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DoubleArmV7A.cnoid
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DoubleArmV7A.cnoid
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items:
id: 0
name: "Root"
plugin: Base
class: RootItem
children:
-
id: 1
name: "DoubleArmV7"
plugin: Body
class: BodyItem
data:
modelFile: "${SHARE}/model/DoubleArmV7/DoubleArmV7A.body"
currentBaseLink: "TFRAME"
rootPosition: [ 1, 0.0037, 0.5376 ]
jointPositions: [
0.391500, -0.762258, -1.310742, 2.654646, 0.000000, 0.101593, -0.349066, -0.349066,
-0.000000, -0.000000, 0.000000, 0.000000, -0.000000, -0.000000, 0.000000, 0.000000 ]
initialRootPosition: [ 1, 0.0037, 0.5376 ]
initialJointPositions: [
0.391500, -0.762258, -1.310742, 2.654646, 0.000000, 0.101593, -0.349066, -0.349066,
-0.000000, -0.000000, 0.000000, 0.000000, -0.000000, -0.000000, 0.000000, 0.000000 ]
zmp: [ 0, 0, 0 ]
collisionDetection: true
selfCollisionDetection: true
isEditable: true
children:
-
id: 2
name: "DoubleArmV7Controller"
plugin: Body
class: SimpleControllerItem
data:
isNoDelayMode: false
controllerOptions: ""
controller: "DoubleArmV7Controller"
baseDirectory: "Controller directory"
reloading: true
-
id: 3
name: "BodyTrackingCamera"
plugin: Body
class: BodyTrackingCameraItem
data:
keepRelativeAttitude: false
nearClipDistance: 0.01
farClipDistance: 100
views:
-
id: 1
plugin: Base
class: ItemTreeView
mounted: true
state:
checked: [ 1, 3 ]
expanded: [ 1 ]
-
id: 3
plugin: Base
class: SceneView
mounted: true
state:
editMode: false
viewpointControlMode: thirdPerson
collisionLines: false
polygonMode: fill
defaultHeadLight: true
defaultHeadLightIntensity: 0.75
headLightLightingFromBack: false
worldLight: true
worldLightIntensity: 0.5
worldLightAmbient: 0.3
additionalLights: true
fog: true
floorGrid: false
floorGridSpan: 10
floorGridInterval: 0.5
xzGridSpan: 10
xzGridInterval: 0.5
xzGrid: false
yzGridSpan: 10
yzGridInterval: 0.5
texture: true
lineWidth: 1
pointSize: 1
normalVisualization: false
normalLength: 0.01
coordinateAxes: true
fpsTestIteration: 1
showFPS: false
enableNewDisplayListDoubleRendering: false
useBufferForPicking: true
upsideDown: false
cameras:
-
camera: [ System, Perspective ]
fieldOfView: 0.698132
near: 0.01
far: 100
eye: [ -3.24046765, -1.58699692, 2.10244195 ]
direction: [ 0.940177149, 0.282666177, -0.190175605 ]
up: [ 0.182122477, 0.0547554941, 0.98175009 ]
-
camera: [ System, Orthographic ]
orthoHeight: 20
near: 0.01
far: 100
-
camera: BodyTrackingCamera
isCurrent: true
fieldOfView: 0.785398
near: 0.01
far: 100
eye: [ -2.82690084, -1.71109278, 2.5249298 ]
direction: [ 0.911599433, 0.294077183, -0.287236983 ]
up: [ 0.273364786, 0.0881860422, 0.957859549 ]
backgroundColor: [ 0, 0, 0 ]
gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ]
xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ]
yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ]
dedicatedItemTreeViewChecks: false
-
id: 4
name: "Camera Scene"
plugin: Base
class: SceneView
mounted: true
state:
editMode: true
viewpointControlMode: thirdPerson
collisionLines: false
polygonMode: fill
defaultHeadLight: true
defaultHeadLightIntensity: 0.8
headLightLightingFromBack: false
worldLight: true
worldLightIntensity: 0.7
worldLightAmbient: 0.3
additionalLights: false
fog: true
floorGrid: false
floorGridSpan: 10
floorGridInterval: 0.5
xzGridSpan: 10
xzGridInterval: 0.5
xzGrid: false
yzGridSpan: 10
yzGridInterval: 0.5
texture: true
lineWidth: 1
pointSize: 1
normalVisualization: false
normalLength: 0.01
coordinateAxes: true
fpsTestIteration: 1
showFPS: false
enableNewDisplayListDoubleRendering: false
useBufferForPicking: true
upsideDown: false
cameras:
-
camera: [ System, Perspective ]
fieldOfView: 0.698132
near: 0.01
far: 100
eye: [ -5.70561679, -1.23665242, 3.31145986 ]
direction: [ 0.953750871, 0.205334582, -0.219538117 ]
up: [ 0.21462057, 0.0462060133, 0.975603923 ]
-
camera: [ System, Orthographic ]
orthoHeight: 20
near: 0.01
far: 100
-
camera: [ DoubleArmV7, FRAME_FRONT_CAMERA ]
isCurrent: true
-
camera: BodyTrackingCamera
fieldOfView: 0.785398
near: 0.01
far: 100
eye: [ -2.82690084, -1.71109278, 2.5249298 ]
direction: [ 0.911599433, 0.294077183, -0.287236983 ]
up: [ 0.273364786, 0.0881860422, 0.957859549 ]
backgroundColor: [ 0, 0, 0 ]
gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ]
xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ]
yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ]
dedicatedItemTreeViewChecks: true
checked: [ 1, 3 ]