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Adding yaml files for the most recent version of my quadrupded. Putti…
…ng them in /resources/YamlStructures with the others temporarily, until a decision has been made by the devs on a more permanent location.
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substructures: | ||
spine: | ||
path: MountainGoatSpine/MGSpine.yaml | ||
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front_right_leg/back_right_leg/front_left_leg/back_left_leg: | ||
path: MountainGoatLimb/MGLeg.yaml | ||
front_right_leg/back_right_leg: | ||
rotation: | ||
reference: [0, 0, 0] | ||
axis: [0, 1, 0] | ||
angle: 180 | ||
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front_right_leg/front_left_leg: | ||
translation: [22, 0, 0] | ||
back_right_leg/back_left_leg: | ||
translation: [66, 0, 0] | ||
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bond_groups: | ||
string: | ||
front_right_leg/spine/node_node: | ||
- [hip.inner_top, vertebra1.back2] | ||
- [hip.inner_top, vertebra2.front2] | ||
- [hip.inner_top, vertebra2.back1] | ||
- [hip.inner_top, vertebra3.front1] | ||
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- [hip.inner_bottom, vertebra1.back1] | ||
- [hip.inner_bottom, vertebra2.front2] | ||
- [hip.inner_bottom, vertebra2.back1] | ||
- [hip.inner_bottom, vertebra3.front2] | ||
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- [hip.center, vertebra2.back1] | ||
- [hip.center, vertebra2.front2] | ||
- [knee.top, vertebra2.front2] | ||
- [knee.back, vertebra2.front2] | ||
- [knee.front, vertebra2.back1] | ||
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front_left_leg/spine/node_node: | ||
- [hip.inner_top, vertebra1.back2] | ||
- [hip.inner_top, vertebra2.back2] | ||
- [hip.inner_top, vertebra2.front1] | ||
- [hip.inner_top, vertebra3.front1] | ||
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- [hip.inner_bottom, vertebra1.back1] | ||
- [hip.inner_bottom, vertebra2.back2] | ||
- [hip.inner_bottom, vertebra2.front1] | ||
- [hip.inner_bottom, vertebra3.front2] | ||
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- [hip.center, vertebra2.back2] | ||
- [hip.center, vertebra2.front1] | ||
- [knee.top, vertebra2.front1] | ||
- [knee.front, vertebra2.front1] | ||
- [knee.back, vertebra2.back2] | ||
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back_right_leg/spine/node_node: | ||
- [hip.inner_top, vertebra5.back2] | ||
- [hip.inner_top, vertebra6.back1] | ||
- [hip.inner_top, vertebra6.front2] | ||
- [hip.inner_top, vertebra7.front1] | ||
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- [hip.inner_bottom, vertebra5.back1] | ||
- [hip.inner_bottom, vertebra6.back1] | ||
- [hip.inner_bottom, vertebra6.front2] | ||
- [hip.inner_bottom, vertebra7.front2] | ||
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- [hip.center, vertebra6.back1] | ||
- [hip.center, vertebra6.front2] | ||
- [knee.top, vertebra4.back1] | ||
- [knee.back, vertebra6.front2] | ||
- [knee.front, vertebra6.back1] | ||
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back_left_leg/spine/node_node: | ||
- [hip.inner_top, vertebra6.back2] | ||
- [hip.inner_top, vertebra6.front1] | ||
- [hip.inner_top, vertebra5.back2] | ||
- [hip.inner_top, vertebra7.front1] | ||
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- [hip.inner_bottom, vertebra6.back2] | ||
- [hip.inner_bottom, vertebra6.front1] | ||
- [hip.inner_bottom, vertebra5.back1] | ||
- [hip.inner_bottom, vertebra7.front2] | ||
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- [hip.center, vertebra6.back2] | ||
- [hip.center, vertebra6.front1] | ||
- [knee.top, vertebra4.back2] | ||
- [knee.back, vertebra6.back2] | ||
- [knee.front, vertebra6.front1] | ||
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builders: | ||
rod: | ||
class: tgRodInfo | ||
parameters: | ||
density: 0.014 | ||
radius: 0.5 | ||
friction: 0.5 | ||
string: | ||
class: tgBasicActuatorInfo | ||
parameters: | ||
stiffness: 2000 | ||
damping: 20 | ||
pretension: 1000 | ||
# motor_friction: 10 | ||
max_tension: 7000 | ||
target_velocity: 12 | ||
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nodes: | ||
center: [0, 0, 0] | ||
outer_bottom: [0, -10, -10] | ||
inner_bottom: [0, -10, 10] | ||
inner_top: [0, 10, 10] | ||
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pair_groups: | ||
rod: | ||
- [center, outer_bottom] | ||
- [center, inner_bottom] | ||
- [center, inner_top] |
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nodes: | ||
base_bottom: [0, 0, 0] | ||
base_top: [0, 5, 0] | ||
center: [0, 15, 0] | ||
back: [10, 15, 0] | ||
front: [-10, 15, 0] | ||
top: [0, 25, 0] | ||
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pair_groups: | ||
rod: | ||
- [base_bottom, base_top] | ||
- [center, base_top] | ||
- [center, back] | ||
- [center, front] | ||
- [center, top] |
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substructures: | ||
hip: | ||
path: MGHip.yaml | ||
translation: [0, 26, -11] | ||
knee: | ||
path: MGKnee.yaml | ||
translation: [0, 0, -11] | ||
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bond_groups: | ||
string: | ||
hip/knee/node_node: | ||
- [inner_bottom, top] | ||
- [inner_bottom, front] | ||
- [inner_bottom, back] | ||
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- [outer_bottom, top] | ||
- [outer_bottom, front] | ||
- [outer_bottom, back] | ||
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- [inner_top, top] |
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substructures: | ||
vertebra1/vertebra2/vertebra3/vertebra4/vertebra5/vertebra6/vertebra7: | ||
path: MGVertebra.yaml | ||
translation: [11, 0, 0] | ||
offset: [11, 0, 0] | ||
vertebra1/vertebra3/vertebra5/vertebra7: | ||
rotation: | ||
axis: [1, 0, 0] | ||
angle: 90 | ||
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bond_groups: | ||
string: | ||
vertebra1/vertebra2/vertebra3/vertebra4/vertebra5/vertebra6/vertebra7/node_node: | ||
- [back1, front1] | ||
- [back1, front2] | ||
- [back2, front1] | ||
- [back2, front2] | ||
vertebra1/vertebra3/vertebra5/vertebra7/node_node: | ||
- [back1, front2] | ||
- [back2, front1] | ||
vertebra2/vertebra4/vertebra6/node_node: | ||
- [back1, front2] | ||
- [back2, front1] | ||
vertebra1/vertebra2/node_node: | ||
- [front1, front1] | ||
- [front2, front2] | ||
- [front1, front2] | ||
- [front2, front1] | ||
vertebra6/vertebra7/node_node: | ||
- [back1, back1] | ||
- [back1, back2] | ||
- [back2, back1] | ||
- [back2, back2] | ||
vertebra2/vertebra3/vertebra4/vertebra5/vertebra6/vertebra7/node_node: | ||
- [front1, front1] | ||
- [front1, front2] | ||
- [front2, front1] | ||
- [front2, front2] |
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resources/YamlStructures/MountainGoatSpine/MGVertebra.yaml
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nodes: | ||
center: [0, 26, 0] | ||
back1: [10, 26, 10] | ||
back2: [10, 26, -10] | ||
front1: [-10, 26, -10] | ||
front2: [-10, 26, 10] | ||
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pair_groups: | ||
rod: | ||
- [center, back1] | ||
- [center, back2] | ||
- [center, front1] | ||
- [center, front2] |