5518 lines
502 KiB
Plaintext
5518 lines
502 KiB
Plaintext
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<asset>
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<contributor>
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<authoring_tool>CPFCatiaPlugin</authoring_tool>
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</contributor>
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<created>2009-02-17T14:09:46Z</created>
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<modified>2009-02-17T14:09:46Z</modified>
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<color>1 1 1 1</color>
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<diffuse>
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<color>1 1 1 1</color>
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</diffuse>
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</phong>
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</technique>
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</profile_COMMON>
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<instance_effect url="#effect4294967295"/>
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</material>
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</library_materials>
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<library_joints id="libjoints">
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<joint id="joint_0" name="IR600.0_IR663.1">
|
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<revolute sid="axis0">
|
|
<axis>0 0 1</axis>
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</revolute>
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</joint>
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<joint id="joint_1" name="IR663.1_IR600.1b">
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|
<prismatic sid="axis0">
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<axis>1 0 0</axis>
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<limits>
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<min>0</min>
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<max>0</max>
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</limits>
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</prismatic>
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</joint>
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<joint id="joint_2" name="IR663.1_IR600.1b_1">
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|
<prismatic sid="axis0">
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|
<axis>1 0 0</axis>
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|
<limits>
|
|
<min>0</min>
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|
<max>0</max>
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|
</limits>
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</prismatic>
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</joint>
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<joint id="joint_3" name="IR663.1_IR600.2">
|
|
<revolute sid="axis0">
|
|
<axis>0 1 0</axis>
|
|
</revolute>
|
|
</joint>
|
|
<joint id="joint_4" name="IR600.2_IR600.2a">
|
|
<revolute sid="axis0">
|
|
<axis>0 1 0</axis>
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|
</revolute>
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|
</joint>
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|
<joint id="joint_5" name="IR600.2_IR663.3">
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|
<revolute sid="axis0">
|
|
<axis>0 1 0</axis>
|
|
</revolute>
|
|
</joint>
|
|
<joint id="joint_6" name="Joint_4">
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|
<revolute sid="axis0">
|
|
<axis>-1 0 0</axis>
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|
<limits>
|
|
<min>-350</min>
|
|
<max>350</max>
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|
</limits>
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|
</revolute>
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|
</joint>
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|
<joint id="joint_7" name="Joint_5">
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|
<revolute sid="axis0">
|
|
<axis>1 0 0</axis>
|
|
<limits>
|
|
<min>-172</min>
|
|
<max>172</max>
|
|
</limits>
|
|
</revolute>
|
|
</joint>
|
|
<joint id="joint_8" name="Joint_5">
|
|
<revolute sid="axis0">
|
|
<axis>-1 0 0</axis>
|
|
<limits>
|
|
<min>-172</min>
|
|
<max>172</max>
|
|
</limits>
|
|
</revolute>
|
|
</joint>
|
|
<joint id="joint_9" name="IR663.5b_IR663.6">
|
|
<revolute sid="axis0">
|
|
<axis>1 0 0</axis>
|
|
</revolute>
|
|
</joint>
|
|
<joint id="joint_10" name="IR663.3_IR600.2b">
|
|
<revolute sid="axis0">
|
|
<axis>0 1 0</axis>
|
|
</revolute>
|
|
</joint>
|
|
<joint id="joint_11" name="IR600.2_IR600.2c">
|
|
<revolute sid="axis0">
|
|
<axis>0 1 0</axis>
|
|
</revolute>
|
|
</joint>
|
|
<joint id="joint_12" name="IR600.2c_IR600.2p">
|
|
<prismatic sid="axis0">
|
|
<axis>0 0 1</axis>
|
|
</prismatic>
|
|
</joint>
|
|
<joint id="joint_13" name="IR663.1_IR663.1a">
|
|
<revolute sid="axis0">
|
|
<axis>0 1 0</axis>
|
|
</revolute>
|
|
</joint>
|
|
<joint id="joint_14" name="IR663.1a_IR600.1c">
|
|
<prismatic sid="axis0">
|
|
<axis>1 0 0</axis>
|
|
</prismatic>
|
|
</joint>
|
|
<joint id="joint_15" name="IR663.1_IR663.1a_1">
|
|
<revolute sid="axis0">
|
|
<axis>0 1 0</axis>
|
|
</revolute>
|
|
</joint>
|
|
<joint id="joint_16" name="IR663.1a_1_IR600.1c_1">
|
|
<prismatic sid="axis0">
|
|
<axis>1 0 0</axis>
|
|
</prismatic>
|
|
</joint>
|
|
<joint id="pseudojoint_1" name="pseudojoint_1">
|
|
<prismatic sid="axis0">
|
|
<axis>-1 0 0</axis>
|
|
</prismatic>
|
|
</joint>
|
|
<joint id="pseudojoint_2" name="pseudojoint_2">
|
|
<prismatic sid="axis0">
|
|
<axis>-1 0 0</axis>
|
|
</prismatic>
|
|
</joint>
|
|
<joint id="pseudojoint_3" name="pseudojoint_3">
|
|
<prismatic sid="axis0">
|
|
<axis>-1 0 0</axis>
|
|
</prismatic>
|
|
</joint>
|
|
<joint id="pseudojoint_6" name="pseudojoint_6">
|
|
<prismatic sid="axis0">
|
|
<axis>-1 0 0</axis>
|
|
</prismatic>
|
|
</joint>
|
|
</library_joints>
|
|
<library_kinematics_models id="libkinmodels">
|
|
<kinematics_model id="kinmodel.0" name="D5Device">
|
|
<technique_common>
|
|
<instance_joint url="#joint_0" sid="joint_0"/>
|
|
<instance_joint url="#joint_1" sid="joint_1"/>
|
|
<instance_joint url="#joint_2" sid="joint_2"/>
|
|
<instance_joint url="#joint_3" sid="joint_3"/>
|
|
<instance_joint url="#joint_4" sid="joint_4"/>
|
|
<instance_joint url="#joint_5" sid="joint_5"/>
|
|
<instance_joint url="#joint_6" sid="joint_6"/>
|
|
<instance_joint url="#joint_7" sid="joint_7"/>
|
|
<instance_joint url="#joint_8" sid="joint_8"/>
|
|
<instance_joint url="#joint_9" sid="joint_9"/>
|
|
<instance_joint url="#joint_10" sid="joint_10"/>
|
|
<instance_joint url="#joint_11" sid="joint_11"/>
|
|
<instance_joint url="#joint_12" sid="joint_12"/>
|
|
<instance_joint url="#joint_13" sid="joint_13"/>
|
|
<instance_joint url="#joint_14" sid="joint_14"/>
|
|
<instance_joint url="#joint_15" sid="joint_15"/>
|
|
<instance_joint url="#joint_16" sid="joint_16"/>
|
|
<instance_joint url="#pseudojoint_1" sid="pseudojoint_1"/>
|
|
<instance_joint url="#pseudojoint_2" sid="pseudojoint_2"/>
|
|
<instance_joint url="#pseudojoint_3" sid="pseudojoint_3"/>
|
|
<instance_joint url="#pseudojoint_6" sid="pseudojoint_6"/>
|
|
<link sid="IR600.0.1" name="IR600.0.1">
|
|
<attachment_full joint="kinmodel.0/pseudojoint_1">
|
|
<link/>
|
|
</attachment_full>
|
|
<attachment_full joint="kinmodel.0/pseudojoint_2">
|
|
<link/>
|
|
</attachment_full>
|
|
<attachment_full joint="kinmodel.0/pseudojoint_3">
|
|
<link/>
|
|
</attachment_full>
|
|
<attachment_full joint="kinmodel.0/pseudojoint_6">
|
|
<link/>
|
|
</attachment_full>
|
|
<attachment_full joint="kinmodel.0/joint_0">
|
|
<translate>0 0 892</translate>
|
|
<link sid="IR663.1.1" name="IR663.1.1">
|
|
<attachment_full joint="kinmodel.0/joint_1">
|
|
<translate>-444.046 -223.999 -289.288</translate>
|
|
<link sid="IR600.1b.1" name="IR600.1b.1"/>
|
|
</attachment_full>
|
|
<attachment_full joint="kinmodel.0/joint_2">
|
|
<translate>-444.046 223.999 -289.288</translate>
|
|
<link sid="IR600.1b_1.1" name="IR600.1b_1.1"/>
|
|
</attachment_full>
|
|
<attachment_full joint="kinmodel.0/joint_3">
|
|
<rotate>0 -1 0 62.614</rotate>
|
|
<link sid="IR600.2.1" name="IR600.2.1">
|
|
<attachment_full joint="kinmodel.0/joint_4">
|
|
<rotate>0 1 0 32.114</rotate>
|
|
<link sid="IR600.2a.1" name="IR600.2a.1"/>
|
|
</attachment_full>
|
|
<attachment_full joint="kinmodel.0/joint_5">
|
|
<translate>1.04075e-010 0 1050</translate>
|
|
<rotate>0 1 0 90</rotate>
|
|
<link sid="IR663.3.1" name="IR663.3.1">
|
|
<attachment_full joint="kinmodel.0/joint_6">
|
|
<translate>1760 0 0.000104825</translate>
|
|
<link sid="IR663.4.1" name="IR663.4.1">
|
|
<attachment_full joint="kinmodel.0/joint_7">
|
|
<rotate>0 1 0 30</rotate>
|
|
<link sid="IR663.5.1" name="IR663.5.1">
|
|
<attachment_full joint="kinmodel.0/joint_8">
|
|
<rotate>0 -1 0 60</rotate>
|
|
<link sid="IR663.5b.1" name="IR663.5b.1">
|
|
<attachment_full joint="kinmodel.0/joint_9">
|
|
<rotate>0 1 0 30</rotate>
|
|
<link sid="IR663.6.1" name="IR663.6.1"/>
|
|
</attachment_full>
|
|
</link>
|
|
</attachment_full>
|
|
</link>
|
|
</attachment_full>
|
|
</link>
|
|
</attachment_full>
|
|
<attachment_full joint="kinmodel.0/joint_10">
|
|
<translate>400 0 7.17802e-006</translate>
|
|
<rotate>0 1 0 90</rotate>
|
|
<link sid="IR600.2b.1" name="IR600.2b.1"/>
|
|
</attachment_full>
|
|
</link>
|
|
</attachment_full>
|
|
<attachment_full joint="kinmodel.0/joint_11">
|
|
<translate>-5.24977e-011 0 575</translate>
|
|
<rotate>0 1 0 4.01364e-005</rotate>
|
|
<link sid="IR600.2c.1" name="IR600.2c.1">
|
|
<attachment_full joint="kinmodel.0/joint_12">
|
|
<link sid="IR600.2p.1" name="IR600.2p.1"/>
|
|
</attachment_full>
|
|
</link>
|
|
</attachment_full>
|
|
</link>
|
|
</attachment_full>
|
|
<attachment_full joint="kinmodel.0/joint_13">
|
|
<translate>-606.997 -60 346.998</translate>
|
|
<rotate>0 1 0 29.755</rotate>
|
|
<link sid="IR663.1a.1" name="IR663.1a.1">
|
|
<attachment_full joint="kinmodel.0/joint_14">
|
|
<link sid="IR600.1c.1" name="IR600.1c.1"/>
|
|
</attachment_full>
|
|
</link>
|
|
</attachment_full>
|
|
<attachment_full joint="kinmodel.0/joint_15">
|
|
<translate>-674.503 130 34.0037</translate>
|
|
<rotate>0 1 0 2.886</rotate>
|
|
<link sid="IR663.1a_1.1" name="IR663.1a_1.1">
|
|
<attachment_full joint="kinmodel.0/joint_16">
|
|
<link sid="IR600.1c_1.1" name="IR600.1c_1.1"/>
|
|
</attachment_full>
|
|
</link>
|
|
</attachment_full>
|
|
</link>
|
|
</attachment_full>
|
|
</link>
|
|
<formula sid="joint_0.formula_0">
|
|
<target>
|
|
<param>kinmodel.0/joint_0</param>
|
|
</target>
|
|
<technique_common>
|
|
<math>
|
|
<csymbol encoding="COLLADA">kinmodel.0/pseudojoint_1</csymbol>
|
|
</math>
|
|
</technique_common>
|
|
<technique profile="GSL">
|
|
<gsl>=$B1=340;$B2=675.36;$L2=600.389;$C1=1050;$C2=473;$C3=1212;$C4=400;$C5=699.18;$C6=385;$L3=537.247;DOF(18)</gsl>
|
|
</technique>
|
|
</formula>
|
|
<formula sid="joint_10.formula_10">
|
|
<target>
|
|
<param>kinmodel.0/joint_10</param>
|
|
</target>
|
|
<technique_common>
|
|
<math>
|
|
<apply>
|
|
<minus/>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SSSA</csymbol>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SASS</csymbol>
|
|
<cn>1050</cn>
|
|
<apply>
|
|
<plus/>
|
|
<apply>
|
|
<minus/>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SSSA</csymbol>
|
|
<apply>
|
|
<plus/>
|
|
<csymbol encoding="COLLADA">kinmodel.0/pseudojoint_3</csymbol>
|
|
<cn>537.247</cn>
|
|
</apply>
|
|
<cn>699.18</cn>
|
|
<cn>385</cn>
|
|
</apply>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SSSA</csymbol>
|
|
<apply>
|
|
<plus/>
|
|
<csymbol encoding="COLLADA">kinmodel.0/pseudojoint_2</csymbol>
|
|
<cn>600.389</cn>
|
|
</apply>
|
|
<cn>340</cn>
|
|
<cn>675.36</cn>
|
|
</apply>
|
|
</apply>
|
|
<cn>2.14447</cn>
|
|
</apply>
|
|
<cn>473</cn>
|
|
</apply>
|
|
<cn>400</cn>
|
|
<cn>1212</cn>
|
|
</apply>
|
|
</apply>
|
|
</math>
|
|
</technique_common>
|
|
<technique profile="GSL">
|
|
<gsl>=DOF(20);-SSSA($C7,$C4,$C3)</gsl>
|
|
</technique>
|
|
</formula>
|
|
<formula sid="joint_11.formula_11">
|
|
<target>
|
|
<param>kinmodel.0/joint_11</param>
|
|
</target>
|
|
<technique_common>
|
|
<math>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SASA</csymbol>
|
|
<cn>170</cn>
|
|
<apply>
|
|
<minus/>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SSSA</csymbol>
|
|
<apply>
|
|
<plus/>
|
|
<csymbol encoding="COLLADA">kinmodel.0/pseudojoint_2</csymbol>
|
|
<cn>600.389</cn>
|
|
</apply>
|
|
<cn>340</cn>
|
|
<cn>675.36</cn>
|
|
</apply>
|
|
<cn>1.09282</cn>
|
|
</apply>
|
|
<cn>575</cn>
|
|
</apply>
|
|
</math>
|
|
</technique_common>
|
|
<technique profile="GSL">
|
|
<gsl>=SASA(170,$T2-1.09282,575)</gsl>
|
|
</technique>
|
|
</formula>
|
|
<formula sid="joint_12.formula_12">
|
|
<target>
|
|
<param>kinmodel.0/joint_12</param>
|
|
</target>
|
|
<technique_common>
|
|
<math>
|
|
<apply>
|
|
<minus/>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SASS</csymbol>
|
|
<cn>575</cn>
|
|
<apply>
|
|
<minus/>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SSSA</csymbol>
|
|
<apply>
|
|
<plus/>
|
|
<csymbol encoding="COLLADA">kinmodel.0/pseudojoint_2</csymbol>
|
|
<cn>600.389</cn>
|
|
</apply>
|
|
<cn>340</cn>
|
|
<cn>675.36</cn>
|
|
</apply>
|
|
<cn>1.09282</cn>
|
|
</apply>
|
|
<cn>170</cn>
|
|
</apply>
|
|
</apply>
|
|
</math>
|
|
</technique_common>
|
|
<technique profile="GSL">
|
|
<gsl>=-SASS(575,$T2-1.09282,170)</gsl>
|
|
</technique>
|
|
</formula>
|
|
<formula sid="joint_13.formula_13">
|
|
<target>
|
|
<param>kinmodel.0/joint_13</param>
|
|
</target>
|
|
<technique_common>
|
|
<math>
|
|
<apply>
|
|
<minus/>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SSSA</csymbol>
|
|
<cn>385</cn>
|
|
<apply>
|
|
<plus/>
|
|
<csymbol encoding="COLLADA">kinmodel.0/pseudojoint_3</csymbol>
|
|
<cn>537.247</cn>
|
|
</apply>
|
|
<cn>699.18</cn>
|
|
</apply>
|
|
</apply>
|
|
</math>
|
|
</technique_common>
|
|
<technique profile="GSL">
|
|
<gsl>=-SSSA($C6,DOF(20)+$L3,$C5)</gsl>
|
|
</technique>
|
|
</formula>
|
|
<formula sid="joint_14.formula_14">
|
|
<target>
|
|
<param>kinmodel.0/joint_14</param>
|
|
</target>
|
|
<technique_common>
|
|
<math>
|
|
<apply>
|
|
<plus/>
|
|
<csymbol encoding="COLLADA">kinmodel.0/pseudojoint_3</csymbol>
|
|
<cn>537.247</cn>
|
|
</apply>
|
|
</math>
|
|
</technique_common>
|
|
<technique profile="GSL">
|
|
<gsl>=DOF(20)+$L3</gsl>
|
|
</technique>
|
|
</formula>
|
|
<formula sid="joint_15.formula_15">
|
|
<target>
|
|
<param>kinmodel.0/joint_15</param>
|
|
</target>
|
|
<technique_common>
|
|
<math>
|
|
<apply>
|
|
<minus/>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SSSA</csymbol>
|
|
<cn>340</cn>
|
|
<apply>
|
|
<plus/>
|
|
<cn>600.389</cn>
|
|
<csymbol encoding="COLLADA">kinmodel.0/pseudojoint_2</csymbol>
|
|
</apply>
|
|
<cn>675.36</cn>
|
|
</apply>
|
|
</apply>
|
|
</math>
|
|
</technique_common>
|
|
<technique profile="GSL">
|
|
<gsl>=-SSSA($B1,$L2+DOF(19),$B2)</gsl>
|
|
</technique>
|
|
</formula>
|
|
<formula sid="joint_16.formula_16">
|
|
<target>
|
|
<param>kinmodel.0/joint_16</param>
|
|
</target>
|
|
<technique_common>
|
|
<math>
|
|
<apply>
|
|
<plus/>
|
|
<csymbol encoding="COLLADA">kinmodel.0/pseudojoint_2</csymbol>
|
|
<cn>600.389</cn>
|
|
</apply>
|
|
</math>
|
|
</technique_common>
|
|
<technique profile="GSL">
|
|
<gsl>=DOF(19)+$L2</gsl>
|
|
</technique>
|
|
</formula>
|
|
<formula sid="joint_3.formula_3">
|
|
<target>
|
|
<param>kinmodel.0/joint_3</param>
|
|
</target>
|
|
<technique_common>
|
|
<math>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SSSA</csymbol>
|
|
<apply>
|
|
<plus/>
|
|
<csymbol encoding="COLLADA">kinmodel.0/pseudojoint_2</csymbol>
|
|
<cn>600.389</cn>
|
|
</apply>
|
|
<cn>340</cn>
|
|
<cn>675.36</cn>
|
|
</apply>
|
|
</math>
|
|
</technique_common>
|
|
<technique profile="GSL">
|
|
<gsl>=$T2=SSSA(DOF(19)+$L2,$B1,$B2)</gsl>
|
|
</technique>
|
|
</formula>
|
|
<formula sid="joint_4.formula_4">
|
|
<target>
|
|
<param>kinmodel.0/joint_4</param>
|
|
</target>
|
|
<technique_common>
|
|
<math>
|
|
<apply>
|
|
<minus/>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SSSA</csymbol>
|
|
<apply>
|
|
<plus/>
|
|
<csymbol encoding="COLLADA">kinmodel.0/pseudojoint_3</csymbol>
|
|
<cn>537.247</cn>
|
|
</apply>
|
|
<cn>699.18</cn>
|
|
<cn>385</cn>
|
|
</apply>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SSSA</csymbol>
|
|
<apply>
|
|
<plus/>
|
|
<csymbol encoding="COLLADA">kinmodel.0/pseudojoint_2</csymbol>
|
|
<cn>600.389</cn>
|
|
</apply>
|
|
<cn>340</cn>
|
|
<cn>675.36</cn>
|
|
</apply>
|
|
</apply>
|
|
</math>
|
|
</technique_common>
|
|
<technique profile="GSL">
|
|
<gsl>=SSSA(DOF(20)+$L3,$C5,$C6)-$T2</gsl>
|
|
</technique>
|
|
</formula>
|
|
<formula sid="joint_5.formula_5">
|
|
<target>
|
|
<param>kinmodel.0/joint_5</param>
|
|
</target>
|
|
<technique_common>
|
|
<math>
|
|
<apply>
|
|
<minus/>
|
|
<apply>
|
|
<times/>
|
|
<apply>
|
|
<minus/>
|
|
<apply>
|
|
<minus/>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">INRANGE</csymbol>
|
|
<apply>
|
|
<plus/>
|
|
<apply>
|
|
<minus/>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SSSA</csymbol>
|
|
<apply>
|
|
<plus/>
|
|
<csymbol encoding="COLLADA">kinmodel.0/pseudojoint_3</csymbol>
|
|
<cn>537.247</cn>
|
|
</apply>
|
|
<cn>699.18</cn>
|
|
<cn>385</cn>
|
|
</apply>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SSSA</csymbol>
|
|
<apply>
|
|
<plus/>
|
|
<csymbol encoding="COLLADA">kinmodel.0/pseudojoint_2</csymbol>
|
|
<cn>600.389</cn>
|
|
</apply>
|
|
<cn>340</cn>
|
|
<cn>675.36</cn>
|
|
</apply>
|
|
</apply>
|
|
<cn>2.14447</cn>
|
|
</apply>
|
|
<apply>
|
|
<minus/>
|
|
<pi/>
|
|
</apply>
|
|
<pi/>
|
|
</apply>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">INRANGE</csymbol>
|
|
<apply>
|
|
<plus/>
|
|
<apply>
|
|
<minus/>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SSSA</csymbol>
|
|
<apply>
|
|
<plus/>
|
|
<csymbol encoding="COLLADA">kinmodel.0/pseudojoint_3</csymbol>
|
|
<cn>537.247</cn>
|
|
</apply>
|
|
<cn>699.18</cn>
|
|
<cn>385</cn>
|
|
</apply>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SSSA</csymbol>
|
|
<apply>
|
|
<plus/>
|
|
<csymbol encoding="COLLADA">kinmodel.0/pseudojoint_2</csymbol>
|
|
<cn>600.389</cn>
|
|
</apply>
|
|
<cn>340</cn>
|
|
<cn>675.36</cn>
|
|
</apply>
|
|
</apply>
|
|
<cn>2.14447</cn>
|
|
</apply>
|
|
<pi/>
|
|
<cn>9</cn>
|
|
</apply>
|
|
</apply>
|
|
</apply>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SSSA</csymbol>
|
|
<cn>473</cn>
|
|
<cn>1050</cn>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SASS</csymbol>
|
|
<cn>1050</cn>
|
|
<apply>
|
|
<plus/>
|
|
<apply>
|
|
<minus/>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SSSA</csymbol>
|
|
<apply>
|
|
<plus/>
|
|
<csymbol encoding="COLLADA">kinmodel.0/pseudojoint_3</csymbol>
|
|
<cn>537.247</cn>
|
|
</apply>
|
|
<cn>699.18</cn>
|
|
<cn>385</cn>
|
|
</apply>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SSSA</csymbol>
|
|
<apply>
|
|
<plus/>
|
|
<csymbol encoding="COLLADA">kinmodel.0/pseudojoint_2</csymbol>
|
|
<cn>600.389</cn>
|
|
</apply>
|
|
<cn>340</cn>
|
|
<cn>675.36</cn>
|
|
</apply>
|
|
</apply>
|
|
<cn>2.14447</cn>
|
|
</apply>
|
|
<cn>473</cn>
|
|
</apply>
|
|
</apply>
|
|
</apply>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SSSA</csymbol>
|
|
<cn>1212</cn>
|
|
<cn>400</cn>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SASS</csymbol>
|
|
<cn>1050</cn>
|
|
<apply>
|
|
<plus/>
|
|
<apply>
|
|
<minus/>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SSSA</csymbol>
|
|
<apply>
|
|
<plus/>
|
|
<csymbol encoding="COLLADA">kinmodel.0/pseudojoint_3</csymbol>
|
|
<cn>537.247</cn>
|
|
</apply>
|
|
<cn>699.18</cn>
|
|
<cn>385</cn>
|
|
</apply>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">SSSA</csymbol>
|
|
<apply>
|
|
<plus/>
|
|
<csymbol encoding="COLLADA">kinmodel.0/pseudojoint_2</csymbol>
|
|
<cn>600.389</cn>
|
|
</apply>
|
|
<cn>340</cn>
|
|
<cn>675.36</cn>
|
|
</apply>
|
|
</apply>
|
|
<cn>2.14447</cn>
|
|
</apply>
|
|
<cn>473</cn>
|
|
</apply>
|
|
</apply>
|
|
</apply>
|
|
</math>
|
|
</technique_common>
|
|
<technique profile="GSL">
|
|
<gsl>=$A0=SSSA(DOF(20)+$L3,$C5,$C6)-SSSA(DOF(19)+$L2,$B1,$B2)+2.14447;$C7=SASS($C1,$A0,$C2);$SIGN=INRANGE($A0,-PI,PI)-INRANGE($A0,PI,9);-$SIGN*SSSA($C2,$C1,$C7)-SSSA($C3,$C4,$C7)</gsl>
|
|
</technique>
|
|
</formula>
|
|
<formula sid="joint_8.formula_8">
|
|
<target>
|
|
<param>kinmodel.0/joint_8</param>
|
|
</target>
|
|
<technique_common>
|
|
<math>
|
|
<apply>
|
|
<times/>
|
|
<cn>1</cn>
|
|
<csymbol encoding="COLLADA">kinmodel.0/joint_7</csymbol>
|
|
</apply>
|
|
</math>
|
|
</technique_common>
|
|
<technique profile="GSL">
|
|
<gsl>1 * DOF(8)</gsl>
|
|
</technique>
|
|
</formula>
|
|
<formula sid="joint_9.formula_9">
|
|
<target>
|
|
<param>kinmodel.0/joint_9</param>
|
|
</target>
|
|
<technique_common>
|
|
<math>
|
|
<apply>
|
|
<minus/>
|
|
<csymbol encoding="COLLADA">kinmodel.0/pseudojoint_6</csymbol>
|
|
</apply>
|
|
</math>
|
|
</technique_common>
|
|
<technique profile="GSL">
|
|
<gsl>=$B1=340;$B2=675.36;$L2=600.389;$C1=1050;$C2=473;$C3=1212;$C4=400;$C5=699.18;$C6=385;$L3=537.247;-DOF(21)</gsl>
|
|
</technique>
|
|
</formula>
|
|
</technique_common>
|
|
</kinematics_model>
|
|
</library_kinematics_models>
|
|
<library_formulas>
|
|
<formula id="SSSA">
|
|
<newparam sid="a"/>
|
|
<newparam sid="b"/>
|
|
<newparam sid="c"/>
|
|
<technique_common>
|
|
<math>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">atan2</csymbol>
|
|
<apply>
|
|
<root/>
|
|
<cn>2</cn>
|
|
<apply>
|
|
<minus/>
|
|
<apply>
|
|
<power/>
|
|
<csymbol encoding="COLLADA">a</csymbol>
|
|
<cn>2</cn>
|
|
</apply>
|
|
<apply>
|
|
<power/>
|
|
<apply>
|
|
<divide/>
|
|
<apply>
|
|
<minus/>
|
|
<apply>
|
|
<plus/>
|
|
<apply>
|
|
<power/>
|
|
<csymbol encoding="COLLADA">a</csymbol>
|
|
<cn>2</cn>
|
|
</apply>
|
|
<apply>
|
|
<power/>
|
|
<csymbol encoding="COLLADA">b</csymbol>
|
|
<cn>2</cn>
|
|
</apply>
|
|
</apply>
|
|
<apply>
|
|
<power/>
|
|
<csymbol encoding="COLLADA">c</csymbol>
|
|
<cn>2</cn>
|
|
</apply>
|
|
</apply>
|
|
<apply>
|
|
<times/>
|
|
<cn>2</cn>
|
|
<csymbol encoding="COLLADA">b</csymbol>
|
|
</apply>
|
|
</apply>
|
|
<cn>2</cn>
|
|
</apply>
|
|
</apply>
|
|
</apply>
|
|
<apply>
|
|
<minus/>
|
|
<csymbol encoding="COLLADA">b</csymbol>
|
|
<apply>
|
|
<divide/>
|
|
<apply>
|
|
<minus/>
|
|
<apply>
|
|
<plus/>
|
|
<apply>
|
|
<power/>
|
|
<csymbol encoding="COLLADA">a</csymbol>
|
|
<cn>2</cn>
|
|
</apply>
|
|
<apply>
|
|
<power/>
|
|
<csymbol encoding="COLLADA">b</csymbol>
|
|
<cn>2</cn>
|
|
</apply>
|
|
</apply>
|
|
<apply>
|
|
<power/>
|
|
<csymbol encoding="COLLADA">c</csymbol>
|
|
<cn>2</cn>
|
|
</apply>
|
|
</apply>
|
|
<apply>
|
|
<times/>
|
|
<cn>2</cn>
|
|
<csymbol encoding="COLLADA">b</csymbol>
|
|
</apply>
|
|
</apply>
|
|
</apply>
|
|
</apply>
|
|
</math>
|
|
</technique_common>
|
|
</formula>
|
|
<formula id="atan2">
|
|
<newparam sid="y"/>
|
|
<newparam sid="x"/>
|
|
<technique_common>
|
|
<math>
|
|
<apply>
|
|
<plus/>
|
|
<apply>
|
|
<times/>
|
|
<apply>
|
|
<and/>
|
|
<apply>
|
|
<geq/>
|
|
<csymbol encoding="COLLADA">y</csymbol>
|
|
<cn>0</cn>
|
|
</apply>
|
|
<apply>
|
|
<geq/>
|
|
<csymbol encoding="COLLADA">x</csymbol>
|
|
<cn>0</cn>
|
|
</apply>
|
|
</apply>
|
|
<apply>
|
|
<arctan/>
|
|
<apply>
|
|
<divide/>
|
|
<apply>
|
|
<abs/>
|
|
<csymbol encoding="COLLADA">y</csymbol>
|
|
</apply>
|
|
<apply>
|
|
<abs/>
|
|
<csymbol encoding="COLLADA">x</csymbol>
|
|
</apply>
|
|
</apply>
|
|
</apply>
|
|
</apply>
|
|
<apply>
|
|
<times/>
|
|
<apply>
|
|
<and/>
|
|
<apply>
|
|
<geq/>
|
|
<csymbol encoding="COLLADA">y</csymbol>
|
|
<cn>0</cn>
|
|
</apply>
|
|
<apply>
|
|
<lt/>
|
|
<csymbol encoding="COLLADA">x</csymbol>
|
|
<cn>0</cn>
|
|
</apply>
|
|
</apply>
|
|
<apply>
|
|
<minus/>
|
|
<pi/>
|
|
<apply>
|
|
<arctan/>
|
|
<apply>
|
|
<divide/>
|
|
<apply>
|
|
<abs/>
|
|
<csymbol encoding="COLLADA">y</csymbol>
|
|
</apply>
|
|
<apply>
|
|
<abs/>
|
|
<csymbol encoding="COLLADA">x</csymbol>
|
|
</apply>
|
|
</apply>
|
|
</apply>
|
|
</apply>
|
|
</apply>
|
|
<apply>
|
|
<times/>
|
|
<apply>
|
|
<and/>
|
|
<apply>
|
|
<lt/>
|
|
<csymbol encoding="COLLADA">y</csymbol>
|
|
<cn>0</cn>
|
|
</apply>
|
|
<apply>
|
|
<lt/>
|
|
<csymbol encoding="COLLADA">x</csymbol>
|
|
<cn>0</cn>
|
|
</apply>
|
|
</apply>
|
|
<apply>
|
|
<minus/>
|
|
<apply>
|
|
<arctan/>
|
|
<apply>
|
|
<divide/>
|
|
<apply>
|
|
<abs/>
|
|
<csymbol encoding="COLLADA">y</csymbol>
|
|
</apply>
|
|
<apply>
|
|
<abs/>
|
|
<csymbol encoding="COLLADA">x</csymbol>
|
|
</apply>
|
|
</apply>
|
|
</apply>
|
|
<pi/>
|
|
</apply>
|
|
</apply>
|
|
<apply>
|
|
<times/>
|
|
<apply>
|
|
<and/>
|
|
<apply>
|
|
<lt/>
|
|
<csymbol encoding="COLLADA">y</csymbol>
|
|
<cn>0</cn>
|
|
</apply>
|
|
<apply>
|
|
<geq/>
|
|
<csymbol encoding="COLLADA">x</csymbol>
|
|
<cn>0</cn>
|
|
</apply>
|
|
</apply>
|
|
<apply>
|
|
<minus/>
|
|
<apply>
|
|
<arctan/>
|
|
<apply>
|
|
<divide/>
|
|
<apply>
|
|
<abs/>
|
|
<csymbol encoding="COLLADA">y</csymbol>
|
|
</apply>
|
|
<apply>
|
|
<abs/>
|
|
<csymbol encoding="COLLADA">x</csymbol>
|
|
</apply>
|
|
</apply>
|
|
</apply>
|
|
</apply>
|
|
</apply>
|
|
</apply>
|
|
</math>
|
|
</technique_common>
|
|
</formula>
|
|
<formula id="SASS">
|
|
<newparam sid="a"/>
|
|
<newparam sid="gamma"/>
|
|
<newparam sid="b"/>
|
|
<technique_common>
|
|
<math>
|
|
<apply>
|
|
<root/>
|
|
<cn>2</cn>
|
|
<apply>
|
|
<minus/>
|
|
<apply>
|
|
<plus/>
|
|
<apply>
|
|
<power/>
|
|
<csymbol encoding="COLLADA">a</csymbol>
|
|
<cn>2</cn>
|
|
</apply>
|
|
<apply>
|
|
<power/>
|
|
<csymbol encoding="COLLADA">b</csymbol>
|
|
<cn>2</cn>
|
|
</apply>
|
|
</apply>
|
|
<apply>
|
|
<times/>
|
|
<apply>
|
|
<times/>
|
|
<apply>
|
|
<times/>
|
|
<cn>2</cn>
|
|
<csymbol encoding="COLLADA">a</csymbol>
|
|
</apply>
|
|
<csymbol encoding="COLLADA">b</csymbol>
|
|
</apply>
|
|
<apply>
|
|
<cos/>
|
|
<csymbol encoding="COLLADA">gamma</csymbol>
|
|
</apply>
|
|
</apply>
|
|
</apply>
|
|
</apply>
|
|
</math>
|
|
</technique_common>
|
|
</formula>
|
|
<formula id="SASA">
|
|
<newparam sid="a"/>
|
|
<newparam sid="gamma"/>
|
|
<newparam sid="b"/>
|
|
<technique_common>
|
|
<math>
|
|
<apply>
|
|
<csymbol encoding="text/xml" definitionURL="" type="function">atan2</csymbol>
|
|
<apply>
|
|
<times/>
|
|
<csymbol encoding="COLLADA">a</csymbol>
|
|
<apply>
|
|
<sin/>
|
|
<csymbol encoding="COLLADA">gamma</csymbol>
|
|
</apply>
|
|
</apply>
|
|
<apply>
|
|
<minus/>
|
|
<csymbol encoding="COLLADA">b</csymbol>
|
|
<apply>
|
|
<times/>
|
|
<csymbol encoding="COLLADA">a</csymbol>
|
|
<apply>
|
|
<cos/>
|
|
<csymbol encoding="COLLADA">gamma</csymbol>
|
|
</apply>
|
|
</apply>
|
|
</apply>
|
|
</apply>
|
|
</math>
|
|
</technique_common>
|
|
</formula>
|
|
<formula id="INRANGE">
|
|
<newparam sid="a"/>
|
|
<newparam sid="b"/>
|
|
<newparam sid="c"/>
|
|
<technique_common>
|
|
<math>
|
|
<apply>
|
|
<and/>
|
|
<apply>
|
|
<geq/>
|
|
<csymbol encoding="COLLADA">a</csymbol>
|
|
<csymbol encoding="COLLADA">b</csymbol>
|
|
</apply>
|
|
<apply>
|
|
<leq/>
|
|
<csymbol encoding="COLLADA">a</csymbol>
|
|
<csymbol encoding="COLLADA">c</csymbol>
|
|
</apply>
|
|
</apply>
|
|
</math>
|
|
</technique_common>
|
|
</formula>
|
|
</library_formulas>
|
|
<library_kinematics_scenes id="libkinscenes">
|
|
<kinematics_scene id="libkinscenes.kinScene">
|
|
<instance_kinematics_model url="#kinmodel.0" sid="inst_kinmodel.0">
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/joint_0/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value">
|
|
<float>0</float>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_1_axis0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/joint_1/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_1_axis0_value">
|
|
<float>0</float>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_2_axis0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/joint_2/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_2_axis0_value">
|
|
<float>0</float>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/joint_3/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0_value">
|
|
<float>62.6141</float>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_4_axis0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/joint_4/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_4_axis0_value">
|
|
<float>-12.9465</float>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_5_axis0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/joint_5/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_5_axis0_value">
|
|
<float>-90.0001</float>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_6_axis0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/joint_6/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_6_axis0_value">
|
|
<float>0</float>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_7_axis0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/joint_7/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_7_axis0_value">
|
|
<float>0</float>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_8_axis0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/joint_8/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_8_axis0_value">
|
|
<float>0</float>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_9_axis0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/joint_9/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_9_axis0_value">
|
|
<float>-0</float>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_10_axis0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/joint_10/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_10_axis0_value">
|
|
<float>-92.1132</float>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_11_axis0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/joint_11/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_11_axis0_value">
|
|
<float>4.33092e-005</float>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_12_axis0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/joint_12/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_12_axis0_value">
|
|
<float>-405</float>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_13_axis0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/joint_13/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_13_axis0_value">
|
|
<float>-33.1121</float>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_14_axis0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/joint_14/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_14_axis0_value">
|
|
<float>537.247</float>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_15_axis0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/joint_15/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_15_axis0_value">
|
|
<float>-30.1876</float>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_16_axis0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/joint_16/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_16_axis0_value">
|
|
<float>600.389</float>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_pseudojoint_1_axis0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/pseudojoint_1/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_pseudojoint_1_axis0_value">
|
|
<float>0</float>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_pseudojoint_2_axis0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/pseudojoint_2/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_pseudojoint_2_axis0_value">
|
|
<float>0</float>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_pseudojoint_3_axis0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/pseudojoint_3/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_pseudojoint_3_axis0_value">
|
|
<float>0</float>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_pseudojoint_6_axis0">
|
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/pseudojoint_6/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_pseudojoint_6_axis0_value">
|
|
<float>0</float>
|
|
</newparam>
|
|
</instance_kinematics_model>
|
|
</kinematics_scene>
|
|
</library_kinematics_scenes>
|
|
<scene>
|
|
<instance_visual_scene url="#libvisualscenes.scene"/>
|
|
<instance_kinematics_scene url="#libkinscenes.kinScene">
|
|
<bind_kinematics_model node="IR600.0.1_0">
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0</param>
|
|
</bind_kinematics_model>
|
|
<bind_joint_axis target="IR663.1.1_1/joint_0_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.1b.1_2/joint_0_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.1b_1.1_3/joint_0_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.2.1_4/joint_0_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.2a.1_5/joint_0_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.3.1_6/joint_0_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.4.1_7/joint_0_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.5.1_8/joint_0_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.5b.1_9/joint_0_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.6.1_10/joint_0_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.2b.1_11/joint_0_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.2c.1_12/joint_0_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.2p.1_13/joint_0_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.1a.1_14/joint_0_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.1c.1_15/joint_0_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.1a_1.1_16/joint_0_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.1c_1.1_17/joint_0_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.1b.1_2/joint_1_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_1_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_1_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.1b_1.1_3/joint_2_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_2_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_2_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.2.1_4/joint_3_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.2a.1_5/joint_3_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.3.1_6/joint_3_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.4.1_7/joint_3_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.5.1_8/joint_3_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.5b.1_9/joint_3_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.6.1_10/joint_3_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.2b.1_11/joint_3_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.2c.1_12/joint_3_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.2p.1_13/joint_3_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_3_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.2a.1_5/joint_4_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_4_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_4_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.3.1_6/joint_5_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_5_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_5_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.4.1_7/joint_5_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_5_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_5_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.5.1_8/joint_5_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_5_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_5_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.5b.1_9/joint_5_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_5_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_5_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.6.1_10/joint_5_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_5_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_5_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.2b.1_11/joint_5_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_5_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_5_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.4.1_7/joint_6_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_6_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_6_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.5.1_8/joint_6_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_6_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_6_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.5b.1_9/joint_6_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_6_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_6_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.6.1_10/joint_6_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_6_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_6_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.5.1_8/joint_7_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_7_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_7_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.5b.1_9/joint_7_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_7_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_7_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.6.1_10/joint_7_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_7_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_7_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.5b.1_9/joint_8_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_8_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_8_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.6.1_10/joint_8_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_8_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_8_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.6.1_10/joint_9_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_9_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_9_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.2b.1_11/joint_10_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_10_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_10_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.2c.1_12/joint_11_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_11_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_11_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.2p.1_13/joint_11_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_11_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_11_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.2p.1_13/joint_12_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_12_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_12_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.1a.1_14/joint_13_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_13_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_13_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.1c.1_15/joint_13_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_13_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_13_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.1c.1_15/joint_14_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_14_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_14_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR663.1a_1.1_16/joint_15_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_15_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_15_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.1c_1.1_17/joint_15_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_15_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_15_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="IR600.1c_1.1_17/joint_16_axis0">
|
|
<axis>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_16_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_16_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
</instance_kinematics_scene>
|
|
</scene>
|
|
</COLLADA>
|