_frame"/>
<dynamics damping="0.1"/>
</joint>
<link name="head_imu_0"/>
<joint name="head_imu_0_fixed_joint" type="fixed">
<origin xyz="0.0035000000000000005 0.0055 0.10133400000000001" rpy="3.141592653589793 0 -1.5707963267948966"/>
Expand Down
21 changes: 21 additions & 0 deletions iCub/robots/iCubGenova01/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -983,6 +983,13 @@
<limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="imu_frame"/>
<joint name="imu_frame_fixed_joint" type="fixed">
<origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
<parent link="head"/>
<child link="imu_frame"/>
<dynamics damping="0.1"/>
</joint>
<link name="head_imu_0"/>
<joint name="head_imu_0_fixed_joint" type="fixed">
<origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
Expand Down Expand Up @@ -1080,6 +1087,13 @@
<limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="r_arm_ft"/>
<joint name="r_arm_ft_fixed_joint" type="fixed">
<origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
<parent link="r_shoulder_3"/>
<child link="r_arm_ft"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_arm_ft_imu"/>
<joint name="r_arm_ft_imu_fixed_joint" type="fixed">
<origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
Expand Down Expand Up @@ -1507,6 +1521,13 @@
<limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
<origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
<parent link="l_shoulder_3"/>
<child link="l_arm_ft"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_arm_ft_imu"/>
<joint name="l_arm_ft_imu_fixed_joint" type="fixed">
<origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
Expand Down
28 changes: 28 additions & 0 deletions iCub/robots/iCubGenova02/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,13 @@
<child link="root_link_ems_gyro_eb5"/>
<dynamics damping="0.1"/>
</joint>
<link name="root_link_imu_frame"/>
<joint name="root_link_imu_frame_fixed_joint" type="fixed">
<origin xyz="0.08515499999999998 -0.011000000000000022 -0.11230899999999999" rpy="-2.0943952105869323 0 -1.5707963267948963"/>
<parent link="root_link"/>
<child link="root_link_imu_frame"/>
<dynamics damping="0.1"/>
</joint>
<link name="root_link_imu_acc"/>
<joint name="root_link_imu_acc_fixed_joint" type="fixed">
<origin xyz="0.08515499999999998 -0.011000000000000022 -0.11230899999999999" rpy="-2.0943952105869323 0 -1.5707963267948963"/>
Expand Down Expand Up @@ -243,6 +250,13 @@
<limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="imu_frame"/>
<joint name="imu_frame_fixed_joint" type="fixed">
<origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
<parent link="head"/>
<child link="imu_frame"/>
<dynamics damping="0.1"/>
</joint>
<link name="head_imu_0"/>
<joint name="head_imu_0_fixed_joint" type="fixed">
<origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
Expand Down Expand Up @@ -340,6 +354,13 @@
<limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="r_arm_ft"/>
<joint name="r_arm_ft_fixed_joint" type="fixed">
<origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
<parent link="r_shoulder_3"/>
<child link="r_arm_ft"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_arm_ft_imu"/>
<joint name="r_arm_ft_imu_fixed_joint" type="fixed">
<origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
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<limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
<dynamics damping="0.06" friction="0.0"/>
</joint>
<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
<origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
<parent link="l_shoulder_3"/>
<child link="l_arm_ft"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_arm_ft_imu"/>
<joint name="l_arm_ft_imu_fixed_joint" type="fixed">
<origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
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