dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

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  1. dartpy-7.0.0.dev0.dist-info/METADATA +86 -0
  2. dartpy-7.0.0.dev0.dist-info/RECORD +994 -0
  3. dartpy-7.0.0.dev0.dist-info/WHEEL +5 -0
  4. dartpy-7.0.0.dev0.dist-info/licenses/LICENSE +31 -0
  5. dartpy.cpython-312-x86_64-linux-gnu.so +0 -0
  6. dartpy.libs/libBulletCollision-f96eb02c.so.3.25 +0 -0
  7. dartpy.libs/libBulletDynamics-3cff1f18.so.3.25 +0 -0
  8. dartpy.libs/libBulletSoftBody-220f01bd.so.3.25 +0 -0
  9. dartpy.libs/libLinearMath-71568d02.so.3.25 +0 -0
  10. dartpy.libs/libOpenThreads-8bc434db.so.3.3.1 +0 -0
  11. dartpy.libs/libSDL2-2-3db87ac0.0.so.0.3200.56 +0 -0
  12. dartpy.libs/libassimp-44cf3e77.so.5.4.3 +0 -0
  13. dartpy.libs/libccd-4f119cf4.so.2.0 +0 -0
  14. dartpy.libs/libconsole_bridge-f26e11cc.so.1.0 +0 -0
  15. dartpy.libs/libfcl-2607815a.so.0.7.0 +0 -0
  16. dartpy.libs/libfmt-277170bf.so.11.2.0 +0 -0
  17. dartpy.libs/libfontconfig-559ff509.so.1.14.0 +0 -0
  18. dartpy.libs/libfreetype-64806fc6.so.6.20.4 +0 -0
  19. dartpy.libs/libglfw-6f066845.so.3.4 +0 -0
  20. dartpy.libs/libimgui-ab87b07d.so +0 -0
  21. dartpy.libs/libnlopt-78f9bc34.so.1.0.0 +0 -0
  22. dartpy.libs/liboctomap-38e56f99.so.1.10.0 +0 -0
  23. dartpy.libs/liboctomath-bff26442.so.1.10.0 +0 -0
  24. dartpy.libs/libode-caca20fc.so.8.2.0 +0 -0
  25. dartpy.libs/libosg-e67375e5.so.3.6.5 +0 -0
  26. dartpy.libs/libosgDB-22ae780f.so.3.6.5 +0 -0
  27. dartpy.libs/libosgGA-6af4078b.so.3.6.5 +0 -0
  28. dartpy.libs/libosgManipulator-3270f659.so.3.6.5 +0 -0
  29. dartpy.libs/libosgShadow-127a8d77.so.3.6.5 +0 -0
  30. dartpy.libs/libosgText-87d82d87.so.3.6.5 +0 -0
  31. dartpy.libs/libosgUtil-55896958.so.3.6.5 +0 -0
  32. dartpy.libs/libosgViewer-76d832e3.so.3.6.5 +0 -0
  33. dartpy.libs/libpng16-bd65464e.so.16.50.0 +0 -0
  34. dartpy.libs/libtinyxml2-8d10763c.so.11.0.0 +0 -0
  35. dartpy.libs/liburdfdom_model-7b26ae88.so.4.0 +0 -0
  36. dartpy.libs/liburdfdom_model_state-95a5ad6e.so.4.0 +0 -0
  37. dartpy.libs/liburdfdom_sensor-55a145ea.so.4.0 +0 -0
  38. dartpy.libs/liburdfdom_world-a32c7194.so.4.0 +0 -0
  39. dartpy.libs/libvulkan-8caf1954.so.1.4.328 +0 -0
  40. include/dart/collision/CollisionDetector.hpp +305 -0
  41. include/dart/collision/CollisionFilter.hpp +126 -0
  42. include/dart/collision/CollisionGroup.hpp +546 -0
  43. include/dart/collision/CollisionObject.hpp +90 -0
  44. include/dart/collision/CollisionOption.hpp +71 -0
  45. include/dart/collision/CollisionResult.hpp +109 -0
  46. include/dart/collision/Contact.hpp +103 -0
  47. include/dart/collision/DistanceFilter.hpp +66 -0
  48. include/dart/collision/DistanceOption.hpp +80 -0
  49. include/dart/collision/DistanceResult.hpp +123 -0
  50. include/dart/collision/Option.hpp +42 -0
  51. include/dart/collision/RaycastOption.hpp +58 -0
  52. include/dart/collision/RaycastResult.hpp +80 -0
  53. include/dart/collision/Result.hpp +42 -0
  54. include/dart/collision/SmartPointer.hpp +51 -0
  55. include/dart/collision/all.hpp +17 -0
  56. include/dart/collision/bullet/BulletCollisionDetector.hpp +168 -0
  57. include/dart/collision/bullet/BulletCollisionGroup.hpp +98 -0
  58. include/dart/collision/bullet/BulletCollisionObject.hpp +75 -0
  59. include/dart/collision/bullet/BulletCollisionShape.hpp +62 -0
  60. include/dart/collision/bullet/BulletInclude.hpp +47 -0
  61. include/dart/collision/bullet/BulletTypes.hpp +57 -0
  62. include/dart/collision/bullet/all.hpp +8 -0
  63. include/dart/collision/bullet/bullet.hpp +14 -0
  64. include/dart/collision/bullet/detail/BulletCollisionDispatcher.hpp +70 -0
  65. include/dart/collision/bullet/detail/BulletOverlapFilterCallback.hpp +72 -0
  66. include/dart/collision/collision.hpp +14 -0
  67. include/dart/collision/dart/DARTCollide.hpp +106 -0
  68. include/dart/collision/dart/DARTCollisionDetector.hpp +109 -0
  69. include/dart/collision/dart/DARTCollisionGroup.hpp +82 -0
  70. include/dart/collision/dart/DARTCollisionObject.hpp +63 -0
  71. include/dart/collision/dart/all.hpp +6 -0
  72. include/dart/collision/dart/dart.hpp +14 -0
  73. include/dart/collision/detail/CollisionDetector.hpp +66 -0
  74. include/dart/collision/detail/CollisionGroup.hpp +287 -0
  75. include/dart/collision/detail/Contact-impl.hpp +56 -0
  76. include/dart/collision/detail/UnorderedPairs.hpp +153 -0
  77. include/dart/collision/fcl/BackwardCompatibility.hpp +145 -0
  78. include/dart/collision/fcl/CollisionShapes.hpp +374 -0
  79. include/dart/collision/fcl/FCLCollisionDetector.hpp +204 -0
  80. include/dart/collision/fcl/FCLCollisionGroup.hpp +95 -0
  81. include/dart/collision/fcl/FCLCollisionObject.hpp +72 -0
  82. include/dart/collision/fcl/FCLTypes.hpp +62 -0
  83. include/dart/collision/fcl/TriTriIntersectionTest.hpp +17 -0
  84. include/dart/collision/fcl/all.hpp +9 -0
  85. include/dart/collision/fcl/fcl.hpp +14 -0
  86. include/dart/collision/fcl/tri_tri_intersection_test.hpp +332 -0
  87. include/dart/collision/ode/OdeCollisionDetector.hpp +131 -0
  88. include/dart/collision/ode/OdeCollisionGroup.hpp +87 -0
  89. include/dart/collision/ode/OdeCollisionObject.hpp +89 -0
  90. include/dart/collision/ode/OdeTypes.hpp +51 -0
  91. include/dart/collision/ode/all.hpp +6 -0
  92. include/dart/collision/ode/detail/OdeBox.hpp +58 -0
  93. include/dart/collision/ode/detail/OdeCapsule.hpp +58 -0
  94. include/dart/collision/ode/detail/OdeCylinder.hpp +58 -0
  95. include/dart/collision/ode/detail/OdeGeom.hpp +83 -0
  96. include/dart/collision/ode/detail/OdeHeightmap-impl.hpp +170 -0
  97. include/dart/collision/ode/detail/OdeHeightmap.hpp +70 -0
  98. include/dart/collision/ode/detail/OdeMesh.hpp +83 -0
  99. include/dart/collision/ode/detail/OdePlane.hpp +67 -0
  100. include/dart/collision/ode/detail/OdeSphere.hpp +58 -0
  101. include/dart/collision/ode/ode.hpp +14 -0
  102. include/dart/common/Aspect.hpp +215 -0
  103. include/dart/common/AspectWithVersion.hpp +180 -0
  104. include/dart/common/CAllocator.hpp +65 -0
  105. include/dart/common/Castable.hpp +102 -0
  106. include/dart/common/ClassWithVirtualBase.hpp +47 -0
  107. include/dart/common/Cloneable.hpp +327 -0
  108. include/dart/common/Composite.hpp +205 -0
  109. include/dart/common/CompositeJoiner.hpp +160 -0
  110. include/dart/common/Console.hpp +75 -0
  111. include/dart/common/Deprecated.hpp +126 -0
  112. include/dart/common/EmbeddedAspect.hpp +466 -0
  113. include/dart/common/Empty.hpp +55 -0
  114. include/dart/common/Factory.hpp +146 -0
  115. include/dart/common/Filesystem.hpp +112 -0
  116. include/dart/common/FreeListAllocator.hpp +162 -0
  117. include/dart/common/IncludeWindows.hpp +50 -0
  118. include/dart/common/LocalResource.hpp +76 -0
  119. include/dart/common/LocalResourceRetriever.hpp +63 -0
  120. include/dart/common/LockableReference.hpp +166 -0
  121. include/dart/common/Logging.hpp +146 -0
  122. include/dart/common/Macros.hpp +78 -0
  123. include/dart/common/Memory.hpp +215 -0
  124. include/dart/common/MemoryAllocator.hpp +120 -0
  125. include/dart/common/MemoryAllocatorDebugger.hpp +98 -0
  126. include/dart/common/MemoryManager.hpp +189 -0
  127. include/dart/common/Metaprogramming.hpp +68 -0
  128. include/dart/common/NameManager.hpp +184 -0
  129. include/dart/common/Observer.hpp +85 -0
  130. include/dart/common/Optional.hpp +48 -0
  131. include/dart/common/Platform.hpp +92 -0
  132. include/dart/common/PoolAllocator.hpp +141 -0
  133. include/dart/common/Profile.hpp +56 -0
  134. include/dart/common/ProxyAspect.hpp +93 -0
  135. include/dart/common/RequiresAspect.hpp +79 -0
  136. include/dart/common/Resource.hpp +96 -0
  137. include/dart/common/ResourceRetriever.hpp +82 -0
  138. include/dart/common/SharedLibrary.hpp +201 -0
  139. include/dart/common/Signal.hpp +250 -0
  140. include/dart/common/Singleton.hpp +85 -0
  141. include/dart/common/SmartPointer.hpp +63 -0
  142. include/dart/common/SpecializedForAspect.hpp +207 -0
  143. include/dart/common/StlAllocator.hpp +111 -0
  144. include/dart/common/StlHelpers.hpp +61 -0
  145. include/dart/common/Stopwatch.hpp +143 -0
  146. include/dart/common/String.hpp +71 -0
  147. include/dart/common/SubPtr.hpp +17 -0
  148. include/dart/common/Subject.hpp +84 -0
  149. include/dart/common/Timer.hpp +119 -0
  150. include/dart/common/Uri.hpp +229 -0
  151. include/dart/common/VersionCounter.hpp +68 -0
  152. include/dart/common/Virtual.hpp +51 -0
  153. include/dart/common/all.hpp +53 -0
  154. include/dart/common/common.hpp +14 -0
  155. include/dart/common/detail/Aspect.hpp +102 -0
  156. include/dart/common/detail/AspectWithVersion.hpp +455 -0
  157. include/dart/common/detail/Castable-impl.hpp +109 -0
  158. include/dart/common/detail/Cloneable.hpp +638 -0
  159. include/dart/common/detail/Composite.hpp +241 -0
  160. include/dart/common/detail/CompositeData.hpp +393 -0
  161. include/dart/common/detail/CompositeJoiner.hpp +128 -0
  162. include/dart/common/detail/ConnectionBody.hpp +157 -0
  163. include/dart/common/detail/EmbeddedAspect.hpp +487 -0
  164. include/dart/common/detail/Factory-impl.hpp +200 -0
  165. include/dart/common/detail/LockableReference-impl.hpp +156 -0
  166. include/dart/common/detail/Logging-impl.hpp +162 -0
  167. include/dart/common/detail/Memory-impl.hpp +66 -0
  168. include/dart/common/detail/MemoryAllocator-impl.hpp +97 -0
  169. include/dart/common/detail/MemoryAllocatorDebugger-impl.hpp +201 -0
  170. include/dart/common/detail/MemoryManager-impl.hpp +102 -0
  171. include/dart/common/detail/Metaprogramming-impl.hpp +89 -0
  172. include/dart/common/detail/NameManager.hpp +301 -0
  173. include/dart/common/detail/NoOp.hpp +57 -0
  174. include/dart/common/detail/ProxyAspect.hpp +172 -0
  175. include/dart/common/detail/RequiresAspect.hpp +51 -0
  176. include/dart/common/detail/SharedLibraryManager.hpp +106 -0
  177. include/dart/common/detail/Signal.hpp +242 -0
  178. include/dart/common/detail/Singleton-impl.hpp +74 -0
  179. include/dart/common/detail/SpecializedForAspect.hpp +331 -0
  180. include/dart/common/detail/StlAllocator-impl.hpp +108 -0
  181. include/dart/common/detail/Stopwatch-impl.hpp +242 -0
  182. include/dart/common/detail/SubPtr.hpp +17 -0
  183. include/dart/common/detail/TemplateJoinerDispatchMacro.hpp +59 -0
  184. include/dart/common/detail/sub_ptr.hpp +139 -0
  185. include/dart/common/sub_ptr.hpp +103 -0
  186. include/dart/config.hpp +100 -0
  187. include/dart/constraint/BalanceConstraint.hpp +202 -0
  188. include/dart/constraint/BallJointConstraint.hpp +142 -0
  189. include/dart/constraint/BoxedLcpConstraintSolver.hpp +182 -0
  190. include/dart/constraint/BoxedLcpSolver.hpp +101 -0
  191. include/dart/constraint/ConstrainedGroup.hpp +120 -0
  192. include/dart/constraint/ConstraintBase.hpp +141 -0
  193. include/dart/constraint/ConstraintSolver.hpp +325 -0
  194. include/dart/constraint/ContactConstraint.hpp +286 -0
  195. include/dart/constraint/ContactSurface.hpp +191 -0
  196. include/dart/constraint/DantzigBoxedLcpSolver.hpp +71 -0
  197. include/dart/constraint/DantzigLCPSolver.hpp +87 -0
  198. include/dart/constraint/DynamicJointConstraint.hpp +120 -0
  199. include/dart/constraint/JointConstraint.hpp +182 -0
  200. include/dart/constraint/JointCoulombFrictionConstraint.hpp +149 -0
  201. include/dart/constraint/JointLimitConstraint.hpp +185 -0
  202. include/dart/constraint/LCPSolver.hpp +71 -0
  203. include/dart/constraint/MimicMotorConstraint.hpp +164 -0
  204. include/dart/constraint/PGSLCPSolver.hpp +109 -0
  205. include/dart/constraint/PgsBoxedLcpSolver.hpp +106 -0
  206. include/dart/constraint/ServoMotorConstraint.hpp +151 -0
  207. include/dart/constraint/SmartPointer.hpp +69 -0
  208. include/dart/constraint/SoftContactConstraint.hpp +262 -0
  209. include/dart/constraint/WeldJointConstraint.hpp +133 -0
  210. include/dart/constraint/all.hpp +25 -0
  211. include/dart/constraint/constraint.hpp +14 -0
  212. include/dart/constraint/detail/ConstraintSolver-impl.hpp +78 -0
  213. include/dart/dart.hpp +44 -0
  214. include/dart/dynamics/ArrowShape.hpp +121 -0
  215. include/dart/dynamics/AssimpInputResourceAdaptor.hpp +129 -0
  216. include/dart/dynamics/BallJoint.hpp +143 -0
  217. include/dart/dynamics/BodyNode.hpp +1279 -0
  218. include/dart/dynamics/BoxShape.hpp +90 -0
  219. include/dart/dynamics/Branch.hpp +107 -0
  220. include/dart/dynamics/CapsuleShape.hpp +105 -0
  221. include/dart/dynamics/Chain.hpp +142 -0
  222. include/dart/dynamics/CompositeNode.hpp +114 -0
  223. include/dart/dynamics/ConeShape.hpp +107 -0
  224. include/dart/dynamics/CylinderShape.hpp +96 -0
  225. include/dart/dynamics/DegreeOfFreedom.hpp +415 -0
  226. include/dart/dynamics/EllipsoidShape.hpp +115 -0
  227. include/dart/dynamics/EndEffector.hpp +158 -0
  228. include/dart/dynamics/Entity.hpp +258 -0
  229. include/dart/dynamics/EntityNode.hpp +77 -0
  230. include/dart/dynamics/EulerJoint.hpp +174 -0
  231. include/dart/dynamics/FixedFrame.hpp +105 -0
  232. include/dart/dynamics/FixedJacobianNode.hpp +168 -0
  233. include/dart/dynamics/Frame.hpp +388 -0
  234. include/dart/dynamics/FreeJoint.hpp +369 -0
  235. include/dart/dynamics/GenericJoint.hpp +825 -0
  236. include/dart/dynamics/Group.hpp +270 -0
  237. include/dart/dynamics/HeightmapShape.hpp +195 -0
  238. include/dart/dynamics/HierarchicalIK.hpp +419 -0
  239. include/dart/dynamics/IkFast.hpp +277 -0
  240. include/dart/dynamics/Inertia.hpp +176 -0
  241. include/dart/dynamics/InvalidIndex.hpp +46 -0
  242. include/dart/dynamics/InverseKinematics.hpp +1401 -0
  243. include/dart/dynamics/JacobianNode.hpp +312 -0
  244. include/dart/dynamics/Joint.hpp +1128 -0
  245. include/dart/dynamics/LineSegmentShape.hpp +140 -0
  246. include/dart/dynamics/Linkage.hpp +246 -0
  247. include/dart/dynamics/Marker.hpp +126 -0
  248. include/dart/dynamics/MeshShape.hpp +225 -0
  249. include/dart/dynamics/MetaSkeleton.hpp +1034 -0
  250. include/dart/dynamics/MimicDofProperties.hpp +62 -0
  251. include/dart/dynamics/MultiSphereConvexHullShape.hpp +111 -0
  252. include/dart/dynamics/MultiSphereShape.hpp +42 -0
  253. include/dart/dynamics/Node.hpp +273 -0
  254. include/dart/dynamics/NodeManagerJoiner.hpp +190 -0
  255. include/dart/dynamics/PlanarJoint.hpp +161 -0
  256. include/dart/dynamics/PlaneShape.hpp +105 -0
  257. include/dart/dynamics/PointCloudShape.hpp +186 -0
  258. include/dart/dynamics/PointMass.hpp +709 -0
  259. include/dart/dynamics/PrismaticJoint.hpp +120 -0
  260. include/dart/dynamics/PyramidShape.hpp +122 -0
  261. include/dart/dynamics/ReferentialSkeleton.hpp +550 -0
  262. include/dart/dynamics/RevoluteJoint.hpp +120 -0
  263. include/dart/dynamics/ScrewJoint.hpp +126 -0
  264. include/dart/dynamics/Shape.hpp +231 -0
  265. include/dart/dynamics/ShapeFrame.hpp +291 -0
  266. include/dart/dynamics/ShapeNode.hpp +134 -0
  267. include/dart/dynamics/SharedLibraryIkFast.hpp +147 -0
  268. include/dart/dynamics/SimpleFrame.hpp +247 -0
  269. include/dart/dynamics/Skeleton.hpp +1350 -0
  270. include/dart/dynamics/SmartPointer.hpp +185 -0
  271. include/dart/dynamics/SoftBodyNode.hpp +472 -0
  272. include/dart/dynamics/SoftMeshShape.hpp +100 -0
  273. include/dart/dynamics/SpecializedNodeManager.hpp +230 -0
  274. include/dart/dynamics/SphereShape.hpp +89 -0
  275. include/dart/dynamics/TemplatedJacobianNode.hpp +128 -0
  276. include/dart/dynamics/TranslationalJoint.hpp +105 -0
  277. include/dart/dynamics/TranslationalJoint2D.hpp +156 -0
  278. include/dart/dynamics/UniversalJoint.hpp +128 -0
  279. include/dart/dynamics/VoxelGridShape.hpp +171 -0
  280. include/dart/dynamics/WeldJoint.hpp +116 -0
  281. include/dart/dynamics/ZeroDofJoint.hpp +562 -0
  282. include/dart/dynamics/all.hpp +69 -0
  283. include/dart/dynamics/detail/BasicNodeManager.hpp +539 -0
  284. include/dart/dynamics/detail/BodyNode.hpp +344 -0
  285. include/dart/dynamics/detail/BodyNodeAspect.hpp +177 -0
  286. include/dart/dynamics/detail/BodyNodePtr.hpp +351 -0
  287. include/dart/dynamics/detail/CompositeNode.hpp +93 -0
  288. include/dart/dynamics/detail/DegreeOfFreedomPtr.hpp +338 -0
  289. include/dart/dynamics/detail/EndEffectorAspect.hpp +106 -0
  290. include/dart/dynamics/detail/EntityNode.hpp +81 -0
  291. include/dart/dynamics/detail/EntityNodeAspect.hpp +101 -0
  292. include/dart/dynamics/detail/EulerJointAspect.hpp +93 -0
  293. include/dart/dynamics/detail/FixedFrameAspect.hpp +58 -0
  294. include/dart/dynamics/detail/FixedJacobianNode.hpp +55 -0
  295. include/dart/dynamics/detail/GenericJoint.hpp +2471 -0
  296. include/dart/dynamics/detail/GenericJointAspect.hpp +353 -0
  297. include/dart/dynamics/detail/HeightmapShape-impl.hpp +243 -0
  298. include/dart/dynamics/detail/InverseKinematics.hpp +83 -0
  299. include/dart/dynamics/detail/InverseKinematicsPtr.hpp +341 -0
  300. include/dart/dynamics/detail/JointAspect.hpp +161 -0
  301. include/dart/dynamics/detail/JointPtr.hpp +293 -0
  302. include/dart/dynamics/detail/MarkerAspect.hpp +68 -0
  303. include/dart/dynamics/detail/MetaSkeleton-impl.hpp +151 -0
  304. include/dart/dynamics/detail/Node.hpp +532 -0
  305. include/dart/dynamics/detail/NodeManagerJoiner.hpp +184 -0
  306. include/dart/dynamics/detail/NodePtr.hpp +259 -0
  307. include/dart/dynamics/detail/PlanarJointAspect.hpp +136 -0
  308. include/dart/dynamics/detail/PrismaticJointAspect.hpp +85 -0
  309. include/dart/dynamics/detail/RevoluteJointAspect.hpp +86 -0
  310. include/dart/dynamics/detail/ScrewJointAspect.hpp +90 -0
  311. include/dart/dynamics/detail/ShapeFrameAspect.hpp +169 -0
  312. include/dart/dynamics/detail/ShapeNode.hpp +51 -0
  313. include/dart/dynamics/detail/Skeleton.hpp +92 -0
  314. include/dart/dynamics/detail/SkeletonAspect.hpp +181 -0
  315. include/dart/dynamics/detail/SoftBodyNodeAspect.hpp +132 -0
  316. include/dart/dynamics/detail/SpecializedNodeManager.hpp +324 -0
  317. include/dart/dynamics/detail/TemplatedJacobianNode.hpp +294 -0
  318. include/dart/dynamics/detail/TranslationalJoint2DAspect.hpp +140 -0
  319. include/dart/dynamics/detail/UniversalJointAspect.hpp +86 -0
  320. include/dart/dynamics/dynamics.hpp +14 -0
  321. include/dart/dynamics/ikfast.h +345 -0
  322. include/dart/external/convhull_3d/convhull_3d.h +1878 -0
  323. include/dart/external/convhull_3d/safe_convhull_3d.h +53 -0
  324. include/dart/external/odelcpsolver/common.h +418 -0
  325. include/dart/external/odelcpsolver/error.h +62 -0
  326. include/dart/external/odelcpsolver/lcp.h +75 -0
  327. include/dart/external/odelcpsolver/matrix.h +277 -0
  328. include/dart/external/odelcpsolver/misc.h +82 -0
  329. include/dart/external/odelcpsolver/odeconfig.h +110 -0
  330. include/dart/gui/osg/DefaultEventHandler.hpp +237 -0
  331. include/dart/gui/osg/DragAndDrop.hpp +360 -0
  332. include/dart/gui/osg/GridVisual.hpp +218 -0
  333. include/dart/gui/osg/ImGuiHandler.hpp +113 -0
  334. include/dart/gui/osg/ImGuiViewer.hpp +83 -0
  335. include/dart/gui/osg/ImGuiWidget.hpp +91 -0
  336. include/dart/gui/osg/IncludeImGui.hpp +75 -0
  337. include/dart/gui/osg/InteractiveFrame.hpp +170 -0
  338. include/dart/gui/osg/MouseEventHandler.hpp +76 -0
  339. include/dart/gui/osg/RealTimeWorldNode.hpp +126 -0
  340. include/dart/gui/osg/ShapeFrameNode.hpp +117 -0
  341. include/dart/gui/osg/SupportPolygonVisual.hpp +202 -0
  342. include/dart/gui/osg/TrackballManipulator.hpp +97 -0
  343. include/dart/gui/osg/Utils.hpp +120 -0
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  884. share/doc/dart/examples/hardcoded_design/README.md +27 -0
  885. share/doc/dart/examples/hardcoded_design/main.cpp +186 -0
  886. share/doc/dart/examples/heightmap/CMakeLists.txt +19 -0
  887. share/doc/dart/examples/heightmap/README.md +20 -0
  888. share/doc/dart/examples/heightmap/main.cpp +460 -0
  889. share/doc/dart/examples/hello_world/CMakeLists.txt +19 -0
  890. share/doc/dart/examples/hello_world/README.md +20 -0
  891. share/doc/dart/examples/hello_world/main.cpp +114 -0
  892. share/doc/dart/examples/hubo_puppet/CMakeLists.txt +19 -0
  893. share/doc/dart/examples/hubo_puppet/README.md +20 -0
  894. share/doc/dart/examples/hubo_puppet/main.cpp +1464 -0
  895. share/doc/dart/examples/human_joint_limits/CMakeLists.txt +49 -0
  896. share/doc/dart/examples/human_joint_limits/HumanArmJointLimitConstraint.cpp +411 -0
  897. share/doc/dart/examples/human_joint_limits/HumanArmJointLimitConstraint.hpp +182 -0
  898. share/doc/dart/examples/human_joint_limits/HumanLegJointLimitConstraint.cpp +432 -0
  899. share/doc/dart/examples/human_joint_limits/HumanLegJointLimitConstraint.hpp +179 -0
  900. share/doc/dart/examples/human_joint_limits/main.cpp +157 -0
  901. share/doc/dart/examples/hybrid_dynamics/CMakeLists.txt +19 -0
  902. share/doc/dart/examples/hybrid_dynamics/README.md +17 -0
  903. share/doc/dart/examples/hybrid_dynamics/main.cpp +187 -0
  904. share/doc/dart/examples/imgui/CMakeLists.txt +19 -0
  905. share/doc/dart/examples/imgui/README.md +20 -0
  906. share/doc/dart/examples/imgui/main.cpp +289 -0
  907. share/doc/dart/examples/joint_constraints/CMakeLists.txt +19 -0
  908. share/doc/dart/examples/joint_constraints/Controller.cpp +110 -0
  909. share/doc/dart/examples/joint_constraints/Controller.hpp +105 -0
  910. share/doc/dart/examples/joint_constraints/README.md +22 -0
  911. share/doc/dart/examples/joint_constraints/main.cpp +242 -0
  912. share/doc/dart/examples/mixed_chain/CMakeLists.txt +19 -0
  913. share/doc/dart/examples/mixed_chain/README.md +35 -0
  914. share/doc/dart/examples/mixed_chain/main.cpp +188 -0
  915. share/doc/dart/examples/operational_space_control/CMakeLists.txt +19 -0
  916. share/doc/dart/examples/operational_space_control/README.md +20 -0
  917. share/doc/dart/examples/operational_space_control/main.cpp +338 -0
  918. share/doc/dart/examples/point_cloud/CMakeLists.txt +19 -0
  919. share/doc/dart/examples/point_cloud/README.md +20 -0
  920. share/doc/dart/examples/point_cloud/main.cpp +740 -0
  921. share/doc/dart/examples/rerun/CMakeLists.txt +19 -0
  922. share/doc/dart/examples/rigid_chain/CMakeLists.txt +19 -0
  923. share/doc/dart/examples/rigid_chain/README.md +19 -0
  924. share/doc/dart/examples/rigid_chain/main.cpp +110 -0
  925. share/doc/dart/examples/rigid_cubes/CMakeLists.txt +19 -0
  926. share/doc/dart/examples/rigid_cubes/README.md +91 -0
  927. share/doc/dart/examples/rigid_cubes/main.cpp +201 -0
  928. share/doc/dart/examples/rigid_loop/CMakeLists.txt +19 -0
  929. share/doc/dart/examples/rigid_loop/README.md +34 -0
  930. share/doc/dart/examples/rigid_loop/main.cpp +127 -0
  931. share/doc/dart/examples/rigid_shapes/CMakeLists.txt +19 -0
  932. share/doc/dart/examples/rigid_shapes/README.md +19 -0
  933. share/doc/dart/examples/rigid_shapes/main.cpp +250 -0
  934. share/doc/dart/examples/simple_frames/CMakeLists.txt +19 -0
  935. share/doc/dart/examples/simple_frames/README.md +27 -0
  936. share/doc/dart/examples/simple_frames/main.cpp +124 -0
  937. share/doc/dart/examples/simulation_event_handler/CMakeLists.txt +19 -0
  938. share/doc/dart/examples/simulation_event_handler/README.md +189 -0
  939. share/doc/dart/examples/simulation_event_handler/SimulationEventHandler.cpp +572 -0
  940. share/doc/dart/examples/simulation_event_handler/SimulationEventHandler.hpp +211 -0
  941. share/doc/dart/examples/simulation_event_handler/main.cpp +277 -0
  942. share/doc/dart/examples/soft_bodies/CMakeLists.txt +19 -0
  943. share/doc/dart/examples/soft_bodies/README.md +20 -0
  944. share/doc/dart/examples/soft_bodies/main.cpp +219 -0
  945. share/doc/dart/examples/speed_test/CMakeLists.txt +19 -0
  946. share/doc/dart/examples/speed_test/README.md +20 -0
  947. share/doc/dart/examples/speed_test/main.cpp +250 -0
  948. share/doc/dart/examples/tinkertoy/CMakeLists.txt +19 -0
  949. share/doc/dart/examples/tinkertoy/README.md +20 -0
  950. share/doc/dart/examples/tinkertoy/TinkertoyWidget.cpp +208 -0
  951. share/doc/dart/examples/tinkertoy/TinkertoyWidget.hpp +70 -0
  952. share/doc/dart/examples/tinkertoy/TinkertoyWorldNode.cpp +35 -0
  953. share/doc/dart/examples/tinkertoy/TinkertoyWorldNode.hpp +470 -0
  954. share/doc/dart/examples/tinkertoy/main.cpp +186 -0
  955. share/doc/dart/examples/vehicle/CMakeLists.txt +19 -0
  956. share/doc/dart/examples/vehicle/README.md +22 -0
  957. share/doc/dart/examples/vehicle/main.cpp +195 -0
  958. share/doc/dart/examples/wam_ikfast/CMakeLists.txt +22 -0
  959. share/doc/dart/examples/wam_ikfast/Helpers.cpp +148 -0
  960. share/doc/dart/examples/wam_ikfast/Helpers.hpp +46 -0
  961. share/doc/dart/examples/wam_ikfast/InputHandler.cpp +110 -0
  962. share/doc/dart/examples/wam_ikfast/InputHandler.hpp +73 -0
  963. share/doc/dart/examples/wam_ikfast/README.md +20 -0
  964. share/doc/dart/examples/wam_ikfast/WamWorld.cpp +46 -0
  965. share/doc/dart/examples/wam_ikfast/WamWorld.hpp +53 -0
  966. share/doc/dart/examples/wam_ikfast/ikfast/CMakeLists.txt +11 -0
  967. share/doc/dart/examples/wam_ikfast/ikfast/ikfast71.Transform6D.4_6_9_10_11_12_f8.cpp +14930 -0
  968. share/doc/dart/examples/wam_ikfast/osgWamIkFast.cpp +96 -0
  969. share/doc/dart/tutorials/CMakeLists.txt +12 -0
  970. share/doc/dart/tutorials/README.md +45 -0
  971. share/doc/dart/tutorials/tutorial_biped/CMakeLists.txt +19 -0
  972. share/doc/dart/tutorials/tutorial_biped/README +18 -0
  973. share/doc/dart/tutorials/tutorial_biped/main.cpp +374 -0
  974. share/doc/dart/tutorials/tutorial_biped_finished/CMakeLists.txt +19 -0
  975. share/doc/dart/tutorials/tutorial_biped_finished/README +18 -0
  976. share/doc/dart/tutorials/tutorial_biped_finished/main.cpp +532 -0
  977. share/doc/dart/tutorials/tutorial_collisions/CMakeLists.txt +19 -0
  978. share/doc/dart/tutorials/tutorial_collisions/README +18 -0
  979. share/doc/dart/tutorials/tutorial_collisions/main.cpp +506 -0
  980. share/doc/dart/tutorials/tutorial_collisions_finished/CMakeLists.txt +19 -0
  981. share/doc/dart/tutorials/tutorial_collisions_finished/README +18 -0
  982. share/doc/dart/tutorials/tutorial_collisions_finished/main.cpp +679 -0
  983. share/doc/dart/tutorials/tutorial_dominoes/CMakeLists.txt +19 -0
  984. share/doc/dart/tutorials/tutorial_dominoes/README +18 -0
  985. share/doc/dart/tutorials/tutorial_dominoes/main.cpp +394 -0
  986. share/doc/dart/tutorials/tutorial_dominoes_finished/CMakeLists.txt +19 -0
  987. share/doc/dart/tutorials/tutorial_dominoes_finished/README +18 -0
  988. share/doc/dart/tutorials/tutorial_dominoes_finished/main.cpp +559 -0
  989. share/doc/dart/tutorials/tutorial_multi_pendulum/CMakeLists.txt +19 -0
  990. share/doc/dart/tutorials/tutorial_multi_pendulum/README +18 -0
  991. share/doc/dart/tutorials/tutorial_multi_pendulum/main.cpp +443 -0
  992. share/doc/dart/tutorials/tutorial_multi_pendulum_finished/CMakeLists.txt +19 -0
  993. share/doc/dart/tutorials/tutorial_multi_pendulum_finished/README +18 -0
  994. share/doc/dart/tutorials/tutorial_multi_pendulum_finished/main.cpp +512 -0
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+ <skel version="1.0">
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+ <physics>
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+ <time_step>0.001</time_step>
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+ <gravity>0 -9.81 0</gravity>
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+ <collision_detector>fcl_mesh</collision_detector>
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+ <skeleton name="ground skeleton">
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+ <joint type="free" name="joint 1">
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+ <parent>world</parent>
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+ <child>ground</child>
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+ </joint>
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+ </skeleton>
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+ <skeleton name="fullbody1">
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+ <transformation>0 0 0 0 0 0</transformation>
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+ <body name="h_pelvis">
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+ <transformation>0 0 0 0 0 0</transformation>
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+ <inertia>
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+ <mass>5.6154</mass>
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+ <offset>0.0 0 0.0</offset>
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+ <visualization_shape>
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+ <transformation>0.0 0 0.0 0 0 0</transformation>
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+ <geometry>
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+ <box>
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+ <size>0.1088 0.1088 0.23936</size>
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+ <box>
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+ <!--size>1.0*0.1088 1.0*0.1088 2.2*0.1088</size-->
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+ </box>
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+ <box>
299
+ <!--size>0.5000*0.2507 1.0000*0.2507 0.7000*0.2507</size-->
300
+ <size>0.12535 0.2507 0.17549</size>
301
+ </box>
302
+ </geometry>
303
+ </collision_shape>
304
+ </body>
305
+
306
+ <body name="h_spine">
307
+ <transformation>0.0 0.3069 0.0 0.0 0.0 0.0</transformation>
308
+ <inertia>
309
+ <mass>4.8608</mass>
310
+ <offset>0.0 0.0908 0.0</offset>
311
+ </inertia>
312
+ <visualization_shape>
313
+ <transformation>0.0 0.0908 0.0 0.0 0.0 0.0</transformation>
314
+ <geometry>
315
+ <box>
316
+ <!--size>0.5000*0.1816 1.0000*0.1816 0.5000*0.1816</size-->
317
+ <size>0.0908 0.1816 0.0908</size>
318
+ </box>
319
+ </geometry>
320
+ </visualization_shape>
321
+ <collision_shape>
322
+ <transformation>0.0 0.0908 0.0 0.0 0.0 0.0</transformation>
323
+ <geometry>
324
+ <box>
325
+ <!--size>0.5000*0.1816 1.0000*0.1816 0.5000*0.1816</size-->
326
+ <size>0.0908 0.1816 0.0908</size>
327
+ </box>
328
+ </geometry>
329
+ </collision_shape>
330
+ </body>
331
+
332
+ <body name="h_head">
333
+ <transformation>0.0 0.4885 0.0 0.0 0.0 0.0</transformation>
334
+ <inertia>
335
+ <mass>3.92</mass>
336
+ <offset>0.0 0.07825 0.0</offset>
337
+ </inertia>
338
+ <visualization_shape>
339
+ <transformation>0.0 0.07825 0.0 0.0 0.0 0.0</transformation>
340
+ <geometry>
341
+ <box>
342
+ <!--size>0.6500*0.1565 1.0000*0.1565 0.8000*0.1565</size-->
343
+ <size>0.101725 0.1565 0.1252</size>
344
+ </box>
345
+ </geometry>
346
+ <color>1.0 0.5 0.0</color>
347
+ </visualization_shape>
348
+ <collision_shape>
349
+ <transformation>0.0 0.07825 0.0 0.0 0.0 0.0</transformation>
350
+ <geometry>
351
+ <box>
352
+ <!--size>0.6500*0.1565 1.0000*0.1565 0.8000*0.1565</size-->
353
+ <size>0.101725 0.1565 0.1252</size>
354
+ </box>
355
+ </geometry>
356
+ </collision_shape>
357
+ </body>
358
+
359
+ <!-- Left Arm -->
360
+ <body name="h_scapula_left">
361
+ <transformation>0.0 0.3069 0.0 -0.9423 0.0 0.0</transformation>
362
+ <inertia>
363
+ <mass>2.6264</mass>
364
+ <offset>0.0 0.09615 0.0</offset>
365
+ </inertia>
366
+ <visualization_shape>
367
+ <transformation>0.0 0.09615 0.0 0.0 0.0 0.0</transformation>
368
+ <geometry>
369
+ <box>
370
+ <!--size>0.5000*0.1923 1.0000*0.1923 0.5000*0.1923</size-->
371
+ <size>0.09615 0.1923 0.09615</size>
372
+ </box>
373
+ </geometry>
374
+ </visualization_shape>
375
+ <collision_shape>
376
+ <transformation>0.0 0.09615 0.0 0.0 0.0 0.0</transformation>
377
+ <geometry>
378
+ <box>
379
+ <!--size>0.5000*0.1923 1.0000*0.1923 0.5000*0.1923</size-->
380
+ <size>0.09615 0.1923 0.09615</size>
381
+ </box>
382
+ </geometry>
383
+ </collision_shape>
384
+ </body>
385
+
386
+ <body name="h_bicep_left">
387
+ <transformation>0.0 0.397146 -0.169809 0.0 0.0 0.0</transformation>
388
+ <inertia>
389
+ <mass>1.6219</mass>
390
+ <offset>0.0 -0.1308 0.0</offset>
391
+ </inertia>
392
+ <visualization_shape>
393
+ <transformation>0.0 -0.1308 0.0 0.0 0.0 0.0</transformation>
394
+ <geometry>
395
+ <box>
396
+ <!--size>0.3000*0.2616 1.0000*0.2616 0.3000*0.2616</size-->
397
+ <size>0.07848 0.2616 0.07848</size>
398
+ </box>
399
+ </geometry>
400
+ </visualization_shape>
401
+ <collision_shape>
402
+ <transformation>0.0 -0.1308 0.0 0.0 0.0 0.0</transformation>
403
+ <geometry>
404
+ <box>
405
+ <!--size>0.3000*0.2616 1.0000*0.2616 0.3000*0.2616</size-->
406
+ <size>0.07848 0.2616 0.07848</size>
407
+ </box>
408
+ </geometry>
409
+ </collision_shape>
410
+ </body>
411
+
412
+ <body name="h_forearm_left">
413
+ <transformation>0.0 0.135546 -0.169809 0.0 0.0 0.0</transformation>
414
+ <inertia>
415
+ <mass>0.6909</mass>
416
+ <offset>0.0 -0.1012 0.0</offset>
417
+ </inertia>
418
+ <visualization_shape>
419
+ <transformation>0.0 -0.1012 0.0 0.0 0.0 0.0</transformation>
420
+ <geometry>
421
+ <box>
422
+ <!--size>0.2500*0.2024 1.0000*0.2024 0.2500*0.2024</size-->
423
+ <size>0.0506 0.2024 0.0506</size>
424
+ </box>
425
+ </geometry>
426
+ </visualization_shape>
427
+ <collision_shape>
428
+ <transformation>0.0 -0.1012 0.0 0.0 0.0 0.0</transformation>
429
+ <geometry>
430
+ <box>
431
+ <!--size>0.2500*0.2024 1.0000*0.2024 0.2500*0.2024</size-->
432
+ <size>0.0506 0.2024 0.0506</size>
433
+ </box>
434
+ </geometry>
435
+ </collision_shape>
436
+ </body>
437
+
438
+ <body name="h_hand_left">
439
+ <transformation>0.0 -0.066854 -0.169809 0.0 0.0 0.0</transformation>
440
+ <inertia>
441
+ <mass>0.2940</mass>
442
+ <offset>0.0 -0.06595 0.0</offset>
443
+ </inertia>
444
+ <visualization_shape>
445
+ <transformation>0.0 -0.06595 0.0 0.0 0.0 0.0</transformation>
446
+ <geometry>
447
+ <box>
448
+ <!--size>0.2500*0.1319 1.0000*0.1319 0.2500*0.1319</size-->
449
+ <size>0.032975 0.1319 0.032975</size>
450
+ </box>
451
+ </geometry>
452
+ <color>1.0 0.5 0.0</color>
453
+ </visualization_shape>
454
+ <collision_shape>
455
+ <transformation>0.0 -0.06595 0.0 0.0 0.0 0.0</transformation>
456
+ <geometry>
457
+ <box>
458
+ <!--size>0.2500*0.1319 1.0000*0.1319 0.2500*0.1319</size-->
459
+ <size>0.032975 0.1319 0.032975</size>
460
+ </box>
461
+ </geometry>
462
+ </collision_shape>
463
+ </body>
464
+
465
+ <!-- Right Arm -->
466
+ <body name="h_scapula_right">
467
+ <transformation>0.0 0.3069 0.0 0.9423 0.0 0.0</transformation>
468
+ <inertia>
469
+ <mass>2.6264</mass>
470
+ <offset>0.0 0.09615 0.0</offset>
471
+ </inertia>
472
+ <visualization_shape>
473
+ <transformation>0.0 0.09615 0.0 0.0 0.0 0.0</transformation>
474
+ <geometry>
475
+ <box>
476
+ <!--size>0.5000*0.1923 1.0000*0.1923 0.5000*0.1923</size-->
477
+ <size>0.09615 0.1923 0.09615</size>
478
+ </box>
479
+ </geometry>
480
+ </visualization_shape>
481
+ <collision_shape>
482
+ <transformation>0.0 0.09615 0.0 0.0 0.0 0.0</transformation>
483
+ <geometry>
484
+ <box>
485
+ <!--size>0.5000*0.1923 1.0000*0.1923 0.5000*0.1923</size-->
486
+ <size>0.09615 0.1923 0.09615</size>
487
+ </box>
488
+ </geometry>
489
+ </collision_shape>
490
+ </body>
491
+
492
+ <body name="h_bicep_right">
493
+ <transformation>0.0 0.397146 0.169809 0.0 0.0 0.0</transformation>
494
+ <inertia>
495
+ <mass>1.6219</mass>
496
+ <offset>0.0 -0.1308 0.0</offset>
497
+ </inertia>
498
+ <visualization_shape>
499
+ <transformation>0.0 -0.1308 0.0 0.0 0.0 0.0</transformation>
500
+ <geometry>
501
+ <box>
502
+ <!--size>0.3000*0.2616 1.0000*0.2616 0.3000*0.2616</size-->
503
+ <size>0.07848 0.2616 0.07848</size>
504
+ </box>
505
+ </geometry>
506
+ </visualization_shape>
507
+ <collision_shape>
508
+ <transformation>0.0 -0.1308 0.0 0.0 0.0 0.0</transformation>
509
+ <geometry>
510
+ <box>
511
+ <!--size>0.3000*0.2616 1.0000*0.2616 0.3000*0.2616</size-->
512
+ <size>0.07848 0.2616 0.07848</size>
513
+ </box>
514
+ </geometry>
515
+ </collision_shape>
516
+ </body>
517
+
518
+ <body name="h_forearm_right">
519
+ <transformation>0.0 0.135546 0.169809 0.0 0.0 0.0</transformation>
520
+ <inertia>
521
+ <mass>0.6909</mass>
522
+ <offset>0.0 -0.1012 0.0</offset>
523
+ </inertia>
524
+ <visualization_shape>
525
+ <transformation>0.0 -0.1012 0.0 0.0 0.0 0.0</transformation>
526
+ <geometry>
527
+ <box>
528
+ <!--size>0.2500*0.2024 1.0000*0.2024 0.2500*0.2024</size-->
529
+ <size>0.0506 0.2024 0.0506</size>
530
+ </box>
531
+ </geometry>
532
+ </visualization_shape>
533
+ <collision_shape>
534
+ <transformation>0.0 -0.1012 0.0 0.0 0.0 0.0</transformation>
535
+ <geometry>
536
+ <box>
537
+ <!--size>0.2500*0.2024 1.0000*0.2024 0.2500*0.2024</size-->
538
+ <size>0.0506 0.2024 0.0506</size>
539
+ </box>
540
+ </geometry>
541
+ </collision_shape>
542
+ </body>
543
+
544
+ <body name="h_hand_right">
545
+ <transformation>0.0 -0.066854 0.169809 0.0 0.0 0.0</transformation>
546
+ <inertia>
547
+ <mass>0.2940</mass>
548
+ <offset>0.0 -0.06595 0.0</offset>
549
+ </inertia>
550
+ <visualization_shape>
551
+ <transformation>0.0 -0.06595 0.0 0.0 0.0 0.0</transformation>
552
+ <geometry>
553
+ <box>
554
+ <!--size>0.2500*0.1319 1.0000*0.1319 0.2500*0.1319</size-->
555
+ <size>0.032975 0.1319 0.032975</size>
556
+ </box>
557
+ </geometry>
558
+ <color>1.0 0.5 0.0</color>
559
+ </visualization_shape>
560
+ <collision_shape>
561
+ <transformation>0.0 -0.06595 0.0 0.0 0.0 0.0</transformation>
562
+ <geometry>
563
+ <box>
564
+ <!--size>0.2500*0.1319 1.0000*0.1319 0.2500*0.1319</size-->
565
+ <size>0.032975 0.1319 0.032975</size>
566
+ </box>
567
+ </geometry>
568
+ </collision_shape>
569
+ </body>
570
+
571
+ <!-- JOINT: Pelvis -->
572
+ <joint type="free" name="j_pelvis">
573
+ <parent>world</parent>
574
+ <child>h_pelvis</child>
575
+ <init_pos>0 0 0 0 0 0</init_pos>
576
+ <init_vel>0 0 0 0 0 0</init_vel>
577
+ </joint>
578
+
579
+ <!-- JOINT: Left Leg -->
580
+ <joint type="euler" name="j_thigh_left">
581
+ <transformation>0.0 0.0 0.0 0.0 0.0 0.0</transformation>
582
+ <parent>h_pelvis</parent>
583
+ <child>h_thigh_left</child>
584
+ <axis_order>zyx</axis_order>
585
+ <init_pos>0 0 0</init_pos>
586
+ <init_vel>0 0 0</init_vel>
587
+ </joint>
588
+
589
+ <joint type="revolute" name="j_shin_left">
590
+ <transformation>0.0 0.0 0.0 0.0 0.0 0.0</transformation>
591
+ <parent>h_thigh_left</parent>
592
+ <child>h_shin_left</child>
593
+ <axis>
594
+ <xyz>0.0 0.0 1.0</xyz>
595
+ </axis>
596
+ <init_pos>-0.17</init_pos>
597
+ <init_vel>0</init_vel>
598
+ </joint>
599
+
600
+ <joint type="universal" name="j_heel_left">
601
+ <transformation>0.0 0.0 0.0 0.0 0.0 0.0</transformation>
602
+ <parent>h_shin_left</parent>
603
+ <child>h_heel_left</child>
604
+ <axis>
605
+ <xyz>0.0 0.0 1.0</xyz>
606
+ </axis>
607
+ <axis2>
608
+ <xyz>0.0 1.0 0.0</xyz>
609
+ </axis2>
610
+ <init_pos>0 0</init_pos>
611
+ <init_vel>0 0</init_vel>
612
+ </joint>
613
+
614
+ <joint type="revolute" name="j_toe_left">
615
+ <transformation>0.0 0.0 0.0 0.0 0.0 0.0</transformation>
616
+ <parent>h_heel_left</parent>
617
+ <child>h_toe_left</child>
618
+ <axis>
619
+ <xyz>0.0 0.0 1.0</xyz>
620
+ </axis>
621
+ <init_pos>0</init_pos>
622
+ <init_vel>0</init_vel>
623
+ </joint>
624
+
625
+ <!-- JOINT: Right Leg -->
626
+ <joint type="euler" name="j_thigh_right">
627
+ <transformation>0.0 0.0 0.0 0.0 0.0 0.0</transformation>
628
+ <parent>h_pelvis</parent>
629
+ <child>h_thigh_right</child>
630
+ <axis_order>zyx</axis_order>
631
+ <init_pos>0 0 0</init_pos>
632
+ <init_vel>0 0 0</init_vel>
633
+ </joint>
634
+
635
+ <joint type="revolute" name="j_shin_right">
636
+ <transformation>0.0 0.0 0.0 0.0 0.0 0.0</transformation>
637
+ <parent>h_thigh_right</parent>
638
+ <child>h_shin_right</child>
639
+ <axis>
640
+ <xyz>0.0 0.0 1.0</xyz>
641
+ </axis>
642
+ <init_pos>-0.17</init_pos>
643
+ <init_vel>0</init_vel>
644
+ </joint>
645
+
646
+ <joint type="universal" name="j_heel_right">
647
+ <transformation>0.0 0.0 0.0 0.0 0.0 0.0</transformation>
648
+ <parent>h_shin_right</parent>
649
+ <child>h_heel_right</child>
650
+ <axis>
651
+ <xyz>0.0 0.0 1.0</xyz>
652
+ </axis>
653
+ <axis2>
654
+ <xyz>0.0 1.0 0.0</xyz>
655
+ </axis2>
656
+ <init_pos>0 0</init_pos>
657
+ <init_vel>0 0</init_vel>
658
+ </joint>
659
+
660
+ <joint type="revolute" name="j_toe_right">
661
+ <transformation>0.0 0.0 0.0 0.0 0.0 0.0</transformation>
662
+ <parent>h_heel_right</parent>
663
+ <child>h_toe_right</child>
664
+ <axis>
665
+ <xyz>0.0 0.0 1.0</xyz>
666
+ </axis>
667
+ <init_pos>0</init_pos>
668
+ <init_vel>0</init_vel>
669
+ </joint>
670
+
671
+ <!-- -->
672
+ <joint type="universal" name="j_abdomen">
673
+ <transformation>0.0 0.0 0.0 0.0 0.0 0.0</transformation>
674
+ <parent>h_pelvis</parent>
675
+ <child>h_abdomen</child>
676
+ <axis>
677
+ <xyz>1.0 0.0 0.0</xyz>
678
+ </axis>
679
+ <axis2>
680
+ <xyz>0.0 0.0 1.0</xyz>
681
+ </axis2>
682
+ <init_pos>0 0</init_pos>
683
+ <init_vel>0 0</init_vel>
684
+ </joint>
685
+
686
+ <joint type="revolute" name="j_spine">
687
+ <transformation>0.0 0.0 0.0 0.0 0.0 0.0</transformation>
688
+ <parent>h_abdomen</parent>
689
+ <child>h_spine</child>
690
+ <axis>
691
+ <xyz>0.0 1.0 0.0</xyz>
692
+ </axis>
693
+ <init_pos>0</init_pos>
694
+ <init_vel>0</init_vel>
695
+ </joint>
696
+
697
+ <joint type="universal" name="j_head">
698
+ <transformation>0.0 0.0 0.0 0.0 0.0 0.0</transformation>
699
+ <parent>h_spine</parent>
700
+ <child>h_head</child>
701
+ <axis>
702
+ <xyz>0.0 0.0 1.0</xyz>
703
+ </axis>
704
+ <axis2>
705
+ <xyz>1.0 0.0 0.0</xyz>
706
+ </axis2>
707
+ <init_pos>0 0</init_pos>
708
+ <init_vel>0 0</init_vel>
709
+ </joint>
710
+
711
+ <!-- JOINT: Left Arm -->
712
+ <joint type="revolute" name="j_scapula_left">
713
+ <transformation>0.0 0.0 0.0 0.0 0.0 0.0</transformation>
714
+ <parent>h_spine</parent>
715
+ <child>h_scapula_left</child>
716
+ <axis>
717
+ <xyz>1.0 0.0 0.0</xyz>
718
+ </axis>
719
+ <init_pos>0.0</init_pos>
720
+ <init_vel>0</init_vel>
721
+ </joint>
722
+
723
+ <joint type="euler" name="j_bicep_left">
724
+ <transformation>0.0 0.0 0.0 -1.2423 0.0 0.0</transformation>
725
+ <parent>h_scapula_left</parent>
726
+ <child>h_bicep_left</child>
727
+ <axis_order>zyx</axis_order>
728
+ <init_pos>0 0 0</init_pos>
729
+ <init_vel>0 0 0</init_vel>
730
+ </joint>
731
+
732
+ <joint type="revolute" name="j_forearm_left">
733
+ <transformation>0.0 0.0 0.0 0.0 0.0 0.0</transformation>
734
+ <parent>h_bicep_left</parent>
735
+ <child>h_forearm_left</child>
736
+ <axis>
737
+ <xyz>0.0 0.0 1.0</xyz>
738
+ </axis>
739
+ <init_pos>0</init_pos>
740
+ <init_vel>0</init_vel>
741
+ </joint>
742
+
743
+ <joint type="revolute" name="j_hand_left">
744
+ <transformation>0.0 0.0 0.0 0.0 0.0 0.0</transformation>
745
+ <parent>h_forearm_left</parent>
746
+ <child>h_hand_left</child>
747
+ <axis>
748
+ <xyz>1.0 0.0 0.0</xyz>
749
+ </axis>
750
+ <init_pos>0</init_pos>
751
+ <init_vel>0</init_vel>
752
+ </joint>
753
+
754
+ <!-- JOINT: Right Arm -->
755
+ <joint type="revolute" name="j_scapula_right">
756
+ <transformation>0.0 0.0 0.0 0.0 0.0 0.0</transformation>
757
+ <parent>h_spine</parent>
758
+ <child>h_scapula_right</child>
759
+ <axis>
760
+ <xyz>1.0 0.0 0.0</xyz>
761
+ </axis>
762
+ <init_pos>0</init_pos>
763
+ <init_vel>0</init_vel>
764
+ </joint>
765
+
766
+ <joint type="euler" name="j_bicep_right">
767
+ <transformation>0.0 0.0 0.0 1.2423 0.0 0.0</transformation>
768
+ <parent>h_scapula_right</parent>
769
+ <child>h_bicep_right</child>
770
+ <axis_order>zyx</axis_order>
771
+ <init_pos>0 0 0</init_pos>
772
+ <init_vel>0 0 0</init_vel>
773
+ </joint>
774
+
775
+ <joint type="revolute" name="j_forearm_right">
776
+ <transformation>0.0 0.0 0.0 0.0 0.0 0.0</transformation>
777
+ <parent>h_bicep_right</parent>
778
+ <child>h_forearm_right</child>
779
+ <axis>
780
+ <xyz>0.0 0.0 1.0</xyz>
781
+ </axis>
782
+ <init_pos>0</init_pos>
783
+ <init_vel>0</init_vel>
784
+ </joint>
785
+
786
+ <joint type="revolute" name="j_hand_right">
787
+ <transformation>0.0 0.0 0.0 0.0 0.0 0.0</transformation>
788
+ <parent>h_forearm_right</parent>
789
+ <child>h_hand_right</child>
790
+ <axis>
791
+ <xyz>1.0 0.0 0.0</xyz>
792
+ </axis>
793
+ <init_pos>0</init_pos>
794
+ <init_vel>0</init_vel>
795
+ </joint>
796
+
797
+ </skeleton>
798
+
799
+ </world>
800
+ </skel>
801
+
802
+ <!-- Original Skel File (fullbody1.skel) -->
803
+ <!--
804
+ dofs {
805
+ pelvis_trans_x { 0.0000, -100.0000, 100.0000 }
806
+ pelvis_trans_y { 0.0000, -100.0000, 100.0000 }
807
+ pelvis_trans_z { 0.0000, -100.0000, 100.0000 }
808
+ pelvis_euler_z { 0.0, -3.1416, 3.1416 }
809
+ pelvis_euler_y { 0.0, -3.1416, 3.1416 }
810
+ pelvis_euler_x { 0.0, -3.1416, 3.1416 }
811
+ pelvis_width { 0.1088, 0.0000, 1.0000 }
812
+ l_thigh_euler_z { 0.0, -3.1416, 3.1416 }
813
+ l_thigh_euler_y { 0.0, -3.1416, 3.1416 }
814
+ l_thigh_euler_x { 0.0, -3.1416, 3.1416 }
815
+ thigh_len { 0.3721, 0.0000, 1.0000 }
816
+ l_knee_euler_z { -0.17, -3.1416, 0.0000 }
817
+ shin_len { 0.3737, 0.0000, 1.0000 }
818
+ l_ankle_euler_z { 0.0000, -0.5236, 0.5236 }
819
+ l_ankle_euler_y { 0.0000, -0.7854, 0.7854 }
820
+ foot_len { 0.208, 0.0000, 1.0000 }
821
+ l_toe_euler_z { 0.0000, -0.5236, 0.5236 }
822
+ heel_len { 0.108, 0.0000, 1.0000 }
823
+ toe_len { 0.1, 0.0000, 1.0000 }
824
+ r_thigh_euler_z { 0.0, -3.1416, 3.1416 }
825
+ r_thigh_euler_y { 0.0, -3.1416, 3.1416 }
826
+ r_thigh_euler_x { 0.0, -3.1416, 3.1416 }
827
+ r_knee_euler_z { -0.17, -3.1416, 0.0000 }
828
+ r_ankle_euler_z { 0.0000, -0.5236, 0.5236 }
829
+ r_ankle_euler_y { 0.0000, -0.7854, 0.7854 }
830
+ r_toe_euler_z { 0.0000, -0.5236, 0.5236 }
831
+ pelvis_height { 0.0562, 0.0000, 1.0000 }
832
+ abdomen_euler_x { 0.000, -0.5, 0.5 }
833
+ abdomen_euler_z { 0.000, -0.5, 0.5}
834
+ abdomen_len { 0.2507, 0.0000, 1.0000 }
835
+ spine_euler_y { 0.00, -1.0, 1.0 }
836
+ spine_len { 0.1816, 0.0000, 1.0000 }
837
+ neck_euler_z { 0.0000, -1.0472, 1.0472 }
838
+ neck_euler_x { 0.0000, -1.0472, 1.0472 }
839
+ head_len { 0.1565, 0.0000, 1.0000 }
840
+ scapula_off { 0.0253, 0.0000, 1.0000 }
841
+ l_scapula_euler_x { -0.14, -0.2491, 0.2491 }
842
+ scapula_len { 0.1923, 0.0000, 1.0000 }
843
+ l_bicep_euler_z { 0.0, -3.1416, 3.1416 }
844
+ l_bicep_euler_y { 0.0, -3.1416, 3.1416 }
845
+ l_bicep_euler_x { 0.0, -3.1416, 3.1416 }
846
+ bicep_len { 0.2616, 0.0000, 1.0000 }
847
+ l_elbow_euler_z { 0.7, 0.0000, 3.1416 }
848
+ forearm_len { 0.2024, 0.0000, 1.0000 }
849
+ l_wrist_euler_x { 0.0000, -1.5708, 1.5708 }
850
+ hand_len { 0.1319, 0.0000, 1.0000 }
851
+ r_scapula_euler_x { 0.14, -0.2491, 0.2491 }
852
+ r_bicep_euler_z { 0.0, -3.1416, 3.1416 }
853
+ r_bicep_euler_y { 0.0, -3.1416, 3.1416 }
854
+ r_bicep_euler_x { 0.0, -3.1416, 3.1416 }
855
+ r_elbow_euler_z { 0.7, 0.0000, 3.1416 }
856
+ r_wrist_euler_x { 0.0000, -1.5708, 1.5708 }
857
+ }
858
+
859
+ mass {
860
+ total_mass { 49 }
861
+ head_mass { 3.92 }
862
+ pelvis_mass { 5.6154 }
863
+ abdomen_mass { 4.1846 }
864
+ spine_mass { 4.8608 }
865
+ scapula_mass { 2.6264 }
866
+ bicep_mass { 1.6219 }
867
+ forearm_mass { 0.6909 }
868
+ hand_mass { 0.294 }
869
+ thigh_mass { 6.5709 }
870
+ shin_mass { 1.7738 }
871
+ foot_mass { 1.0831 }
872
+ heel_mass { 0.5831 }
873
+ toe_mass { 0.5 }
874
+ }
875
+
876
+ node root { 0
877
+ chain { 2
878
+ translate { <pelvis_trans_x,pelvis_trans_y,pelvis_trans_z> }
879
+ rotate_euler { pelvis_euler_z, z }
880
+ rotate_euler { pelvis_euler_y, y }
881
+ rotate_euler { pelvis_euler_x, x }
882
+
883
+ }
884
+
885
+ primitive { <1.0000,1.0000,2.2000>, <0.0000,0.0000,0.0000>, pelvis_width, CUBE, pelvis_mass }
886
+
887
+ node h_thigh_left { 1
888
+ chain { 2
889
+ telescope { <0.1516,-0.5307,-0.8339>, pelvis_width }
890
+ rotate_euler { l_thigh_euler_z, z }
891
+ rotate_euler { l_thigh_euler_y, y }
892
+ rotate_euler { l_thigh_euler_x, x }
893
+
894
+ }
895
+
896
+ primitive { <0.2500,1.0000,0.2500>, <0.0000,-0.5000,0.0000>, thigh_len, CUBE, thigh_mass
897
+ }
898
+
899
+ node h_shin_left { 2
900
+ chain { 2
901
+ telescope { <0.0000,-1.0000,0.0000>, thigh_len }
902
+ rotate_euler { l_knee_euler_z, z }
903
+ }
904
+
905
+ primitive { <0.2000,1.0000,0.2000>, <0.0000,-0.5000,0.0000>, shin_len, CUBE, shin_mass
906
+ }
907
+
908
+ node h_heel_left { 3
909
+ chain { 3
910
+ telescope { <0.0000,-1.0000,0.0000>, shin_len }
911
+ rotate_euler { l_ankle_euler_z, z }
912
+ rotate_euler { l_ankle_euler_y, y }
913
+ }
914
+
915
+ primitive {
916
+ <1.00,0.50,1.00>, <0.2000,-0.2000,0.0000>, heel_len, CUBE, heel_mass, <1.0, 0.5, 0.0>
917
+ }
918
+ node h_toe_left { 4
919
+ chain { 2
920
+ telescope { <1.0000,0.0000,0.0000>, heel_len }
921
+ rotate_euler { l_toe_euler_z, z }
922
+ }
923
+
924
+ primitive {
925
+ <1.0000,0.500,0.8>, <0.2000,-0.2000,0.0000>, toe_len, CUBE, toe_mass, <1.0, 0.5, 0.0>
926
+ }
927
+
928
+ }
929
+
930
+ }
931
+
932
+ }
933
+
934
+ }
935
+
936
+ node h_thigh_right { 4
937
+ chain { 2
938
+ telescope { <0.1516,-0.5307,0.8339>, pelvis_width }
939
+ rotate_euler { r_thigh_euler_z, z }
940
+ rotate_euler { r_thigh_euler_y, y }
941
+ rotate_euler { r_thigh_euler_x, x }
942
+ }
943
+
944
+ primitive {
945
+ <0.2500,1.0000,0.2500>, <0.0000,-0.5000,0.0000>, thigh_len, CUBE, thigh_mass
946
+ }
947
+
948
+ node h_shin_right { 5
949
+ chain { 2
950
+ telescope { <0.0000,-1.0000,0.0000>, thigh_len }
951
+ rotate_euler { r_knee_euler_z, z }
952
+ }
953
+
954
+ primitive {
955
+ <0.2000,1.0000,0.2000>, <0.0000,-0.5000,0.0000>, shin_len, CUBE, shin_mass
956
+ }
957
+
958
+ node h_heel_right { 3
959
+ chain { 3
960
+ telescope { <0.0000,-1.0000,0.0000>, shin_len }
961
+ rotate_euler { r_ankle_euler_z, z }
962
+ rotate_euler { r_ankle_euler_y, y }
963
+ }
964
+
965
+ primitive {
966
+ <1.00,0.50,1.00>, <0.2000,-0.2000,0.0000>, heel_len, CUBE, heel_mass, <1.0, 0.5, 0.0>
967
+ }
968
+ node h_toe_right { 4
969
+ chain { 2
970
+ telescope { <1.0000,0.0000,0.0000>, heel_len }
971
+ rotate_euler { r_toe_euler_z, z }
972
+ }
973
+
974
+ primitive {
975
+ <1.0000,0.500,0.8>, <0.2000,-0.2000,0.0000>, toe_len, CUBE, toe_mass, <1.0, 0.5, 0.0>
976
+ }
977
+
978
+ }
979
+
980
+ }
981
+
982
+ }
983
+
984
+ }
985
+
986
+ node h_abdomen { 7
987
+ chain { 3
988
+ telescope { <0.0000,1.0000,0.0000>, pelvis_height }
989
+ rotate_euler { abdomen_euler_x, x }
990
+ rotate_euler { abdomen_euler_z, z }
991
+ }
992
+
993
+ primitive {
994
+ <0.5000,1.0000,0.7000>, <0.0000,0.5000,0.0000>, abdomen_len, CUBE, abdomen_mass
995
+ }
996
+
997
+ node h_spine { 8
998
+ chain { 2
999
+ telescope { <0.0000,1.0000,0.0000>, abdomen_len }
1000
+ rotate_euler { spine_euler_y, y }
1001
+ }
1002
+
1003
+ primitive {
1004
+ <0.5000,1.0000,0.5000>, <0.0000,0.5000,0.0000>, spine_len, CUBE, spine_mass
1005
+ }
1006
+
1007
+ node h_head { 9
1008
+ chain { 4
1009
+ telescope { <0.0000,1.0000,0.0000>, spine_len }
1010
+ rotate_euler { neck_euler_z, z }
1011
+ rotate_euler { neck_euler_x, x }
1012
+ }
1013
+
1014
+ primitive {
1015
+ <0.6500,1.0000,0.8000>, <0.0000,0.5000,0.0000>, head_len, CUBE, head_mass, <1.0, 0.5, 0.0>
1016
+ }
1017
+
1018
+ }
1019
+
1020
+ node h_scapula_left { 10
1021
+ chain { 3
1022
+ rotate_cons { -0.9423, x }
1023
+ rotate_euler { l_scapula_euler_x, x }
1024
+ }
1025
+
1026
+ primitive {
1027
+ <0.5000,1.0000,0.5000>, <0.0000,0.5000,0.0000>, scapula_len, CUBE, scapula_mass
1028
+ }
1029
+
1030
+ node h_bicep_left { 11
1031
+ chain { 2
1032
+ telescope { <0.0000,1.0000,0.0000>, scapula_len }
1033
+ rotate_euler { l_bicep_euler_z, z }
1034
+ rotate_euler { l_bicep_euler_y, y }
1035
+ rotate_euler { l_bicep_euler_x, x }
1036
+ rotate_cons { 1.2423, x }
1037
+
1038
+ }
1039
+
1040
+ primitive {
1041
+ <0.3000,1.0000,0.3000>, <0.0000,-0.5000,0.0000>, bicep_len, CUBE, bicep_mass
1042
+
1043
+ }
1044
+
1045
+ node h_forearm_left { 12
1046
+ chain { 3
1047
+ telescope { <0.0000,-1.0000,0.0000>, bicep_len }
1048
+ rotate_euler { l_elbow_euler_z, z }
1049
+ }
1050
+
1051
+ primitive {
1052
+ <0.2500,1.0000,0.2500>, <0.0000,-0.5000,0.0000>, forearm_len, CUBE, forearm_mass
1053
+
1054
+ }
1055
+
1056
+ node h_hand_left { 13
1057
+ chain { 2
1058
+ telescope { <0.0000,-1.0000,0.0000>, forearm_len }
1059
+ rotate_euler { l_wrist_euler_x, x }
1060
+ }
1061
+
1062
+ primitive {
1063
+ <0.2500,1.0000,0.2500>, <0.0000,-0.5000,0.0000>, hand_len, CUBE, hand_mass, <1.0, 0.5, 0.0>
1064
+ }
1065
+
1066
+
1067
+ }
1068
+
1069
+ }
1070
+
1071
+ }
1072
+
1073
+ }
1074
+
1075
+ node h_scapula_right { 14
1076
+ chain { 3
1077
+ rotate_cons { 0.9423, x }
1078
+ rotate_euler { r_scapula_euler_x, x }
1079
+ }
1080
+
1081
+ primitive {
1082
+ <0.5000,1.0000,0.5000>, <0.0000,0.5000,0.0000>, scapula_len, CUBE, scapula_mass
1083
+ }
1084
+
1085
+ node h_bicep_right { 15
1086
+ chain { 2
1087
+ telescope { <0.0000,1.0000,0.0000>, scapula_len }
1088
+ rotate_euler { r_bicep_euler_z, z }
1089
+ rotate_euler { r_bicep_euler_y, y }
1090
+ rotate_euler { r_bicep_euler_x, x }
1091
+ rotate_cons { -1.2423, x }
1092
+
1093
+ }
1094
+
1095
+ primitive {
1096
+ <0.3000,1.0000,0.3000>, <0.0000,-0.5000,0.0000>, bicep_len, CUBE, bicep_mass
1097
+ }
1098
+
1099
+ node h_forearm_right { 16
1100
+ chain { 3
1101
+ telescope { <0.0000,-1.0000,0.0000>, bicep_len }
1102
+ rotate_euler { r_elbow_euler_z, z }
1103
+ }
1104
+
1105
+ primitive {
1106
+ <0.2500,1.0000,0.2500>, <0.0000,-0.5000,0.0000>, forearm_len, CUBE, forearm_mass
1107
+ }
1108
+
1109
+ node h_hand_right { 17
1110
+ chain { 2
1111
+ telescope { <0.0000,-1.0000,0.0000>, forearm_len }
1112
+ rotate_euler { r_wrist_euler_x, x }
1113
+ }
1114
+
1115
+ primitive {
1116
+ <0.2500,1.0000,0.2500>, <0.0000,-0.5000,0.0000>, hand_len, CUBE, hand_mass, <1.0, 0.5, 0.0>
1117
+ }
1118
+
1119
+
1120
+ }
1121
+
1122
+ }
1123
+
1124
+ }
1125
+
1126
+ }
1127
+
1128
+ }
1129
+
1130
+ }
1131
+
1132
+ }
1133
+
1134
+ handles {
1135
+ LFHD { <0.1016,0.1792,-0.0703>, 0, h_head }
1136
+ RFHD { <0.1220,0.1750,0.0470>, 1, h_head }
1137
+ LBHD { <-0.0649,0.1420,-0.0568>, 2, h_head }
1138
+ RBHD { <-0.0564,0.1350,0.0621>, 3, h_head }
1139
+ C7 { <-0.1045,0.1013,-0.0088>, 4, h_spine }
1140
+ T10 { <-0.0699,0.0770,-0.0038>, 5, h_abdomen }
1141
+ CLAV { <0.0960,0.1226,0.0071>, 6, h_spine }
1142
+ STRN { <0.1431,0.1941,-0.0058>, 7, h_abdomen }
1143
+ RBAC { <-0.1066,0.1351,-0.0032>, 8, h_scapula_right }
1144
+ LSHO { <0.0022,0.2244,0.0356>, 9, h_scapula_left }
1145
+ LUPA { <-0.0246,-0.1602,0.0162>, 10, h_bicep_left }
1146
+ LELB { <-0.0006,-0.2633,-0.0272>, 11, h_bicep_left }
1147
+ LFRM { <-0.0270,-0.1354,-0.0121>, 12, h_forearm_left }
1148
+ LWRA { <0.0258,-0.2265,-0.0311>, 13, h_forearm_left }
1149
+ LWRB { <-0.0440,-0.2151,-0.0011>, 14, h_forearm_left }
1150
+ LFIN { <-0.0239,-0.1148,-0.0353>, 15, h_hand_left }
1151
+ RSHO { <-0.0346,0.2194,-0.0498>, 16, h_scapula_right }
1152
+ RUPA { <-0.0459,-0.1392,0.0229>, 17, h_bicep_right }
1153
+ RELB { <-0.0022,-0.2701,0.0397>, 18, h_bicep_right }
1154
+ RFRM { <-0.0138,-0.1455,0.0322>, 19, h_forearm_right }
1155
+ RWRA { <0.0330,-0.2540,0.0395>, 20, h_forearm_right }
1156
+ RWRB { <-0.0357,-0.2283,0.0297>, 21, h_forearm_right }
1157
+ RFIN { <-0.0295,-0.1123,0.0707>, 22, h_hand_right }
1158
+ LFWT { <0.0735,0.0704,-0.1545>, 23, root }
1159
+ RFWT { <0.0957,0.0827,0.0654>, 24, root }
1160
+ LBWT { <-0.0928,0.0520,-0.1075>, 25, root }
1161
+ RBWT { <-0.0716,0.0699,0.0790>, 26, root }
1162
+ LTHI { <0.0969,-0.1451,-0.0032>, 27, h_thigh_left }
1163
+ LKNE { <-0.0159,-0.3867,-0.0395>, 28, h_thigh_left }
1164
+ LSHN { <0.0115,-0.2288,-0.0026>, 29, h_shin_left }
1165
+ LANK { <-0.0201,-0.3600,-0.0380>, 30, h_shin_left }
1166
+ LHEE { <-0.0800,-0.04,-0.0179>, 31, h_heel_left }
1167
+ LTOE { <0.1427,0.0040,0.0350>, 32, h_toe_left }
1168
+ LMT5 { <0.1492,0.0027,-0.0519>, 33, h_toe_left }
1169
+ RTHI { <0.1018,-0.1285,0.0077>, 34, h_thigh_right }
1170
+ RKNE { <-0.0064,-0.3716,0.0328>, 35, h_thigh_right }
1171
+ RSHN { <0.0160,-0.1998,0.0144>, 36, h_shin_right }
1172
+ RANK { <-0.0086,-0.3553,0.0258>, 37, h_shin_right }
1173
+ RHEE { <-0.0737,-0.04,-0.0102>, 38, h_heel_right }
1174
+ RTOE { <0.1635,-0.0077,-0.0189>, 39, h_toe_right }
1175
+ RMT5 { <0.1361,-0.0149,0.0634>, 40, h_toe_right }
1176
+ }
1177
+ -->