diff -urdN ../../Tekkotsu_2.2.1/project/Environment.conf ./Environment.conf --- ../../Tekkotsu_2.2.1/project/Environment.conf Tue Nov 16 14:02:46 2004 +++ ./Environment.conf Tue Nov 30 16:13:16 2004 @@ -1,4 +1,7 @@ -########### ENVIRONMENT VARIABLES ############### +############ ENVIRONMENT VARIABLES ############## +############# $Name: HEAD $ ############### +############### $Revision: 1.1 $ ################# +########## $Date: 2004/12/23 08:41:24 $ ########### # If you need to modify these, you should set them as environment # variables instead of changing them here - that way other tools (such # as mntmem and crashDebug) can use these as well. @@ -54,10 +57,10 @@ TEKKOTSU_BUILDDIR ?= $(TEKKOTSU_ROOT)/build PROJECT_BUILDDIR ?= build # or perhaps you would like one/both of these better: -# puts build directory in local tmp, but avoids conflicts between -# multiple frameworks or multiple projects -#TEKKOTSU_BUILDDIR ?= $(shell echo /tmp/`cd $(TEKKOTSU_ROOT); pwd | tr / _`_build_$(USER) | sed "s/ /\\ /g") -#PROJECT_BUILDDIR ?= $(shell echo /tmp/`pwd | tr / _`_build_$(USER) | sed "s/ /\\ /g") +# puts build directory in local tmp, but uses pathnames to avoids +# conflicts between multiple frameworks or multiple projects +#TEKKOTSU_BUILDDIR ?= $(shell echo /tmp/$(subst /,_,$(TEKKOTSU_ROOT))_build_$(USER) | sed "s/ /\\\ /g") +#PROJECT_BUILDDIR ?= $(shell echo /tmp/`pwd | tr / _`_build_$(USER) | sed "s/ /\\\ /g") ########## TOOL SELECTION VARIABLES ############# @@ -90,4 +93,7 @@ TK_BD:=$(TEKKOTSU_BUILDDIR)/$(TGT_BD) PROJ_BD:=$(PROJECT_BUILDDIR)/$(TGT_BD) $(shell mkdir -p $(TK_BD)) -$(shell mkdir -p $(PROJ_BD)) + +#test:=$(shell echo "TEKKOTSU_BUILDDIR: $(TEKKOTSU_BUILDDIR)" > /dev/tty) +#test:=$(shell echo "PROJECT_BUILDDIR: $(PROJECT_BUILDDIR)" > /dev/tty) +#$(error that's all folks) diff -urdN ../../Tekkotsu_2.2.1/project/Makefile ./Makefile --- ../../Tekkotsu_2.2.1/project/Makefile Tue Nov 16 21:52:45 2004 +++ ./Makefile Wed Dec 22 17:25:40 2004 @@ -1,3 +1,8 @@ +################ PROJECT MAKEFILE ################# +############# $Name: HEAD $ ############### +############### $Revision: 1.1 $ ################# +########## $Date: 2004/12/23 08:41:24 $ ########### + # Make sure the default target is 'all' by listing it first all: @@ -6,6 +11,7 @@ ################################################### TEKKOTSU_ENVIRONMENT_CONFIGURATION?=$(shell pwd | sed 's/ /\\ /g')/Environment.conf include $(TEKKOTSU_ENVIRONMENT_CONFIGURATION) +$(shell mkdir -p $(PROJ_BD)) ############# MAKEFILE VARIABLES ################ @@ -428,6 +434,23 @@ install: compile @echo "Installing files to memory stick at $(MEMSTICK_ROOT)" + $(TEKKOTSU_ROOT)/tools/mntmem $(MEMSTICK_ROOT) + @if [ \! -r $(MEMSTICK_ROOT)/open-r/version.txt -o \! -r $(MEMSTICK_ROOT)/open-r/system/objs/ipstack.bin -o \! -r $(MEMSTICK_ROOT)/open-r/system/objs/vr.bin -o \! -r $(MEMSTICK_ROOT)/open-r/system/objs/wlanenbl.bin ] ; then \ + echo "** ERROR: It looks like your memory stick is missing critical system files."; \ + echo "** You may want to 'make newstick' first to clear the memory stick"; \ + echo "** and copy the OPEN-R system files onto it."; \ + echo $(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT); \ + $(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT); \ + exit 1; \ + fi; + @if [ -z "`grep \"$(if $(findstring TGT_ERS7,$(TEKKOTSU_TARGET_MODEL)),ERS-7,ERS-210/220)\" \"$(MEMSTICK_ROOT)/open-r/version.txt\"`" ] ; then \ + echo "** ERROR: It looks like your memory stick has the system files for the wrong"; \ + echo "** model of AIBO. You may want to 'make newstick' first to clear the"; \ + echo "** memory stick and reinstall the OPEN-R system files onto it."; \ + echo $(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT); \ + $(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT); \ + exit 1; \ + fi; @$(TEKKOTSU_ROOT)/tools/cpymem --all --img $(MSIMGDIR) --tgt $(MEMSTICK_ROOT) --tools $(TEKKOTSU_ROOT)/tools @touch .copiedtomemstick.timestamp diff -urdN ../../Tekkotsu_2.2.1/project/StartupBehavior.cc ./StartupBehavior.cc --- ../../Tekkotsu_2.2.1/project/StartupBehavior.cc Wed Nov 10 20:45:37 2004 +++ ./StartupBehavior.cc Tue Dec 21 16:49:50 2004 @@ -80,10 +80,10 @@ if(state->robotDesign & WorldState::ERS7Mask) mouthOffset=ERS7Info::MouthOffset; if(mouthOffset!=-1U) { - SharedObject > closeMouth; - closeMouth->setPlayTime(3000); //take 3 seconds to close the mouth + SharedObject closeMouth; + closeMouth->advanceTime(3000); //take 3 seconds to close the mouth closeMouth->setOutputCmd(mouthOffset,outputRanges[mouthOffset][MaxRange]); - closeMouth->setPlayTime(3500); //and hold it for another .5 seconds + closeMouth->advanceTime(500); //and hold it for another .5 seconds closeMouth->setOutputCmd(mouthOffset,outputRanges[mouthOffset][MaxRange]); motman->addPrunableMotion(closeMouth,MotionManager::kEmergencyPriority+1); erouter->addTimer(this,1,3250,false); diff -urdN ../../Tekkotsu_2.2.1/project/StartupBehavior_SetupFileAccess.cc ./StartupBehavior_SetupFileAccess.cc --- ../../Tekkotsu_2.2.1/project/StartupBehavior_SetupFileAccess.cc Mon Oct 18 13:01:38 2004 +++ ./StartupBehavior_SetupFileAccess.cc Tue Dec 21 15:29:18 2004 @@ -14,7 +14,7 @@ startSubMenu(); { addItem(new PostureEditor(stop_id)); - addItem(new RunSequenceControl("Run Motion Sequence",stop_id)); + addItem(new RunSequenceControl("Run Motion Sequence",stop_id)); addItem(new PlaySoundControl("Play Sound")); addItem(new WaypointWalkControl()); SetupWalkEdit(); diff -urdN ../../Tekkotsu_2.2.1/project/StartupBehavior_SetupModeSwitch.cc ./StartupBehavior_SetupModeSwitch.cc --- ../../Tekkotsu_2.2.1/project/StartupBehavior_SetupModeSwitch.cc Tue Nov 16 19:01:14 2004 +++ ./StartupBehavior_SetupModeSwitch.cc Wed Dec 22 20:49:32 2004 @@ -6,7 +6,7 @@ #include "Behaviors/Demos/AlanBehavior.h" #include "Behaviors/Demos/ChaseBallBehavior.h" #include "Behaviors/Demos/FollowHeadBehavior.h" -#include "Behaviors/Demos/WalkToTargetMachine.h" +#include "Behaviors/Nodes/WalkToTargetNode.h" #include "Behaviors/Demos/HelloWorldBehavior.h" #include "Behaviors/Demos/BanditMachine.h" #include "Behaviors/Demos/SoundTestBehavior.h" @@ -46,7 +46,7 @@ addItem(new ControlBase("State Machine Demos","More fully developed demo applications")); startSubMenu(); { - addItem(new BehaviorSwitchControlBase(new WalkToTargetMachine(ProjectInterface::visPinkBallSID),bg)); + addItem(new BehaviorSwitchControlBase(new WalkToTargetNode("Walk To Target (ball)",ProjectInterface::visPinkBallSID),bg)); addItem(new BehaviorSwitchControl("Bandit State Machine",bg,false)); addItem(new BehaviorSwitchControl("Explore State Machine",bg,false)); addItem(new BehaviorSwitchControl("Pace Targets State Machine",bg,false)); diff -urdN ../../Tekkotsu_2.2.1/project/StartupBehavior_SetupTekkotsuMon.cc ./StartupBehavior_SetupTekkotsuMon.cc --- ../../Tekkotsu_2.2.1/project/StartupBehavior_SetupTekkotsuMon.cc Fri Nov 12 17:07:39 2004 +++ ./StartupBehavior_SetupTekkotsuMon.cc Mon Dec 13 21:54:01 2004 @@ -14,6 +14,7 @@ #include "Behaviors/Mon/WorldStateSerializerBehavior.h" #include "Behaviors/Mon/MicrophoneServer.h" #include "Behaviors/Mon/SpeakerServer.h" +#include "Behaviors/Mon/SpiderMachineBehavior.h" ControlBase* StartupBehavior::SetupTekkotsuMon() { @@ -31,6 +32,7 @@ addItem((new BehaviorSwitchControlBase(new EStopControllerBehavior(stop_id)))->start()); addItem(new BehaviorSwitchControlBase(MicrophoneServer::GetInstance())); addItem(new BehaviorSwitchControlBase(SpeakerServer::GetInstance())); + addItem((new BehaviorSwitchControl("Spider State Machines Server",false))); } return endSubMenu(); } diff -urdN ../../Tekkotsu_2.2.1/project/StartupBehavior_SetupWalkEdit.cc ./StartupBehavior_SetupWalkEdit.cc --- ../../Tekkotsu_2.2.1/project/StartupBehavior_SetupWalkEdit.cc Fri May 14 03:18:19 2004 +++ ./StartupBehavior_SetupWalkEdit.cc Fri May 14 03:18:19 2004 @@ -9,7 +9,7 @@ * @author PA Gov. School for the Sciences 2003 Team Project - Motion group: Haoqian Chen, Yantian Martin, Jon Stahlman (creators) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../../Tekkotsu_2.2.1/project/ms/config/ers210.kin ./ms/config/ers210.kin --- ../../Tekkotsu_2.2.1/project/ms/config/ers210.kin Fri Oct 29 19:25:11 2004 +++ ./ms/config/ers210.kin Wed Dec 22 21:21:00 2004 @@ -4,6 +4,15 @@ [Default] +[Body] +Name: Body +DH: 1 +Fix: 0 +MinPara: 0 +dof: 0 +Motor: 0 +Stl: 0 + [LFr] Name: LFr @@ -801,7 +810,7 @@ [InterestPoints] -Length: 109 +Length: 121 [InterestPoint1] name: LFr:elvtr @@ -965,601 +974,685 @@ y: 0 z: 0 [InterestPoint24] + name: UpperLChest + chain: Body + link: 0 + x: 95.979 + y: 31.609 + z: 0 +[InterestPoint25] + name: UpperRChest + chain: Body + link: 0 + x: 95.979 + y: -31.609 + z: 0 +[InterestPoint26] + name: LowerLChest + chain: Body + link: 0 + x: 88.298 + y: 26.664 + z: -28.809 +[InterestPoint27] + name: LowerRChest + chain: Body + link: 0 + x: 88.298 + y: -26.664 + z: -28.809 +[InterestPoint28] + name: LFrBelly + chain: Body + link: 0 + x: 53.402 + y: 25.995 + z: -51.758 +[InterestPoint29] + name: RFrBelly + chain: Body + link: 0 + x: 53.402 + y: -25.995 + z: -51.758 +[InterestPoint30] + name: LBkBelly + chain: Body + link: 0 + x: -60.487 + y: 15.015 + z: -51.758 +[InterestPoint31] + name: RBkBelly + chain: Body + link: 0 + x: -60.487 + y: -15.015 + z: -51.758 +[InterestPoint32] + name: LowerLRump + chain: Body + link: 0 + x: -91.844 + y: 26.664 + z: -32.354 +[InterestPoint33] + name: LowerRRump + chain: Body + link: 0 + x: -91.844 + y: -26.664 + z: -32.354 +[InterestPoint34] + name: UpperLRump + chain: Body + link: 0 + x: -101.324 + y: 31.609 + z: 0 +[InterestPoint35] + name: UpperRRump + chain: Body + link: 0 + x: -101.324 + y: -31.609 + z: 0 +[InterestPoint36] name: LowerLeftLowerLip chain: Mouth link: 5 x: 7.139 y: 37.069 z: 11.898 -[InterestPoint25] +[InterestPoint37] name: LowerRightLowerLip chain: Mouth link: 5 x: 7.139 y: 37.069 z: -11.898 -[InterestPoint26] +[InterestPoint38] name: UpperLeftLowerLip chain: Mouth link: 5 x: -1.827 y: 38.225 z: 11.630 -[InterestPoint27] +[InterestPoint39] name: UpperRightLowerLip chain: Mouth link: 5 x: -1.827 y: 38.225 z: -11.630 -[InterestPoint28] +[InterestPoint40] name: LowerLeftUpperLip chain: Mouth link: 4 x: -11.630 y: 19.327 z: 58.044 -[InterestPoint29] +[InterestPoint41] name: LowerRightUpperLip chain: Mouth link: 4 x: 11.630 y: 19.327 z: 58.044 -[InterestPoint30] +[InterestPoint42] name: LowerLeftSnout chain: Camera link: 4 x: -24.917 y: 19.968 z: 65.777 -[InterestPoint31] +[InterestPoint43] name: LowerRightSnout chain: Camera link: 4 x: 24.917 y: 19.968 z: 65.777 -[InterestPoint32] +[InterestPoint44] name: UpperLeftSnout chain: Camera link: 4 x: -20.338 y: -5.542 z: 71.216 -[InterestPoint33] +[InterestPoint45] name: UpperRightSnout chain: Camera link: 4 x: 20.338 y: -5.542 z: 71.216 -[InterestPoint34] +[InterestPoint46] name: LeftMicrophone chain: Camera link: 4 x: -36.515 y: -3.396 z: 21.030 -[InterestPoint35] +[InterestPoint47] name: RightMicrophone chain: Camera link: 4 x: 36.515 y: -3.396 z: 21.030 -[InterestPoint36] +[InterestPoint48] name: FrontHeadButton chain: Camera link: 4 x: 0 y: -44.415 z: 8.284 -[InterestPoint37] +[InterestPoint49] name: RearHeadButton chain: Camera link: 4 x: 0 y: -41.221 z: -6.880 -[InterestPoint38] +[InterestPoint50] name: ToeLFrPaw chain: LFr link: 5 x: 18.464 y: 31.529 z: 0 -[InterestPoint39] +[InterestPoint51] name: ToeRFrPaw chain: RFr link: 5 x: 18.464 y: 31.529 z: 0 -[InterestPoint40] +[InterestPoint52] name: ToeLBkPaw chain: LBk link: 5 x: -4.890 y: 36.210 z: 0 -[InterestPoint41] +[InterestPoint53] name: ToeRBkPaw chain: RBk link: 5 x: -4.890 y: 36.210 z: 0 -[InterestPoint42] +[InterestPoint54] name: LowerOuterFrontLFrShin chain: LFr link: 4 x: 45.272 y: 11.600 z: -15.843 -[InterestPoint43] +[InterestPoint55] name: LowerInnerFrontRFrShin chain: RFr link: 4 x: 45.272 y: 11.600 z: -14.684 -[InterestPoint44] +[InterestPoint56] name: LowerOuterFrontLBkShin chain: LBk link: 4 x: 31.457 y: -30.571 z: 15.843 -[InterestPoint45] +[InterestPoint57] name: LowerInnerFrontRBkShin chain: RBk link: 4 x: 31.457 y: -30.571 z: 14.684 -[InterestPoint46] +[InterestPoint58] name: LowerInnerFrontLFrShin chain: LFr link: 4 x: 45.272 y: 11.600 z: 14.684 -[InterestPoint47] +[InterestPoint59] name: LowerOuterFrontRFrShin chain: RFr link: 4 x: 45.272 y: 11.600 z: 15.843 -[InterestPoint48] +[InterestPoint60] name: LowerInnerFrontLBkShin chain: LBk link: 4 x: 31.457 y: -30.571 z: -14.684 -[InterestPoint49] +[InterestPoint61] name: LowerOuterFrontRBkShin chain: RBk link: 4 x: 31.457 y: -30.571 z: -15.843 -[InterestPoint50] +[InterestPoint62] name: LowerOuterBackLFrShin chain: LFr link: 4 x: 45.891 y: -26.126 z: -15.843 -[InterestPoint51] +[InterestPoint63] name: LowerInnerBackRFrShin chain: RFr link: 4 x: 45.891 y: -26.126 z: -14.684 -[InterestPoint52] +[InterestPoint64] name: LowerOuterBackLBkShin chain: LBk link: 4 x: 65.997 y: -8.442 z: 15.843 -[InterestPoint53] +[InterestPoint65] name: LowerInnerBackRBkShin chain: RBk link: 4 x: 65.997 y: -8.442 z: 14.684 -[InterestPoint54] +[InterestPoint66] name: LowerInnerBackLFrShin chain: LFr link: 4 x: 45.891 y: -26.126 z: 14.684 -[InterestPoint55] +[InterestPoint67] name: LowerOuterBackRFrShin chain: RFr link: 4 x: 45.891 y: -26.126 z: 15.843 -[InterestPoint56] +[InterestPoint68] name: LowerInnerBackLBkShin chain: LBk link: 4 x: 65.997 y: -8.442 z: -14.684 -[InterestPoint57] +[InterestPoint69] name: LowerOuterBackRBkShin chain: RBk link: 4 x: 65.997 y: -8.442 z: -15.843 -[InterestPoint58] +[InterestPoint70] name: MiddleOuterBackLBkShin chain: LBk link: 4 x: 43.912 y: 7.434 z: 15.843 -[InterestPoint59] +[InterestPoint71] name: MiddleInnerBackRBkShin chain: RBk link: 4 x: 43.912 y: 7.434 z: 14.684 -[InterestPoint60] +[InterestPoint72] name: MiddleInnerBackLBkShin chain: LBk link: 4 x: 43.912 y: 7.434 z: -14.684 -[InterestPoint61] +[InterestPoint73] name: MiddleOuterBackRBkShin chain: RBk link: 4 x: 43.912 y: 7.434 z: -15.843 -[InterestPoint62] +[InterestPoint74] name: UpperOuterFrontLFrShin chain: LFr link: 4 x: 11.839 y: 5.510 z: -15.843 -[InterestPoint63] +[InterestPoint75] name: UpperInnerFrontRFrShin chain: RFr link: 4 x: 11.839 y: 5.510 z: -14.684 -[InterestPoint64] +[InterestPoint76] name: UpperOuterFrontLBkShin chain: LBk link: 4 x: .931 y: -25.377 z: 15.843 -[InterestPoint65] +[InterestPoint77] name: UpperInnerFrontRBkShin chain: RBk link: 4 x: .931 y: -25.377 z: 14.684 -[InterestPoint66] +[InterestPoint78] name: UpperInnerFrontLFrShin chain: LFr link: 4 x: 11.839 y: 5.510 z: 14.684 -[InterestPoint67] +[InterestPoint79] name: UpperOuterFrontRFrShin chain: RFr link: 4 x: 11.839 y: 5.510 z: 15.843 -[InterestPoint68] +[InterestPoint80] name: UpperInnerFrontLBkShin chain: LBk link: 4 x: .931 y: -25.377 z: -14.684 -[InterestPoint69] +[InterestPoint81] name: UpperOuterFrontRBkShin chain: RBk link: 4 x: .931 y: -25.377 z: -15.843 -[InterestPoint70] +[InterestPoint82] name: UpperOuterBackLFrShin chain: LFr link: 4 x: -1.381 y: -23.945 z: -15.843 -[InterestPoint71] +[InterestPoint83] name: UpperInnerBackRFrShin chain: RFr link: 4 x: -1.381 y: -23.945 z: -14.684 -[InterestPoint72] +[InterestPoint84] name: UpperOuterBackLBkShin chain: LBk link: 4 x: 13.646 y: 4.905 z: 15.843 -[InterestPoint73] +[InterestPoint85] name: UpperInnerBackRBkShin chain: RBk link: 4 x: 13.646 y: 4.905 z: 14.684 -[InterestPoint74] +[InterestPoint86] name: UpperInnerBackLFrShin chain: LFr link: 4 x: -1.381 y: -23.945 z: 14.684 -[InterestPoint75] +[InterestPoint87] name: UpperOuterBackRFrShin chain: RFr link: 4 x: -1.381 y: -23.945 z: 15.843 -[InterestPoint76] +[InterestPoint88] name: UpperInnerBackLBkShin chain: LBk link: 4 x: 13.646 y: 4.905 z: -14.684 -[InterestPoint77] +[InterestPoint89] name: UpperOuterBackRBkShin chain: RBk link: 4 x: 13.646 y: 4.905 z: -15.843 -[InterestPoint78] +[InterestPoint90] name: LowerOuterFrontLFrThigh chain: LFr link: 3 x: 42.939 y: 14.898 z: 18.749 -[InterestPoint79] +[InterestPoint91] name: LowerInnerFrontRFrThigh chain: RFr link: 3 x: 42.939 y: -14.496 z: -18.749 -[InterestPoint80] +[InterestPoint92] name: LowerOuterFrontLBkThigh chain: LBk link: 3 x: 48.284 y: 14.898 z: 17.459 -[InterestPoint81] +[InterestPoint93] name: LowerInnerFrontRBkThigh chain: RBk link: 3 x: 48.284 y: -14.496 z: -17.459 -[InterestPoint82] +[InterestPoint94] name: LowerInnerFrontLFrThigh chain: LFr link: 3 x: 42.939 y: -14.496 z: 18.749 -[InterestPoint83] +[InterestPoint95] name: LowerOuterFrontRFrThigh chain: RFr link: 3 x: 42.939 y: 14.898 z: -18.749 -[InterestPoint84] +[InterestPoint96] name: LowerInnerFrontLBkThigh chain: LBk link: 3 x: 48.284 y: -14.496 z: 17.459 -[InterestPoint85] +[InterestPoint97] name: LowerOuterFrontRBkThigh chain: RBk link: 3 x: 48.284 y: 14.898 z: -17.459 -[InterestPoint86] +[InterestPoint98] name: LowerOuterBackLFrThigh chain: LFr link: 3 x: 48.284 y: 14.436 z: -17.459 -[InterestPoint87] +[InterestPoint99] name: LowerInnerBackRFrThigh chain: RFr link: 3 x: 48.284 y: -14.027 z: 17.459 -[InterestPoint88] +[InterestPoint100] name: LowerOuterBackLBkThigh chain: LBk link: 3 x: 42.939 y: 14.436 z: -18.749 -[InterestPoint89] +[InterestPoint101] name: LowerInnerBackRBkThigh chain: RBk link: 3 x: 42.939 y: -14.027 z: 18.749 -[InterestPoint90] +[InterestPoint102] name: LowerInnerBackLFrThigh chain: LFr link: 3 x: 48.284 y: -14.027 z: -17.459 -[InterestPoint91] +[InterestPoint103] name: LowerOuterBackRFrThigh chain: RFr link: 3 x: 48.284 y: 14.436 z: 17.459 -[InterestPoint92] +[InterestPoint104] name: LowerInnerBackLBkThigh chain: LBk link: 3 x: 42.939 y: -14.027 z: -18.749 -[InterestPoint93] +[InterestPoint105] name: LowerOuterBackRBkThigh chain: RBk link: 3 x: 42.939 y: 14.436 z: 18.749 -[InterestPoint94] +[InterestPoint106] name: UpperOuterFrontLFrThigh chain: LFr link: 3 x: 15.912 y: -14.492 z: 20.811 -[InterestPoint95] +[InterestPoint107] name: UpperInnerFrontRFrThigh chain: RFr link: 3 x: 0 y: 16.072 z: -20.811 -[InterestPoint96] +[InterestPoint108] name: UpperOuterFrontLBkThigh chain: LBk link: 3 x: 15.912 y: -14.492 z: 20.811 -[InterestPoint97] +[InterestPoint109] name: UpperInnerFrontRBkThigh chain: RBk link: 3 x: 0 y: 16.072 z: -20.811 -[InterestPoint98] +[InterestPoint110] name: UpperInnerFrontLFrThigh chain: LFr link: 3 x: 0 y: 16.072 z: 20.811 -[InterestPoint99] +[InterestPoint111] name: UpperOuterFrontRFrThigh chain: RFr link: 3 x: 15.912 y: -14.492 z: -20.811 -[InterestPoint100] +[InterestPoint112] name: UpperInnerFrontLBkThigh chain: LBk link: 3 x: 0 y: 16.072 z: 20.811 -[InterestPoint101] +[InterestPoint113] name: UpperOuterFrontRBkThigh chain: RBk link: 3 x: 15.912 y: -14.492 z: -20.811 -[InterestPoint102] +[InterestPoint114] name: UpperOuterBackLFrThigh chain: LFr link: 3 x: 15.912 y: -14.492 z: -20.811 -[InterestPoint103] +[InterestPoint115] name: UpperInnerBackRFrThigh chain: RFr link: 3 x: 0 y: 16.072 z: 20.811 -[InterestPoint104] +[InterestPoint116] name: UpperOuterBackLBkThigh chain: LBk link: 3 x: 15.912 y: -14.492 z: -20.811 -[InterestPoint105] +[InterestPoint117] name: UpperInnerBackRBkThigh chain: RBk link: 3 x: 0 y: 16.072 z: 20.811 -[InterestPoint106] +[InterestPoint118] name: UpperInnerBackLFrThigh chain: LFr link: 3 x: 0 y: 16.072 z: -20.811 -[InterestPoint107] +[InterestPoint119] name: UpperOuterBackRFrThigh chain: RFr link: 3 x: 15.912 y: -14.492 z: 20.811 -[InterestPoint108] +[InterestPoint120] name: UpperInnerBackLBkThigh chain: LBk link: 3 x: 0 y: 16.072 z: -20.811 -[InterestPoint109] +[InterestPoint121] name: UpperOuterBackRBkThigh chain: RBk link: 3 diff -urdN ../../Tekkotsu_2.2.1/project/ms/config/ers220.kin ./ms/config/ers220.kin --- ../../Tekkotsu_2.2.1/project/ms/config/ers220.kin Fri Oct 29 19:25:12 2004 +++ ./ms/config/ers220.kin Wed Dec 22 21:21:00 2004 @@ -4,6 +4,15 @@ [Default] +[Body] +Name: Body +DH: 1 +Fix: 0 +MinPara: 0 +dof: 0 +Motor: 0 +Stl: 0 + [LFr] Name: LFr @@ -691,7 +700,7 @@ [InterestPoints] -Length: 103 +Length: 115 [InterestPoint1] name: LFr:elvtr @@ -848,566 +857,650 @@ y: 0 z: 0 [InterestPoint23] + name: UpperLChest + chain: Body + link: 0 + x: 100.701 + y: 26.664 + z: -11.980 +[InterestPoint24] + name: UpperRChest + chain: Body + link: 0 + x: 100.701 + y: -26.664 + z: -11.980 +[InterestPoint25] + name: LowerLChest + chain: Body + link: 0 + x: 88.298 + y: 26.664 + z: -28.809 +[InterestPoint26] + name: LowerRChest + chain: Body + link: 0 + x: 88.298 + y: -26.664 + z: -28.809 +[InterestPoint27] + name: LFrBelly + chain: Body + link: 0 + x: 53.402 + y: 25.995 + z: -51.758 +[InterestPoint28] + name: RFrBelly + chain: Body + link: 0 + x: 53.402 + y: -25.995 + z: -51.758 +[InterestPoint29] + name: LBkBelly + chain: Body + link: 0 + x: -60.487 + y: 15.015 + z: -51.758 +[InterestPoint30] + name: RBkBelly + chain: Body + link: 0 + x: -60.487 + y: -15.015 + z: -51.758 +[InterestPoint31] + name: LowerLRump + chain: Body + link: 0 + x: -91.844 + y: 26.664 + z: -32.354 +[InterestPoint32] + name: LowerRRump + chain: Body + link: 0 + x: -91.844 + y: -26.664 + z: -32.354 +[InterestPoint33] + name: UpperLRump + chain: Body + link: 0 + x: -101.324 + y: 31.609 + z: 0 +[InterestPoint34] + name: UpperRRump + chain: Body + link: 0 + x: -101.324 + y: -31.609 + z: 0 +[InterestPoint35] name: LowerLeftSnout chain: Camera link: 4 x: -16.369 y: 14.469 z: 57.925 -[InterestPoint24] +[InterestPoint36] name: LowerRightSnout chain: Camera link: 4 x: 16.369 y: 14.469 z: 57.925 -[InterestPoint25] +[InterestPoint37] name: UpperLeftSnout chain: Camera link: 4 x: -27.545 y: -18.406 z: 57.925 -[InterestPoint26] +[InterestPoint38] name: UpperRightSnout chain: Camera link: 4 x: 27.545 y: -18.406 z: 57.925 -[InterestPoint27] +[InterestPoint39] name: LeftMicrophone chain: Camera link: 4 x: -42.574 y: -14.440 z: 0 -[InterestPoint28] +[InterestPoint40] name: RightMicrophone chain: Camera link: 4 x: 42.574 y: -14.440 z: 0 -[InterestPoint29] +[InterestPoint41] name: AntennaBase chain: Camera link: 4 x: 23.286 y: -36.059 z: -1.042 -[InterestPoint30] +[InterestPoint42] name: AntennaTip chain: Camera link: 4 x: 23.286 y: -67.273 z: -12.955 -[InterestPoint31] +[InterestPoint43] name: HeadLight chain: Camera link: 4 x: 0 y: -45.903 z: 37.769 -[InterestPoint32] +[InterestPoint44] name: ToeLFrPaw chain: LFr link: 5 x: 18.464 y: 31.529 z: 0 -[InterestPoint33] +[InterestPoint45] name: ToeRFrPaw chain: RFr link: 5 x: 18.464 y: 31.529 z: 0 -[InterestPoint34] +[InterestPoint46] name: ToeLBkPaw chain: LBk link: 5 x: -4.890 y: 36.210 z: 0 -[InterestPoint35] +[InterestPoint47] name: ToeRBkPaw chain: RBk link: 5 x: -4.890 y: 36.210 z: 0 -[InterestPoint36] +[InterestPoint48] name: LowerOuterFrontLFrShin chain: LFr link: 4 x: 52.075 y: 20.986 z: -15.843 -[InterestPoint37] +[InterestPoint49] name: LowerInnerFrontRFrShin chain: RFr link: 4 x: 52.075 y: 20.986 z: -14.684 -[InterestPoint38] +[InterestPoint50] name: LowerOuterFrontLBkShin chain: LBk link: 4 x: 23.361 y: -30.920 z: 15.843 -[InterestPoint39] +[InterestPoint51] name: LowerInnerFrontRBkShin chain: RBk link: 4 x: 23.361 y: -30.920 z: 14.684 -[InterestPoint40] +[InterestPoint52] name: LowerInnerFrontLFrShin chain: LFr link: 4 x: 52.075 y: 20.986 z: 14.684 -[InterestPoint41] +[InterestPoint53] name: LowerOuterFrontRFrShin chain: RFr link: 4 x: 52.075 y: 20.986 z: 15.843 -[InterestPoint42] +[InterestPoint54] name: LowerInnerFrontLBkShin chain: LBk link: 4 x: 23.361 y: -30.920 z: -14.684 -[InterestPoint43] +[InterestPoint55] name: LowerOuterFrontRBkShin chain: RBk link: 4 x: 23.361 y: -30.920 z: -15.843 -[InterestPoint44] +[InterestPoint56] name: LowerOuterBackLFrShin chain: LFr link: 4 x: 45.891 y: -26.126 z: -15.843 -[InterestPoint45] +[InterestPoint57] name: LowerInnerBackRFrShin chain: RFr link: 4 x: 45.891 y: -26.126 z: -14.684 -[InterestPoint46] +[InterestPoint58] name: LowerOuterBackLBkShin chain: LBk link: 4 x: 65.997 y: -8.442 z: 15.843 -[InterestPoint47] +[InterestPoint59] name: LowerInnerBackRBkShin chain: RBk link: 4 x: 65.997 y: -8.442 z: 14.684 -[InterestPoint48] +[InterestPoint60] name: LowerInnerBackLFrShin chain: LFr link: 4 x: 45.891 y: -26.126 z: 14.684 -[InterestPoint49] +[InterestPoint61] name: LowerOuterBackRFrShin chain: RFr link: 4 x: 45.891 y: -26.126 z: 15.843 -[InterestPoint50] +[InterestPoint62] name: LowerInnerBackLBkShin chain: LBk link: 4 x: 65.997 y: -8.442 z: -14.684 -[InterestPoint51] +[InterestPoint63] name: LowerOuterBackRBkShin chain: RBk link: 4 x: 65.997 y: -8.442 z: -15.843 -[InterestPoint52] +[InterestPoint64] name: MiddleOuterBackLBkShin chain: LBk link: 4 x: 43.912 y: 7.434 z: 15.843 -[InterestPoint53] +[InterestPoint65] name: MiddleInnerBackRBkShin chain: RBk link: 4 x: 43.912 y: 7.434 z: 14.684 -[InterestPoint54] +[InterestPoint66] name: MiddleInnerBackLBkShin chain: LBk link: 4 x: 43.912 y: 7.434 z: -14.684 -[InterestPoint55] +[InterestPoint67] name: MiddleOuterBackRBkShin chain: RBk link: 4 x: 43.912 y: 7.434 z: -15.843 -[InterestPoint56] +[InterestPoint68] name: UpperOuterFrontLFrShin chain: LFr link: 4 x: 11.839 y: 5.510 z: -15.843 -[InterestPoint57] +[InterestPoint69] name: UpperInnerFrontRFrShin chain: RFr link: 4 x: 11.839 y: 5.510 z: -14.684 -[InterestPoint58] +[InterestPoint70] name: UpperOuterFrontLBkShin chain: LBk link: 4 x: 8.036 y: -22.656 z: 15.843 -[InterestPoint59] +[InterestPoint71] name: UpperInnerFrontRBkShin chain: RBk link: 4 x: 8.036 y: -22.656 z: 14.684 -[InterestPoint60] +[InterestPoint72] name: UpperInnerFrontLFrShin chain: LFr link: 4 x: 11.839 y: 5.510 z: 14.684 -[InterestPoint61] +[InterestPoint73] name: UpperOuterFrontRFrShin chain: RFr link: 4 x: 11.839 y: 5.510 z: 15.843 -[InterestPoint62] +[InterestPoint74] name: UpperInnerFrontLBkShin chain: LBk link: 4 x: 8.036 y: -22.656 z: -14.684 -[InterestPoint63] +[InterestPoint75] name: UpperOuterFrontRBkShin chain: RBk link: 4 x: 8.036 y: -22.656 z: -15.843 -[InterestPoint64] +[InterestPoint76] name: UpperOuterBackLFrShin chain: LFr link: 4 x: -1.381 y: -23.945 z: -15.843 -[InterestPoint65] +[InterestPoint77] name: UpperInnerBackRFrShin chain: RFr link: 4 x: -1.381 y: -23.945 z: -14.684 -[InterestPoint66] +[InterestPoint78] name: UpperOuterBackLBkShin chain: LBk link: 4 x: 13.646 y: 4.905 z: 15.843 -[InterestPoint67] +[InterestPoint79] name: UpperInnerBackRBkShin chain: RBk link: 4 x: 13.646 y: 4.905 z: 14.684 -[InterestPoint68] +[InterestPoint80] name: UpperInnerBackLFrShin chain: LFr link: 4 x: -1.381 y: -23.945 z: 14.684 -[InterestPoint69] +[InterestPoint81] name: UpperOuterBackRFrShin chain: RFr link: 4 x: -1.381 y: -23.945 z: 15.843 -[InterestPoint70] +[InterestPoint82] name: UpperInnerBackLBkShin chain: LBk link: 4 x: 13.646 y: 4.905 z: -14.684 -[InterestPoint71] +[InterestPoint83] name: UpperOuterBackRBkShin chain: RBk link: 4 x: 13.646 y: 4.905 z: -15.843 -[InterestPoint72] +[InterestPoint84] name: LowerOuterFrontLFrThigh chain: LFr link: 3 x: 36.841 y: 15.300 z: 17.244 -[InterestPoint73] +[InterestPoint85] name: LowerInnerFrontRFrThigh chain: RFr link: 3 x: 36.841 y: -14.994 z: -17.244 -[InterestPoint74] +[InterestPoint86] name: LowerOuterFrontLBkThigh chain: LBk link: 3 x: 42.819 y: 15.300 z: 17.814 -[InterestPoint75] +[InterestPoint87] name: LowerInnerFrontRBkThigh chain: RBk link: 3 x: 42.819 y: -14.994 z: -17.814 -[InterestPoint76] +[InterestPoint88] name: LowerInnerFrontLFrThigh chain: LFr link: 3 x: 36.841 y: -14.994 z: 17.244 -[InterestPoint77] +[InterestPoint89] name: LowerOuterFrontRFrThigh chain: RFr link: 3 x: 36.841 y: 15.300 z: -17.244 -[InterestPoint78] +[InterestPoint90] name: LowerInnerFrontLBkThigh chain: LBk link: 3 x: 42.819 y: -14.994 z: 17.814 -[InterestPoint79] +[InterestPoint91] name: LowerOuterFrontRBkThigh chain: RBk link: 3 x: 42.819 y: 15.300 z: -17.814 -[InterestPoint80] +[InterestPoint92] name: LowerOuterBackLFrThigh chain: LFr link: 3 x: 42.819 y: 15.925 z: -17.814 -[InterestPoint81] +[InterestPoint93] name: LowerInnerBackRFrThigh chain: RFr link: 3 x: 42.819 y: -14.994 z: 17.814 -[InterestPoint82] +[InterestPoint94] name: LowerOuterBackLBkThigh chain: LBk link: 3 x: 36.841 y: 15.925 z: -17.244 -[InterestPoint83] +[InterestPoint95] name: LowerInnerBackRBkThigh chain: RBk link: 3 x: 36.841 y: -14.994 z: 17.244 -[InterestPoint84] +[InterestPoint96] name: LowerInnerBackLFrThigh chain: LFr link: 3 x: 42.819 y: -14.994 z: -17.814 -[InterestPoint85] +[InterestPoint97] name: LowerOuterBackRFrThigh chain: RFr link: 3 x: 42.819 y: 15.925 z: 17.814 -[InterestPoint86] +[InterestPoint98] name: LowerInnerBackLBkThigh chain: LBk link: 3 x: 36.841 y: -14.994 z: -17.244 -[InterestPoint87] +[InterestPoint99] name: LowerOuterBackRBkThigh chain: RBk link: 3 x: 36.841 y: 15.925 z: 17.244 -[InterestPoint88] +[InterestPoint100] name: UpperOuterFrontLFrThigh chain: LFr link: 3 x: 15.238 y: 14.844 z: 16.736 -[InterestPoint89] +[InterestPoint101] name: UpperInnerFrontRFrThigh chain: RFr link: 3 x: 15.238 y: -14.994 z: -16.736 -[InterestPoint90] +[InterestPoint102] name: UpperOuterFrontLBkThigh chain: LBk link: 3 x: 15.238 y: 14.844 z: 16.736 -[InterestPoint91] +[InterestPoint103] name: UpperInnerFrontRBkThigh chain: RBk link: 3 x: 15.238 y: -14.994 z: -16.736 -[InterestPoint92] +[InterestPoint104] name: UpperInnerFrontLFrThigh chain: LFr link: 3 x: 15.238 y: -14.994 z: 16.736 -[InterestPoint93] +[InterestPoint105] name: UpperOuterFrontRFrThigh chain: RFr link: 3 x: 15.238 y: 14.844 z: -16.736 -[InterestPoint94] +[InterestPoint106] name: UpperInnerFrontLBkThigh chain: LBk link: 3 x: 15.238 y: -14.994 z: 16.736 -[InterestPoint95] +[InterestPoint107] name: UpperOuterFrontRBkThigh chain: RBk link: 3 x: 15.238 y: 14.844 z: -16.736 -[InterestPoint96] +[InterestPoint108] name: UpperOuterBackLFrThigh chain: LFr link: 3 x: 15.238 y: 14.844 z: -16.736 -[InterestPoint97] +[InterestPoint109] name: UpperInnerBackRFrThigh chain: RFr link: 3 x: 15.238 y: -14.994 z: 16.736 -[InterestPoint98] +[InterestPoint110] name: UpperOuterBackLBkThigh chain: LBk link: 3 x: 15.238 y: 14.844 z: -16.736 -[InterestPoint99] +[InterestPoint111] name: UpperInnerBackRBkThigh chain: RBk link: 3 x: 15.238 y: -14.994 z: 16.736 -[InterestPoint100] +[InterestPoint112] name: UpperInnerBackLFrThigh chain: LFr link: 3 x: 15.238 y: -14.994 z: -16.736 -[InterestPoint101] +[InterestPoint113] name: UpperOuterBackRFrThigh chain: RFr link: 3 x: 15.238 y: 14.844 z: 16.736 -[InterestPoint102] +[InterestPoint114] name: UpperInnerBackLBkThigh chain: LBk link: 3 x: 15.238 y: -14.994 z: -16.736 -[InterestPoint103] +[InterestPoint115] name: UpperOuterBackRBkThigh chain: RBk link: 3 diff -urdN ../../Tekkotsu_2.2.1/project/ms/config/ers7.kin ./ms/config/ers7.kin --- ../../Tekkotsu_2.2.1/project/ms/config/ers7.kin Mon Oct 18 19:11:05 2004 +++ ./ms/config/ers7.kin Wed Dec 22 21:21:00 2004 @@ -4,6 +4,15 @@ [Default] +[Body] +Name: Body +DH: 1 +Fix: 0 +MinPara: 0 +dof: 0 +Motor: 0 +Stl: 0 + [LFr] Name: LFr @@ -1021,7 +1030,7 @@ [InterestPoints] -Length: 122 +Length: 134 [InterestPoint1] name: LFr:elvtr @@ -1199,678 +1208,762 @@ y: 0 z: 0 [InterestPoint26] + name: UpperLChest + chain: Body + link: 0 + x: 107.560 + y: 23.448 + z: 0 +[InterestPoint27] + name: UpperRChest + chain: Body + link: 0 + x: 107.560 + y: -23.448 + z: 0 +[InterestPoint28] + name: LowerLChest + chain: Body + link: 0 + x: 95.250 + y: 29.631 + z: -30.070 +[InterestPoint29] + name: LowerRChest + chain: Body + link: 0 + x: 95.250 + y: -29.631 + z: -30.070 +[InterestPoint30] + name: LFrBelly + chain: Body + link: 0 + x: 55.290 + y: 20.238 + z: -52.270 +[InterestPoint31] + name: RFrBelly + chain: Body + link: 0 + x: 55.290 + y: -20.238 + z: -52.270 +[InterestPoint32] + name: LBkBelly + chain: Body + link: 0 + x: -60.540 + y: 25.238 + z: -49.850 +[InterestPoint33] + name: RBkBelly + chain: Body + link: 0 + x: -60.540 + y: -25.238 + z: -49.850 +[InterestPoint34] + name: LowerLRump + chain: Body + link: 0 + x: -97.070 + y: 29.631 + z: -31.880 +[InterestPoint35] + name: LowerRRump + chain: Body + link: 0 + x: -97.070 + y: -29.631 + z: -31.880 +[InterestPoint36] + name: UpperLRump + chain: Body + link: 0 + x: -108.970 + y: 29.631 + z: 0 +[InterestPoint37] + name: UpperRRump + chain: Body + link: 0 + x: -108.970 + y: -29.631 + z: 0 +[InterestPoint38] name: LowerLeftLowerLip chain: Mouth link: 5 x: 40.851 y: 12.275 z: -16.128 -[InterestPoint27] +[InterestPoint39] name: LowerRightLowerLip chain: Mouth link: 5 x: 40.851 y: 12.275 z: 16.128 -[InterestPoint28] +[InterestPoint40] name: UpperLeftLowerLip chain: Mouth link: 5 x: 38.378 y: 11.203 z: -11.397 -[InterestPoint29] +[InterestPoint41] name: UpperRightLowerLip chain: Mouth link: 5 x: 38.378 y: 11.203 z: 11.397 -[InterestPoint30] +[InterestPoint42] name: LowerLeftUpperLip chain: Mouth link: 4 x: 79.518 y: -22.291 z: -11.397 -[InterestPoint31] +[InterestPoint43] name: LowerRightUpperLip chain: Mouth link: 4 x: 79.518 y: -22.291 z: 11.397 -[InterestPoint32] +[InterestPoint44] name: LowerLeftSnout chain: Camera link: 4 x: 54.223 y: -21.146 z: -37.291 -[InterestPoint33] +[InterestPoint45] name: LowerRightSnout chain: Camera link: 4 x: 54.223 y: -21.146 z: 37.291 -[InterestPoint34] +[InterestPoint46] name: UpperLeftSnout chain: Camera link: 4 x: 54.223 y: 7.605 z: -26.284 -[InterestPoint35] +[InterestPoint47] name: UpperRightSnout chain: Camera link: 4 x: 54.223 y: 7.605 z: 26.284 -[InterestPoint36] +[InterestPoint48] name: LeftMicrophone chain: Camera link: 4 x: -11.156 y: 14.897 z: -46.941 -[InterestPoint37] +[InterestPoint49] name: RightMicrophone chain: Camera link: 4 x: -11.156 y: 14.897 z: 46.941 -[InterestPoint38] +[InterestPoint50] name: HeadButton chain: Camera link: 4 x: -7.704 y: 41.192 z: 0 -[InterestPoint39] +[InterestPoint51] name: ToeLFrPaw chain: LFr link: 5 x: 7.180 y: 29.548 z: 0 -[InterestPoint40] +[InterestPoint52] name: ToeRFrPaw chain: RFr link: 5 x: 7.180 y: 29.548 z: 0 -[InterestPoint41] +[InterestPoint53] name: ToeLBkPaw chain: LBk link: 5 x: -6.414 y: 27.759 z: 0 -[InterestPoint42] +[InterestPoint54] name: ToeRBkPaw chain: RBk link: 5 x: -6.414 y: 27.759 z: 0 -[InterestPoint43] +[InterestPoint55] name: LowerOuterFrontLFrShin chain: LFr link: 4 x: 59.298 y: 21.239 z: -24.557 -[InterestPoint44] +[InterestPoint56] name: LowerInnerFrontRFrShin chain: RFr link: 4 x: 59.298 y: 21.239 z: -15.158 -[InterestPoint45] +[InterestPoint57] name: LowerOuterFrontLBkShin chain: LBk link: 4 x: 41.172 y: -33.863 z: 24.557 -[InterestPoint46] +[InterestPoint58] name: LowerInnerFrontRBkShin chain: RBk link: 4 x: 41.172 y: -33.863 z: 15.158 -[InterestPoint47] +[InterestPoint59] name: LowerInnerFrontLFrShin chain: LFr link: 4 x: 59.298 y: 21.239 z: 15.158 -[InterestPoint48] +[InterestPoint60] name: LowerOuterFrontRFrShin chain: RFr link: 4 x: 59.298 y: 21.239 z: 24.557 -[InterestPoint49] +[InterestPoint61] name: LowerInnerFrontLBkShin chain: LBk link: 4 x: 41.172 y: -33.863 z: -15.158 -[InterestPoint50] +[InterestPoint62] name: LowerOuterFrontRBkShin chain: RBk link: 4 x: 41.172 y: -33.863 z: -24.557 -[InterestPoint51] +[InterestPoint63] name: LowerOuterMiddleLFrShin chain: LFr link: 4 x: 63.011 y: -15.573 z: -24.557 -[InterestPoint52] +[InterestPoint64] name: LowerInnerMiddleRFrShin chain: RFr link: 4 x: 63.011 y: -15.573 z: -15.158 -[InterestPoint53] +[InterestPoint65] name: LowerOuterMiddleLBkShin chain: LBk link: 4 x: 75.203 y: -8.342 z: 24.557 -[InterestPoint54] +[InterestPoint66] name: LowerInnerMiddleRBkShin chain: RBk link: 4 x: 75.203 y: -8.342 z: 15.158 -[InterestPoint55] +[InterestPoint67] name: LowerInnerMiddleLFrShin chain: LFr link: 4 x: 63.011 y: -15.573 z: 15.158 -[InterestPoint56] +[InterestPoint68] name: LowerOuterMiddleRFrShin chain: RFr link: 4 x: 63.011 y: -15.573 z: 24.557 -[InterestPoint57] +[InterestPoint69] name: LowerInnerMiddleLBkShin chain: LBk link: 4 x: 75.203 y: -8.342 z: -15.158 -[InterestPoint58] +[InterestPoint70] name: LowerOuterMiddleRBkShin chain: RBk link: 4 x: 75.203 y: -8.342 z: -24.557 -[InterestPoint59] +[InterestPoint71] name: LowerOuterBackLFrShin chain: LFr link: 4 x: 40.581 y: -26.402 z: -24.557 -[InterestPoint60] +[InterestPoint72] name: LowerInnerBackRFrShin chain: RFr link: 4 x: 40.581 y: -26.402 z: -15.158 -[InterestPoint61] +[InterestPoint73] name: LowerOuterBackLBkShin chain: LBk link: 4 x: 71.133 y: 8.187 z: 24.557 -[InterestPoint62] +[InterestPoint74] name: LowerInnerBackRBkShin chain: RBk link: 4 x: 71.133 y: 8.187 z: 15.158 -[InterestPoint63] +[InterestPoint75] name: LowerInnerBackLFrShin chain: LFr link: 4 x: 40.581 y: -26.402 z: 15.158 -[InterestPoint64] +[InterestPoint76] name: LowerOuterBackRFrShin chain: RFr link: 4 x: 40.581 y: -26.402 z: 24.557 -[InterestPoint65] +[InterestPoint77] name: LowerInnerBackLBkShin chain: LBk link: 4 x: 71.133 y: 8.187 z: -15.158 -[InterestPoint66] +[InterestPoint78] name: LowerOuterBackRBkShin chain: RBk link: 4 x: 71.133 y: 8.187 z: -24.557 -[InterestPoint67] +[InterestPoint79] name: MiddleOuterMiddleLFrShin chain: LFr link: 4 x: 42.057 y: -10.714 z: -27.747 -[InterestPoint68] +[InterestPoint80] name: MiddleInnerMiddleRFrShin chain: RFr link: 4 x: 42.057 y: -10.714 z: -18.353 -[InterestPoint69] +[InterestPoint81] name: MiddleOuterMiddleLBkShin chain: LBk link: 4 x: 41.625 y: -11.335 z: 27.747 -[InterestPoint70] +[InterestPoint82] name: MiddleInnerMiddleRBkShin chain: RBk link: 4 x: 41.625 y: -11.335 z: 18.353 -[InterestPoint71] +[InterestPoint83] name: MiddleInnerMiddleLFrShin chain: LFr link: 4 x: 42.057 y: -10.714 z: 18.353 -[InterestPoint72] +[InterestPoint84] name: MiddleOuterMiddleRFrShin chain: RFr link: 4 x: 42.057 y: -10.714 z: 27.747 -[InterestPoint73] +[InterestPoint85] name: MiddleInnerMiddleLBkShin chain: LBk link: 4 x: 41.625 y: -11.335 z: -18.353 -[InterestPoint74] +[InterestPoint86] name: MiddleOuterMiddleRBkShin chain: RBk link: 4 x: 41.625 y: -11.335 z: -27.747 -[InterestPoint75] +[InterestPoint87] name: UpperOuterFrontLFrShin chain: LFr link: 4 x: 29.289 y: 14.743 z: -23.426 -[InterestPoint76] +[InterestPoint88] name: UpperInnerFrontRFrShin chain: RFr link: 4 x: 29.289 y: 14.743 z: -14.026 -[InterestPoint77] +[InterestPoint89] name: UpperOuterFrontLBkShin chain: LBk link: 4 x: 2.812 y: -22.417 z: 23.426 -[InterestPoint78] +[InterestPoint90] name: UpperInnerFrontRBkShin chain: RBk link: 4 x: 2.812 y: -22.417 z: 14.026 -[InterestPoint79] +[InterestPoint91] name: UpperInnerFrontLFrShin chain: LFr link: 4 x: 29.289 y: 14.743 z: 14.026 -[InterestPoint80] +[InterestPoint92] name: UpperOuterFrontRFrShin chain: RFr link: 4 x: 29.289 y: 14.743 z: 23.426 -[InterestPoint81] +[InterestPoint93] name: UpperInnerFrontLBkShin chain: LBk link: 4 x: 2.812 y: -22.417 z: -14.026 -[InterestPoint82] +[InterestPoint94] name: UpperOuterFrontRBkShin chain: RBk link: 4 x: 2.812 y: -22.417 z: -23.426 -[InterestPoint83] +[InterestPoint95] name: UpperOuterBackLFrShin chain: LFr link: 4 x: 6.397 y: -20.060 z: -23.426 -[InterestPoint84] +[InterestPoint96] name: UpperInnerBackRFrShin chain: RFr link: 4 x: 6.397 y: -20.060 z: -14.026 -[InterestPoint85] +[InterestPoint97] name: UpperOuterBackLBkShin chain: LBk link: 4 x: 32.869 y: 9.622 z: 23.426 -[InterestPoint86] +[InterestPoint98] name: UpperInnerBackRBkShin chain: RBk link: 4 x: 32.869 y: 9.622 z: 14.026 -[InterestPoint87] +[InterestPoint99] name: UpperInnerBackLFrShin chain: LFr link: 4 x: 6.397 y: -20.060 z: 14.026 -[InterestPoint88] +[InterestPoint100] name: UpperOuterBackRFrShin chain: RFr link: 4 x: 6.397 y: -20.060 z: 23.426 -[InterestPoint89] +[InterestPoint101] name: UpperInnerBackLBkShin chain: LBk link: 4 x: 32.869 y: 9.622 z: -14.026 -[InterestPoint90] +[InterestPoint102] name: UpperOuterBackRBkShin chain: RBk link: 4 x: 32.869 y: 9.622 z: -23.426 -[InterestPoint91] +[InterestPoint103] name: LowerOuterFrontLFrThigh chain: LFr link: 3 x: 47.947 y: 14.539 z: 17.189 -[InterestPoint92] +[InterestPoint104] name: LowerInnerFrontRFrThigh chain: RFr link: 3 x: 47.947 y: -5.043 z: -17.189 -[InterestPoint93] +[InterestPoint105] name: LowerOuterFrontLBkThigh chain: LBk link: 3 x: 47.947 y: 14.539 z: 17.189 -[InterestPoint94] +[InterestPoint106] name: LowerInnerFrontRBkThigh chain: RBk link: 3 x: 47.947 y: -5.043 z: -17.189 -[InterestPoint95] +[InterestPoint107] name: LowerInnerFrontLFrThigh chain: LFr link: 3 x: 47.947 y: -5.043 z: 17.189 -[InterestPoint96] +[InterestPoint108] name: LowerOuterFrontRFrThigh chain: RFr link: 3 x: 47.947 y: 14.539 z: -17.189 -[InterestPoint97] +[InterestPoint109] name: LowerInnerFrontLBkThigh chain: LBk link: 3 x: 47.947 y: -5.043 z: 17.189 -[InterestPoint98] +[InterestPoint110] name: LowerOuterFrontRBkThigh chain: RBk link: 3 x: 47.947 y: 14.539 z: -17.189 -[InterestPoint99] +[InterestPoint111] name: LowerOuterBackLFrThigh chain: LFr link: 3 x: 47.947 y: 14.539 z: -17.189 -[InterestPoint100] +[InterestPoint112] name: LowerInnerBackRFrThigh chain: RFr link: 3 x: 47.947 y: -5.043 z: 17.189 -[InterestPoint101] +[InterestPoint113] name: LowerOuterBackLBkThigh chain: LBk link: 3 x: 47.947 y: 14.539 z: -17.189 -[InterestPoint102] +[InterestPoint114] name: LowerInnerBackRBkThigh chain: RBk link: 3 x: 47.947 y: -5.043 z: 17.189 -[InterestPoint103] +[InterestPoint115] name: LowerInnerBackLFrThigh chain: LFr link: 3 x: 47.947 y: -5.043 z: -17.189 -[InterestPoint104] +[InterestPoint116] name: LowerOuterBackRFrThigh chain: RFr link: 3 x: 47.947 y: 14.539 z: 17.189 -[InterestPoint105] +[InterestPoint117] name: LowerInnerBackLBkThigh chain: LBk link: 3 x: 47.947 y: -5.043 z: -17.189 -[InterestPoint106] +[InterestPoint118] name: LowerOuterBackRBkThigh chain: RBk link: 3 x: 47.947 y: 14.539 z: 17.189 -[InterestPoint107] +[InterestPoint119] name: UpperOuterFrontLFrThigh chain: LFr link: 3 x: 0 y: 10.310 z: 17.189 -[InterestPoint108] +[InterestPoint120] name: UpperInnerFrontRFrThigh chain: RFr link: 3 x: 0 y: -5.043 z: -17.189 -[InterestPoint109] +[InterestPoint121] name: UpperOuterFrontLBkThigh chain: LBk link: 3 x: 0 y: 10.310 z: 17.189 -[InterestPoint110] +[InterestPoint122] name: UpperInnerFrontRBkThigh chain: RBk link: 3 x: 0 y: -5.043 z: -17.189 -[InterestPoint111] +[InterestPoint123] name: UpperInnerFrontLFrThigh chain: LFr link: 3 x: 0 y: -5.043 z: 17.189 -[InterestPoint112] +[InterestPoint124] name: UpperOuterFrontRFrThigh chain: RFr link: 3 x: 0 y: 10.310 z: -17.189 -[InterestPoint113] +[InterestPoint125] name: UpperInnerFrontLBkThigh chain: LBk link: 3 x: 0 y: -5.043 z: 17.189 -[InterestPoint114] +[InterestPoint126] name: UpperOuterFrontRBkThigh chain: RBk link: 3 x: 0 y: 10.310 z: -17.189 -[InterestPoint115] +[InterestPoint127] name: UpperOuterBackLFrThigh chain: LFr link: 3 x: 0 y: 10.310 z: -17.189 -[InterestPoint116] +[InterestPoint128] name: UpperInnerBackRFrThigh chain: RFr link: 3 x: 0 y: -5.043 z: 17.189 -[InterestPoint117] +[InterestPoint129] name: UpperOuterBackLBkThigh chain: LBk link: 3 x: 0 y: 10.310 z: -17.189 -[InterestPoint118] +[InterestPoint130] name: UpperInnerBackRBkThigh chain: RBk link: 3 x: 0 y: -5.043 z: 17.189 -[InterestPoint119] +[InterestPoint131] name: UpperInnerBackLFrThigh chain: LFr link: 3 x: 0 y: -5.043 z: -17.189 -[InterestPoint120] +[InterestPoint132] name: UpperOuterBackRFrThigh chain: RFr link: 3 x: 0 y: 10.310 z: 17.189 -[InterestPoint121] +[InterestPoint133] name: UpperInnerBackLBkThigh chain: LBk link: 3 x: 0 y: -5.043 z: -17.189 -[InterestPoint122] +[InterestPoint134] name: UpperOuterBackRBkThigh chain: RBk link: 3 diff -urdN ../../Tekkotsu_2.2.1/project/ms/config/ers7pnts.kin ./ms/config/ers7pnts.kin --- ../../Tekkotsu_2.2.1/project/ms/config/ers7pnts.kin Wed Dec 31 19:00:00 1969 +++ ./ms/config/ers7pnts.kin Wed Dec 22 21:21:00 2004 @@ -0,0 +1,1972 @@ +# ---------------------------------------------------------------- +# Robot configuration File +# ---------------------------------------------------------------- + +[Default] + +[Body] +Name: Body +DH: 1 +Fix: 0 +MinPara: 0 +dof: 0 +Motor: 0 +Stl: 0 + + +[LFr] +Name: LFr +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[LFr_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 65.0 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[LFr_LINK2] +joint_type: 0 +theta: -1.570796326794895 +d: -62.5 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -2.2689 +theta_max: 2.0071 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 0 + +[LFr_LINK3] +joint_type: 0 +theta: 0.0 +d: 9.0 +a: 69.5 +alpha: 1.570796326794895 +theta_min: -0.1745 +theta_max: 1.5359 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 1 + +[LFr_LINK4] +joint_type: 0 +theta: -0.07122 +d: -4.7 +a: 70.1646 +alpha: 0.0 +theta_min: -0.4363 +theta_max: 2.1293 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 2 + +[LFr_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 1 + + +[RFr] +Name: RFr +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[RFr_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 65.0 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[RFr_LINK2] +joint_type: 0 +theta: -1.570796326794895 +d: 62.5 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -2.2689 +theta_max: 2.0071 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 3 + +[RFr_LINK3] +joint_type: 0 +theta: 0.0 +d: -9.0 +a: 69.5 +alpha: -1.570796326794895 +theta_min: -0.1745 +theta_max: 1.5359 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 4 + +[RFr_LINK4] +joint_type: 0 +theta: -0.07122 +d: 4.7 +a: 70.1646 +alpha: 0.0 +theta_min: -0.4363 +theta_max: 2.1293 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 5 + +[RFr_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 2 + + +[LBk] +Name: LBk +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[LBk_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: -65.0 +alpha: -1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[LBk_LINK2] +joint_type: 0 +theta: 1.570796326794895 +d: 62.5 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -2.2689 +theta_max: 2.0071 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 6 + +[LBk_LINK3] +joint_type: 0 +theta: 0.0 +d: -9.0 +a: 69.5 +alpha: -1.570796326794895 +theta_min: -0.1745 +theta_max: 1.5359 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 7 + +[LBk_LINK4] +joint_type: 0 +theta: -0.26686 +d: 4.7 +a: 70.1646 +alpha: 3.1415926535897932385 +theta_min: -0.4363 +theta_max: 2.1293 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 8 + +[LBk_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 3 + + +[RBk] +Name: RBk +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[RBk_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: -65.0 +alpha: -1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[RBk_LINK2] +joint_type: 0 +theta: 1.570796326794895 +d: -62.5 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -2.2689 +theta_max: 2.0071 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 9 + +[RBk_LINK3] +joint_type: 0 +theta: 0.0 +d: 9.0 +a: 69.5 +alpha: 1.570796326794895 +theta_min: -0.1745 +theta_max: 1.5359 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 10 + +[RBk_LINK4] +joint_type: 0 +theta: -0.26686 +d: -4.7 +a: 70.1646 +alpha: 3.1415926535897932385 +theta_min: -0.4363 +theta_max: 2.1293 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 11 + +[RBk_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 4 + + +[Mouth] +Name: Mouth +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[Mouth_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 19.5 +a: 67.5 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Mouth_LINK2] +joint_type: 0 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -1.308996939 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 12 + +[Mouth_LINK3] +joint_type: 0 +theta: 0.0 +d: 80.0 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -1.53588974176 +theta_max: 1.53588974176 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 13 + +[Mouth_LINK4] +joint_type: 0 +theta: -0.41241 +d: 0.0 +a: 43.6606 +alpha: 0.0 +theta_min: -0.261799387799 +theta_max: 0.785398163397 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 14 + +[Mouth_LINK5] +joint_type: 0 +theta: 0.127935 +d: 0.0 +a: 42.0076 +alpha: -1.570796326794895 +theta_min: -0.959931088597 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 17 + + +[Camera] +Name: Camera +DH: 1 +Fix: 0 +MinPara: 0 +dof: 6 +Motor: 0 +Stl: 0 + +[Camera_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 19.5 +a: 67.5 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Camera_LINK2] +joint_type: 0 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -1.308996939 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 12 + +[Camera_LINK3] +joint_type: 0 +theta: 0.0 +d: 80.0 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -1.53588974176 +theta_max: 1.53588974176 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 13 + +[Camera_LINK4] +joint_type: 0 +theta: -1.570796326794895 +d: 0.0 +a: 14.6 +alpha: -1.570796326794895 +theta_min: -0.261799387799 +theta_max: 0.785398163397 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 14 + +[Camera_LINK5] +joint_type: 1 +immobile: 1 +theta: -1.570796326794895 +d: 81.06 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Camera_LINK6] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 5 + + +[NearIR] +Name: NearIR +DH: 1 +Fix: 0 +MinPara: 0 +dof: 6 +Motor: 0 +Stl: 0 + +[NearIR_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 19.5 +a: 67.5 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[NearIR_LINK2] +joint_type: 0 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -1.308996939 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 12 + +[NearIR_LINK3] +joint_type: 0 +theta: 0.0 +d: 80.0 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -1.53588974176 +theta_max: 1.53588974176 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 13 + +[NearIR_LINK4] +joint_type: 0 +theta: 0.0249189 +d: 2.79525 +a: 76.9239 +alpha: 0.0 +theta_min: -0.261799387799 +theta_max: 0.785398163397 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 14 + +[NearIR_LINK5] +joint_type: 0 +immobile: 1 +theta: 1.50041 +d: 0.0 +a: 0.0 +alpha: 1.55997 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[NearIR_LINK6] +joint_type: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 6 + + +[FarIR] +Name: FarIR +DH: 1 +Fix: 0 +MinPara: 0 +dof: 6 +Motor: 0 +Stl: 0 + +[FarIR_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 19.5 +a: 67.5 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[FarIR_LINK2] +joint_type: 0 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -1.308996939 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 12 + +[FarIR_LINK3] +joint_type: 0 +theta: 0.0 +d: 80.0 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -1.53588974176 +theta_max: 1.53588974176 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 13 + +[FarIR_LINK4] +joint_type: 0 +theta: 0.0136814 +d: -8.04682 +a: 76.9072 +alpha: 0.0 +theta_min: -0.261799387799 +theta_max: 0.785398163397 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 14 + +[FarIR_LINK5] +joint_type: 0 +immobile: 1 +theta: 1.52305 +d: 0.0 +a: 0.0 +alpha: 1.56055 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[FarIR_LINK6] +joint_type: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 7 + + +[ChestIR] +Name: ChestIR +DH: 1 +Fix: 0 +MinPara: 0 +dof: 3 +Motor: 0 +Stl: 0 + +[ChestIR_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: -3.38397459622 +a: 109.13620668 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[ChestIR_LINK2] +joint_type: 0 +immobile: 1 +theta: 1.0471975512 +d: 0.0 +a: 0.0 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[ChestIR_LINK3] +joint_type: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 8 + + +[InterestPoints] +Length: 134 + +[InterestPoint1] + name: LFr:elvtr + chain: LFr + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint2] + name: LFr:rotor + chain: LFr + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint3] + name: LFr:knee~ + chain: LFr + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint4] + name: RFr:elvtr + chain: RFr + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint5] + name: RFr:rotor + chain: RFr + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint6] + name: RFr:knee~ + chain: RFr + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint7] + name: LBk:elvtr + chain: LBk + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint8] + name: LBk:rotor + chain: LBk + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint9] + name: LBk:knee~ + chain: LBk + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint10] + name: RBk:elvtr + chain: RBk + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint11] + name: RBk:rotor + chain: RBk + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint12] + name: RBk:knee~ + chain: RBk + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint13] + name: NECK:tilt + chain: Camera + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint14] + name: NECK:pan~ + chain: Camera + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint15] + name: NECK:nod~ + chain: Camera + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint16] + name: MOUTH~~~~ + chain: Mouth + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint17] + name: Base + chain: Camera + link: 0 + x: 0 + y: 0 + z: 0 +[InterestPoint18] + name: LFrPaw + chain: LFr + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint19] + name: RFrPaw + chain: RFr + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint20] + name: LBkPaw + chain: LBk + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint21] + name: RBkPaw + chain: RBk + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint22] + name: Camera + chain: Camera + link: 6 + x: 0 + y: 0 + z: 0 +[InterestPoint23] + name: NearIR + chain: NearIR + link: 6 + x: 0 + y: 0 + z: 0 +[InterestPoint24] + name: FarIR + chain: FarIR + link: 6 + x: 0 + y: 0 + z: 0 +[InterestPoint25] + name: ChestIR + chain: ChestIR + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint26] + name: UpperLChest + chain: Body + link: 0 + x: 107.560 + y: 23.448 + z: 0 +[InterestPoint27] + name: UpperRChest + chain: Body + link: 0 + x: 107.560 + y: -23.448 + z: 0 +[InterestPoint28] + name: LowerLChest + chain: Body + link: 0 + x: 95.250 + y: 29.631 + z: -30.070 +[InterestPoint29] + name: LowerRChest + chain: Body + link: 0 + x: 95.250 + y: -29.631 + z: -30.070 +[InterestPoint30] + name: LFrBelly + chain: Body + link: 0 + x: 55.290 + y: 20.238 + z: -52.270 +[InterestPoint31] + name: RFrBelly + chain: Body + link: 0 + x: 55.290 + y: -20.238 + z: -52.270 +[InterestPoint32] + name: LBkBelly + chain: Body + link: 0 + x: -60.540 + y: 14.238 + z: -52.270 +[InterestPoint33] + name: RBkBelly + chain: Body + link: 0 + x: -60.540 + y: -14.238 + z: -52.270 +[InterestPoint34] + name: LowerLRump + chain: Body + link: 0 + x: -104.140 + y: 29.631 + z: -38.950 +[InterestPoint35] + name: LowerRRump + chain: Body + link: 0 + x: -104.140 + y: -29.631 + z: -38.950 +[InterestPoint36] + name: UpperLRump + chain: Body + link: 0 + x: -108.970 + y: 29.631 + z: 0 +[InterestPoint37] + name: UpperRRump + chain: Body + link: 0 + x: -108.970 + y: -29.631 + z: 0 +[InterestPoint38] + name: LowerLeftLowerLip + chain: Mouth + link: 5 + x: 40.851 + y: 12.275 + z: -16.128 +[InterestPoint39] + name: LowerRightLowerLip + chain: Mouth + link: 5 + x: 40.851 + y: 12.275 + z: 16.128 +[InterestPoint40] + name: UpperLeftLowerLip + chain: Mouth + link: 5 + x: 38.378 + y: 11.203 + z: -11.397 +[InterestPoint41] + name: UpperRightLowerLip + chain: Mouth + link: 5 + x: 38.378 + y: 11.203 + z: 11.397 +[InterestPoint42] + name: LowerLeftUpperLip + chain: Mouth + link: 4 + x: 79.518 + y: -22.291 + z: -11.397 +[InterestPoint43] + name: LowerRightUpperLip + chain: Mouth + link: 4 + x: 79.518 + y: -22.291 + z: 11.397 +[InterestPoint44] + name: LowerLeftSnout + chain: Camera + link: 4 + x: 54.223 + y: -21.146 + z: -37.291 +[InterestPoint45] + name: LowerRightSnout + chain: Camera + link: 4 + x: 54.223 + y: -21.146 + z: 37.291 +[InterestPoint46] + name: UpperLeftSnout + chain: Camera + link: 4 + x: 54.223 + y: 7.605 + z: -26.284 +[InterestPoint47] + name: UpperRightSnout + chain: Camera + link: 4 + x: 54.223 + y: 7.605 + z: 26.284 +[InterestPoint48] + name: LeftMicrophone + chain: Camera + link: 4 + x: -11.156 + y: 14.897 + z: -46.941 +[InterestPoint49] + name: RightMicrophone + chain: Camera + link: 4 + x: -11.156 + y: 14.897 + z: 46.941 +[InterestPoint50] + name: HeadButton + chain: Camera + link: 4 + x: -7.704 + y: 41.192 + z: 0 +[InterestPoint51] + name: ToeLFrPaw + chain: LFr + link: 5 + x: 7.180 + y: 29.548 + z: 0 +[InterestPoint52] + name: ToeRFrPaw + chain: RFr + link: 5 + x: 7.180 + y: 29.548 + z: 0 +[InterestPoint53] + name: ToeLBkPaw + chain: LBk + link: 5 + x: -6.414 + y: 27.759 + z: 0 +[InterestPoint54] + name: ToeRBkPaw + chain: RBk + link: 5 + x: -6.414 + y: 27.759 + z: 0 +[InterestPoint55] + name: LowerOuterFrontLFrShin + chain: LFr + link: 4 + x: 59.298 + y: 21.239 + z: -24.557 +[InterestPoint56] + name: LowerInnerFrontRFrShin + chain: RFr + link: 4 + x: 59.298 + y: 21.239 + z: -15.158 +[InterestPoint57] + name: LowerOuterFrontLBkShin + chain: LBk + link: 4 + x: 41.172 + y: -33.863 + z: 24.557 +[InterestPoint58] + name: LowerInnerFrontRBkShin + chain: RBk + link: 4 + x: 41.172 + y: -33.863 + z: 15.158 +[InterestPoint59] + name: LowerInnerFrontLFrShin + chain: LFr + link: 4 + x: 59.298 + y: 21.239 + z: 15.158 +[InterestPoint60] + name: LowerOuterFrontRFrShin + chain: RFr + link: 4 + x: 59.298 + y: 21.239 + z: 24.557 +[InterestPoint61] + name: LowerInnerFrontLBkShin + chain: LBk + link: 4 + x: 41.172 + y: -33.863 + z: -15.158 +[InterestPoint62] + name: LowerOuterFrontRBkShin + chain: RBk + link: 4 + x: 41.172 + y: -33.863 + z: -24.557 +[InterestPoint63] + name: LowerOuterMiddleLFrShin + chain: LFr + link: 4 + x: 63.011 + y: -15.573 + z: -24.557 +[InterestPoint64] + name: LowerInnerMiddleRFrShin + chain: RFr + link: 4 + x: 63.011 + y: -15.573 + z: -15.158 +[InterestPoint65] + name: LowerOuterMiddleLBkShin + chain: LBk + link: 4 + x: 75.203 + y: -8.342 + z: 24.557 +[InterestPoint66] + name: LowerInnerMiddleRBkShin + chain: RBk + link: 4 + x: 75.203 + y: -8.342 + z: 15.158 +[InterestPoint67] + name: LowerInnerMiddleLFrShin + chain: LFr + link: 4 + x: 63.011 + y: -15.573 + z: 15.158 +[InterestPoint68] + name: LowerOuterMiddleRFrShin + chain: RFr + link: 4 + x: 63.011 + y: -15.573 + z: 24.557 +[InterestPoint69] + name: LowerInnerMiddleLBkShin + chain: LBk + link: 4 + x: 75.203 + y: -8.342 + z: -15.158 +[InterestPoint70] + name: LowerOuterMiddleRBkShin + chain: RBk + link: 4 + x: 75.203 + y: -8.342 + z: -24.557 +[InterestPoint71] + name: LowerOuterBackLFrShin + chain: LFr + link: 4 + x: 40.581 + y: -26.402 + z: -24.557 +[InterestPoint72] + name: LowerInnerBackRFrShin + chain: RFr + link: 4 + x: 40.581 + y: -26.402 + z: -15.158 +[InterestPoint73] + name: LowerOuterBackLBkShin + chain: LBk + link: 4 + x: 71.133 + y: 8.187 + z: 24.557 +[InterestPoint74] + name: LowerInnerBackRBkShin + chain: RBk + link: 4 + x: 71.133 + y: 8.187 + z: 15.158 +[InterestPoint75] + name: LowerInnerBackLFrShin + chain: LFr + link: 4 + x: 40.581 + y: -26.402 + z: 15.158 +[InterestPoint76] + name: LowerOuterBackRFrShin + chain: RFr + link: 4 + x: 40.581 + y: -26.402 + z: 24.557 +[InterestPoint77] + name: LowerInnerBackLBkShin + chain: LBk + link: 4 + x: 71.133 + y: 8.187 + z: -15.158 +[InterestPoint78] + name: LowerOuterBackRBkShin + chain: RBk + link: 4 + x: 71.133 + y: 8.187 + z: -24.557 +[InterestPoint79] + name: MiddleOuterMiddleLFrShin + chain: LFr + link: 4 + x: 42.057 + y: -10.714 + z: -27.747 +[InterestPoint80] + name: MiddleInnerMiddleRFrShin + chain: RFr + link: 4 + x: 42.057 + y: -10.714 + z: -18.353 +[InterestPoint81] + name: MiddleOuterMiddleLBkShin + chain: LBk + link: 4 + x: 41.625 + y: -11.335 + z: 27.747 +[InterestPoint82] + name: MiddleInnerMiddleRBkShin + chain: RBk + link: 4 + x: 41.625 + y: -11.335 + z: 18.353 +[InterestPoint83] + name: MiddleInnerMiddleLFrShin + chain: LFr + link: 4 + x: 42.057 + y: -10.714 + z: 18.353 +[InterestPoint84] + name: MiddleOuterMiddleRFrShin + chain: RFr + link: 4 + x: 42.057 + y: -10.714 + z: 27.747 +[InterestPoint85] + name: MiddleInnerMiddleLBkShin + chain: LBk + link: 4 + x: 41.625 + y: -11.335 + z: -18.353 +[InterestPoint86] + name: MiddleOuterMiddleRBkShin + chain: RBk + link: 4 + x: 41.625 + y: -11.335 + z: -27.747 +[InterestPoint87] + name: UpperOuterFrontLFrShin + chain: LFr + link: 4 + x: 29.289 + y: 14.743 + z: -23.426 +[InterestPoint88] + name: UpperInnerFrontRFrShin + chain: RFr + link: 4 + x: 29.289 + y: 14.743 + z: -14.026 +[InterestPoint89] + name: UpperOuterFrontLBkShin + chain: LBk + link: 4 + x: 2.812 + y: -22.417 + z: 23.426 +[InterestPoint90] + name: UpperInnerFrontRBkShin + chain: RBk + link: 4 + x: 2.812 + y: -22.417 + z: 14.026 +[InterestPoint91] + name: UpperInnerFrontLFrShin + chain: LFr + link: 4 + x: 29.289 + y: 14.743 + z: 14.026 +[InterestPoint92] + name: UpperOuterFrontRFrShin + chain: RFr + link: 4 + x: 29.289 + y: 14.743 + z: 23.426 +[InterestPoint93] + name: UpperInnerFrontLBkShin + chain: LBk + link: 4 + x: 2.812 + y: -22.417 + z: -14.026 +[InterestPoint94] + name: UpperOuterFrontRBkShin + chain: RBk + link: 4 + x: 2.812 + y: -22.417 + z: -23.426 +[InterestPoint95] + name: UpperOuterBackLFrShin + chain: LFr + link: 4 + x: 6.397 + y: -20.060 + z: -23.426 +[InterestPoint96] + name: UpperInnerBackRFrShin + chain: RFr + link: 4 + x: 6.397 + y: -20.060 + z: -14.026 +[InterestPoint97] + name: UpperOuterBackLBkShin + chain: LBk + link: 4 + x: 32.869 + y: 9.622 + z: 23.426 +[InterestPoint98] + name: UpperInnerBackRBkShin + chain: RBk + link: 4 + x: 32.869 + y: 9.622 + z: 14.026 +[InterestPoint99] + name: UpperInnerBackLFrShin + chain: LFr + link: 4 + x: 6.397 + y: -20.060 + z: 14.026 +[InterestPoint100] + name: UpperOuterBackRFrShin + chain: RFr + link: 4 + x: 6.397 + y: -20.060 + z: 23.426 +[InterestPoint101] + name: UpperInnerBackLBkShin + chain: LBk + link: 4 + x: 32.869 + y: 9.622 + z: -14.026 +[InterestPoint102] + name: UpperOuterBackRBkShin + chain: RBk + link: 4 + x: 32.869 + y: 9.622 + z: -23.426 +[InterestPoint103] + name: LowerOuterFrontLFrThigh + chain: LFr + link: 3 + x: 47.947 + y: 14.539 + z: 17.189 +[InterestPoint104] + name: LowerInnerFrontRFrThigh + chain: RFr + link: 3 + x: 47.947 + y: -5.043 + z: -17.189 +[InterestPoint105] + name: LowerOuterFrontLBkThigh + chain: LBk + link: 3 + x: 47.947 + y: 14.539 + z: 17.189 +[InterestPoint106] + name: LowerInnerFrontRBkThigh + chain: RBk + link: 3 + x: 47.947 + y: -5.043 + z: -17.189 +[InterestPoint107] + name: LowerInnerFrontLFrThigh + chain: LFr + link: 3 + x: 47.947 + y: -5.043 + z: 17.189 +[InterestPoint108] + name: LowerOuterFrontRFrThigh + chain: RFr + link: 3 + x: 47.947 + y: 14.539 + z: -17.189 +[InterestPoint109] + name: LowerInnerFrontLBkThigh + chain: LBk + link: 3 + x: 47.947 + y: -5.043 + z: 17.189 +[InterestPoint110] + name: LowerOuterFrontRBkThigh + chain: RBk + link: 3 + x: 47.947 + y: 14.539 + z: -17.189 +[InterestPoint111] + name: LowerOuterBackLFrThigh + chain: LFr + link: 3 + x: 47.947 + y: 14.539 + z: -17.189 +[InterestPoint112] + name: LowerInnerBackRFrThigh + chain: RFr + link: 3 + x: 47.947 + y: -5.043 + z: 17.189 +[InterestPoint113] + name: LowerOuterBackLBkThigh + chain: LBk + link: 3 + x: 47.947 + y: 14.539 + z: -17.189 +[InterestPoint114] + name: LowerInnerBackRBkThigh + chain: RBk + link: 3 + x: 47.947 + y: -5.043 + z: 17.189 +[InterestPoint115] + name: LowerInnerBackLFrThigh + chain: LFr + link: 3 + x: 47.947 + y: -5.043 + z: -17.189 +[InterestPoint116] + name: LowerOuterBackRFrThigh + chain: RFr + link: 3 + x: 47.947 + y: 14.539 + z: 17.189 +[InterestPoint117] + name: LowerInnerBackLBkThigh + chain: LBk + link: 3 + x: 47.947 + y: -5.043 + z: -17.189 +[InterestPoint118] + name: LowerOuterBackRBkThigh + chain: RBk + link: 3 + x: 47.947 + y: 14.539 + z: 17.189 +[InterestPoint119] + name: UpperOuterFrontLFrThigh + chain: LFr + link: 3 + x: 0 + y: 10.310 + z: 17.189 +[InterestPoint120] + name: UpperInnerFrontRFrThigh + chain: RFr + link: 3 + x: 0 + y: -5.043 + z: -17.189 +[InterestPoint121] + name: UpperOuterFrontLBkThigh + chain: LBk + link: 3 + x: 0 + y: 10.310 + z: 17.189 +[InterestPoint122] + name: UpperInnerFrontRBkThigh + chain: RBk + link: 3 + x: 0 + y: -5.043 + z: -17.189 +[InterestPoint123] + name: UpperInnerFrontLFrThigh + chain: LFr + link: 3 + x: 0 + y: -5.043 + z: 17.189 +[InterestPoint124] + name: UpperOuterFrontRFrThigh + chain: RFr + link: 3 + x: 0 + y: 10.310 + z: -17.189 +[InterestPoint125] + name: UpperInnerFrontLBkThigh + chain: LBk + link: 3 + x: 0 + y: -5.043 + z: 17.189 +[InterestPoint126] + name: UpperOuterFrontRBkThigh + chain: RBk + link: 3 + x: 0 + y: 10.310 + z: -17.189 +[InterestPoint127] + name: UpperOuterBackLFrThigh + chain: LFr + link: 3 + x: 0 + y: 10.310 + z: -17.189 +[InterestPoint128] + name: UpperInnerBackRFrThigh + chain: RFr + link: 3 + x: 0 + y: -5.043 + z: 17.189 +[InterestPoint129] + name: UpperOuterBackLBkThigh + chain: LBk + link: 3 + x: 0 + y: 10.310 + z: -17.189 +[InterestPoint130] + name: UpperInnerBackRBkThigh + chain: RBk + link: 3 + x: 0 + y: -5.043 + z: 17.189 +[InterestPoint131] + name: UpperInnerBackLFrThigh + chain: LFr + link: 3 + x: 0 + y: -5.043 + z: -17.189 +[InterestPoint132] + name: UpperOuterBackRFrThigh + chain: RFr + link: 3 + x: 0 + y: 10.310 + z: 17.189 +[InterestPoint133] + name: UpperInnerBackLBkThigh + chain: LBk + link: 3 + x: 0 + y: -5.043 + z: -17.189 +[InterestPoint134] + name: UpperOuterBackRBkThigh + chain: RBk + link: 3 + x: 0 + y: 10.310 + z: 17.189 diff -urdN ../../Tekkotsu_2.2.1/project/ms/config/tekkotsu.cfg ./ms/config/tekkotsu.cfg --- ../../Tekkotsu_2.2.1/project/ms/config/tekkotsu.cfg Fri Nov 12 17:07:39 2004 +++ ./ms/config/tekkotsu.cfg Wed Dec 22 21:21:00 2004 @@ -1,9 +1,9 @@ ################################################################## ###################### Tekkotsu config ####################### ################################################################## -##################### $Name: HEAD $ ###################### -####################### $Revision: 1.1 $ ######################## -################## $Date: 2004/12/23 08:41:24 $ ################## +##################### $Name: HEAD $ ###################### +####################### $Revision: 1.1 $ ######################## +################## $Date: 2004/12/23 08:41:24 $ ################## ################################################################## # # Format: @@ -241,15 +241,18 @@ kinematics=/ms/config/ers210.kin +kinematic_chains=Body kinematic_chains=Mouth kinematics=/ms/config/ers220.kin +kinematic_chains=Body kinematic_chains=IR kinematics=/ms/config/ers7.kin +kinematic_chains=Body kinematic_chains=Mouth kinematic_chains=NearIR kinematic_chains=FarIR @@ -306,6 +309,10 @@ max_head_pan_speed=5.78140315 max_head_roll_speed=5.78140315 + +# If non-zero, robot should attempt to change directions instantaniously +# If zero, robot should change directions more fluidly (following some internal acceleration calibration) +inf_walk_accel=0 console_port=10003 stderr_port=10004 diff -urdN ../../Tekkotsu_2.2.1/project/ms/data/motion/dance.mot ./ms/data/motion/dance.mot --- ../../Tekkotsu_2.2.1/project/ms/data/motion/dance.mot Fri May 2 00:57:51 2003 +++ ./ms/data/motion/dance.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 803 +advanceTime 803 LFr:rotor -0.253956 LFr:elvtr -0.131986 LFr:knee~ 0.470636 @@ -16,7 +16,7 @@ NECK:tilt 0 NECK:pan~ 0 NECK:roll 0 -delay 300 +advanceTime 300 LFr:rotor -0.263956 LFr:elvtr -0.141986 LFr:knee~ 0.484838 @@ -30,7 +30,7 @@ RBk:elvtr -0.162013 RBk:knee~ 2.27489 NECK:tilt 0 -delay 300 +advanceTime 300 LFr:rotor -0.853081 LFr:elvtr -0.133808 LFr:knee~ 0.237025 @@ -44,7 +44,7 @@ RBk:elvtr 0.412627 RBk:knee~ 2.56563 NECK:tilt -0.3 -delay 500 +advanceTime 500 LFr:rotor -0.848842 LFr:elvtr -0.133808 LFr:knee~ 0.231227 @@ -57,7 +57,7 @@ RBk:elvtr 0.415625 RBk:knee~ 2.56563 NECK:tilt -0.5 -delay 500 +advanceTime 500 LFr:rotor -1.24884 LFr:elvtr -0.193808 LFr:knee~ 0.231227 @@ -70,7 +70,7 @@ RBk:rotor -0.851249 RBk:elvtr 0.214532 RBk:knee~ 1.75006 -delay 1156 +advanceTime 1156 LFr:rotor 2.004 LFr:elvtr -0.005817 LFr:knee~ 0.007958 @@ -79,14 +79,14 @@ RFr:knee~ 0.005634 LBk:elvtr 0.215208 RBk:knee~ 1.75006 -delay 916 +advanceTime 916 LFr:rotor 0.05999 LFr:elvtr 0.005817 LFr:knee~ 2.60796 RFr:rotor 0.055711 RFr:elvtr 0.003084 RFr:knee~ 2.60563 -delay 916 +advanceTime 916 LFr:rotor 2.004 LFr:elvtr -0.005817 LFr:knee~ 0.007958 @@ -99,7 +99,7 @@ RBk:rotor -0.851249 RBk:elvtr 0.214532 RBk:knee~ 1.75006 -delay 914 +advanceTime 914 LFr:rotor 0 LFr:elvtr 0 LFr:knee~ 2.6 diff -urdN ../../Tekkotsu_2.2.1/project/ms/data/motion/gu_back.mot ./ms/data/motion/gu_back.mot --- ../../Tekkotsu_2.2.1/project/ms/data/motion/gu_back.mot Fri May 2 00:57:51 2003 +++ ./ms/data/motion/gu_back.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 746 +advanceTime 746 LFr:rotor 0 LFr:elvtr 0 LFr:knee~ 0 @@ -16,7 +16,7 @@ NECK:tilt -1.5708 NECK:pan~ 0 NECK:roll 0 -delay 881 +advanceTime 881 LFr:rotor 0 LFr:knee~ 0 RFr:rotor 0 @@ -25,7 +25,7 @@ LBk:knee~ 2.5 RBk:rotor -1.8 RBk:knee~ 2.5 -delay 500 +advanceTime 500 LFr:rotor 1 LFr:elvtr 0 LFr:knee~ 0.5 diff -urdN ../../Tekkotsu_2.2.1/project/ms/data/motion/gu_front.mot ./ms/data/motion/gu_front.mot --- ../../Tekkotsu_2.2.1/project/ms/data/motion/gu_front.mot Fri May 2 00:57:51 2003 +++ ./ms/data/motion/gu_front.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 501 +advanceTime 501 LFr:rotor 0 LFr:elvtr 0 LFr:knee~ 0 @@ -16,7 +16,7 @@ NECK:tilt 0 NECK:pan~ 0 NECK:roll 0 -delay 881 +advanceTime 881 LFr:rotor 0 LFr:elvtr 1.6 RFr:rotor 0 @@ -25,7 +25,7 @@ LBk:knee~ 2.5 RBk:rotor 1 RBk:knee~ 2.5 -delay 994 +advanceTime 994 LFr:rotor 1.8 LFr:elvtr 1.6 LFr:knee~ 0 @@ -34,7 +34,7 @@ RFr:knee~ 0 LBk:rotor -1.8 RBk:rotor -1.8 -delay 881 +advanceTime 881 LFr:rotor 1.8 LFr:elvtr 0 LFr:knee~ 2.5 @@ -43,7 +43,7 @@ RFr:knee~ 2.5 LBk:rotor -1.8 RBk:rotor -1.8 -delay 705 +advanceTime 705 LFr:rotor 1 LFr:elvtr 0 LFr:knee~ 0.5 diff -urdN ../../Tekkotsu_2.2.1/project/ms/data/motion/gu_side.mot ./ms/data/motion/gu_side.mot --- ../../Tekkotsu_2.2.1/project/ms/data/motion/gu_side.mot Fri May 2 00:57:51 2003 +++ ./ms/data/motion/gu_side.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 501 +advanceTime 501 LFr:rotor 0 LFr:elvtr 0 LFr:knee~ 0 @@ -16,7 +16,7 @@ NECK:tilt 0 NECK:pan~ 0 NECK:roll 0 -delay 881 +advanceTime 881 LFr:rotor 2 LFr:elvtr 0 LFr:knee~ 2.5 @@ -29,7 +29,7 @@ RBk:rotor 2 RBk:elvtr 0 RBk:knee~ 2.5 -delay 700 +advanceTime 700 LFr:rotor 2 LFr:elvtr 1.6 LFr:knee~ 2.5 @@ -40,7 +40,7 @@ LBk:elvtr 1.6 RBk:rotor 2 RBk:elvtr 1.6 -delay 1137 +advanceTime 1137 LFr:rotor 1 LFr:elvtr 0 LFr:knee~ 0.5 diff -urdN ../../Tekkotsu_2.2.1/project/ms/data/motion/k_bump.mot ./ms/data/motion/k_bump.mot --- ../../Tekkotsu_2.2.1/project/ms/data/motion/k_bump.mot Fri May 2 00:57:52 2003 +++ ./ms/data/motion/k_bump.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 652 +advanceTime 652 LFr:rotor 0.185475 LFr:elvtr 0.00453314 LFr:knee~ 1.80106 @@ -16,7 +16,7 @@ NECK:tilt 0 NECK:pan~ 0 NECK:roll 0 -delay 262 +advanceTime 262 LFr:rotor 0.735959 LFr:elvtr 0.00266154 LFr:knee~ 1.05702 @@ -29,7 +29,7 @@ RBk:rotor -1.15181 RBk:elvtr 0.255151 RBk:knee~ 1.84981 -delay 540 +advanceTime 540 LFr:rotor -0.785992 LFr:elvtr 0.00638608 LFr:knee~ 2.07946 @@ -42,7 +42,7 @@ RBk:rotor 0.101941 RBk:elvtr 0.153667 RBk:knee~ 1.3203 -delay 400 +advanceTime 400 LFr:rotor -0.785992 LFr:elvtr 0.00638608 LFr:knee~ 2.07946 diff -urdN ../../Tekkotsu_2.2.1/project/ms/data/motion/k_diag.mot ./ms/data/motion/k_diag.mot --- ../../Tekkotsu_2.2.1/project/ms/data/motion/k_diag.mot Fri May 2 00:57:52 2003 +++ ./ms/data/motion/k_diag.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 644 +advanceTime 644 LFr:rotor -0.145629 LFr:elvtr 0.405273 LFr:knee~ 1.82849 @@ -16,7 +16,7 @@ NECK:tilt 0 NECK:pan~ 0 NECK:roll 0 -delay 569 +advanceTime 569 LFr:rotor -1.14237 LFr:elvtr 1.56166 LFr:knee~ 1.96605 @@ -31,7 +31,7 @@ RBk:knee~ 1.34195 NECK:tilt -1.2 NECK:pan~ -1.5 -delay 996 +advanceTime 996 LFr:rotor 0 LFr:elvtr 0.5 LFr:knee~ 0 diff -urdN ../../Tekkotsu_2.2.1/project/ms/data/motion/k_dive.mot ./ms/data/motion/k_dive.mot --- ../../Tekkotsu_2.2.1/project/ms/data/motion/k_dive.mot Fri May 2 00:57:52 2003 +++ ./ms/data/motion/k_dive.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 613 +advanceTime 613 LFr:rotor 0.3 LFr:elvtr 0.4 LFr:knee~ 1.6 @@ -16,7 +16,7 @@ NECK:tilt 0.5 NECK:pan~ 1.5 NECK:roll 0 -delay 259 +advanceTime 259 LFr:rotor 1.03 LFr:elvtr 0.09 LFr:knee~ 0.9 @@ -29,7 +29,7 @@ RBk:rotor -1.17 RBk:elvtr 0.14 RBk:knee~ 1.74 -delay 215 +advanceTime 215 LFr:rotor 1.53 LFr:elvtr -0.11 LFr:knee~ 0.72 @@ -42,7 +42,7 @@ RBk:rotor -1.45 RBk:elvtr 0.54 RBk:knee~ 2.35 -delay 472 +advanceTime 472 LFr:rotor 0.2 LFr:elvtr 0.4 LFr:knee~ 1.5 @@ -55,7 +55,7 @@ RBk:rotor -1.13 RBk:elvtr 0.14 RBk:knee~ 1.74 -delay 542 +advanceTime 542 LFr:elvtr 0.15 LFr:knee~ 0 RFr:elvtr 0.15 @@ -66,7 +66,7 @@ RBk:rotor -0.2 RBk:elvtr 0.5 RBk:knee~ 0.2 -delay 50 +advanceTime 50 LFr:rotor 0.2 RFr:rotor 0.2 LBk:rotor -0.2 @@ -74,7 +74,7 @@ RBk:rotor -0.2 RBk:knee~ 0.2 NECK:pan~ 1.5 -delay 458 +advanceTime 458 LFr:rotor 0 LFr:elvtr 0.15 RFr:rotor 0 @@ -83,7 +83,7 @@ LBk:knee~ 1.5 RBk:rotor 0 RBk:knee~ 1.5 -delay 426 +advanceTime 426 LFr:rotor -1.2 LFr:elvtr 0.5 RFr:rotor -1.2 @@ -91,7 +91,7 @@ LBk:rotor 1.2 RBk:rotor 1.2 NECK:pan~ 1.5 -delay 100 +advanceTime 100 LFr:rotor -1.2 LFr:elvtr 0.5 RFr:rotor -1.2 @@ -100,7 +100,7 @@ LBk:elvtr 0.5 RBk:rotor 1.2 RBk:elvtr 0.5 -delay 426 +advanceTime 426 LFr:rotor 0 LFr:elvtr 1.5 LFr:knee~ 0 @@ -111,12 +111,12 @@ LBk:elvtr 1.5 RBk:rotor 0 RBk:elvtr 1.5 -delay 528 +advanceTime 528 LFr:knee~ 1.5 RFr:knee~ 1.5 LBk:knee~ 1.5 RBk:knee~ 1.5 -delay 500 +advanceTime 500 LFr:rotor 0 LFr:elvtr 1.5 LFr:knee~ 1.5 diff -urdN ../../Tekkotsu_2.2.1/project/ms/data/motion/k_fwd.mot ./ms/data/motion/k_fwd.mot --- ../../Tekkotsu_2.2.1/project/ms/data/motion/k_fwd.mot Fri May 2 00:57:52 2003 +++ ./ms/data/motion/k_fwd.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 355 +advanceTime 355 LFr:rotor 1 LFr:elvtr -0.2 LFr:knee~ 1 @@ -16,7 +16,7 @@ NECK:tilt -0.3 NECK:pan~ 0 NECK:roll 0 -delay 728 +advanceTime 728 LFr:elvtr -0.2 LFr:knee~ 0.5 RFr:elvtr -0.2 @@ -28,14 +28,14 @@ RBk:elvtr 0.5 RBk:knee~ 2.5 NECK:tilt -0.5 -delay 120 +advanceTime 120 LFr:rotor 1 LFr:elvtr 0.1 LFr:knee~ 0.5 RFr:rotor 1 RFr:elvtr 0.1 RFr:knee~ 0.5 -delay 390 +advanceTime 390 LFr:rotor 2.1 LFr:elvtr 0.1 LFr:knee~ 1.6 @@ -43,7 +43,7 @@ RFr:elvtr 0.1 RFr:knee~ 1.6 NECK:tilt -0.5 -delay 332 +advanceTime 332 LFr:rotor 2.1 LFr:elvtr -0.3 RFr:rotor 2.1 @@ -53,7 +53,7 @@ RBk:rotor -2 RBk:knee~ 2.5 NECK:tilt 0.2 -delay 355 +advanceTime 355 LFr:rotor 1.5 LFr:knee~ 1.6 RFr:rotor 1.5 @@ -62,7 +62,7 @@ LBk:knee~ 1.5 RBk:rotor -1 RBk:knee~ 1.5 -delay 564 +advanceTime 564 LFr:rotor 1 LFr:elvtr -0.3 LFr:knee~ 0 @@ -72,7 +72,7 @@ LBk:elvtr 0.5 RBk:elvtr 0.5 NECK:tilt 0.2 -delay 352 +advanceTime 352 LFr:rotor 1 LFr:elvtr -0.2 LFr:knee~ 1 diff -urdN ../../Tekkotsu_2.2.1/project/ms/data/motion/k_grab.mot ./ms/data/motion/k_grab.mot --- ../../Tekkotsu_2.2.1/project/ms/data/motion/k_grab.mot Fri May 2 00:57:52 2003 +++ ./ms/data/motion/k_grab.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 501 +advanceTime 501 LFr:rotor 1.2 LFr:elvtr -0.2 LFr:knee~ 0.5 @@ -16,7 +16,7 @@ NECK:tilt 0 NECK:pan~ 0 NECK:roll 0 -delay 1314 +advanceTime 1314 LBk:rotor -2.5 LBk:elvtr 1 LBk:knee~ 2.5 @@ -25,31 +25,31 @@ RBk:knee~ 2.5 NECK:tilt 0.5 NECK:pan~ 1.5 -delay 881 +advanceTime 881 LBk:rotor -1 LBk:elvtr 0.5 LBk:knee~ 0 RBk:rotor -1 RBk:elvtr 0.5 RBk:knee~ 0 -delay 400 +advanceTime 400 LFr:elvtr -0.2 RFr:elvtr -0.2 -delay 200 +advanceTime 200 LFr:rotor 1.2 LFr:elvtr 0.1 LFr:knee~ 0.5 RFr:rotor 1.2 RFr:elvtr 0.1 RFr:knee~ 0.5 -delay 352 +advanceTime 352 LFr:rotor 1.9 LFr:elvtr 0.1 LFr:knee~ -0.5 RFr:rotor 1.9 RFr:elvtr 0.1 RFr:knee~ -0.5 -delay 800 +advanceTime 800 LFr:rotor 1.9 LFr:elvtr -0.2 LFr:knee~ -0.5 @@ -58,7 +58,7 @@ RFr:knee~ -0.5 LBk:rotor -1 RBk:rotor -1 -delay 852 +advanceTime 852 LFr:rotor -0.5 LFr:elvtr -0.1 LFr:knee~ 0 @@ -67,7 +67,7 @@ RFr:knee~ 0 LBk:rotor -0.2 RBk:rotor -0.2 -delay 100 +advanceTime 100 LFr:rotor -0.5 LFr:elvtr -0.1 LFr:knee~ 0 @@ -76,7 +76,7 @@ RFr:knee~ 0 LBk:rotor -0.2 RBk:rotor -0.2 -delay 710 +advanceTime 710 LFr:rotor 1.5 LFr:elvtr 1 LFr:knee~ 1.5 @@ -89,7 +89,7 @@ RBk:rotor -2 RBk:elvtr 0.5 RBk:knee~ 0 -delay 881 +advanceTime 881 LFr:rotor 1 LFr:elvtr 0 LFr:knee~ 0.5 @@ -103,10 +103,10 @@ RBk:elvtr 0 RBk:knee~ 2.5 NECK:pan~ 1.5 -delay 1000 +advanceTime 1000 LBk:rotor -1 RBk:rotor -1 -delay 1 +advanceTime 1 LFr:rotor 1 LFr:elvtr 0 LFr:knee~ 0.5 diff -urdN ../../Tekkotsu_2.2.1/project/ms/data/motion/k_head.mot ./ms/data/motion/k_head.mot --- ../../Tekkotsu_2.2.1/project/ms/data/motion/k_head.mot Fri May 2 00:57:52 2003 +++ ./ms/data/motion/k_head.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 644 +advanceTime 644 LFr:rotor -0.145629 LFr:elvtr 0.405273 LFr:knee~ 1.82849 @@ -16,7 +16,7 @@ NECK:tilt 0 NECK:pan~ 0 NECK:roll 0 -delay 569 +advanceTime 569 LFr:rotor -1.14237 LFr:elvtr 1.56166 LFr:knee~ 1.96605 @@ -31,7 +31,7 @@ RBk:knee~ 1.34195 NECK:tilt -1.2 NECK:pan~ -1.5 -delay 996 +advanceTime 996 LFr:rotor -0.743775 LFr:elvtr -0.191986 LFr:knee~ 2.33428 diff -urdN ../../Tekkotsu_2.2.1/project/ms/data/motion/k_heads.mot ./ms/data/motion/k_heads.mot --- ../../Tekkotsu_2.2.1/project/ms/data/motion/k_heads.mot Fri May 2 00:57:52 2003 +++ ./ms/data/motion/k_heads.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 644 +advanceTime 644 LFr:rotor -0.145629 LFr:elvtr 0.405273 LFr:knee~ 1.82849 @@ -16,7 +16,7 @@ NECK:tilt 0 NECK:pan~ 0 NECK:roll 0 -delay 569 +advanceTime 569 LFr:rotor -1.14237 LFr:elvtr 1.56166 LFr:knee~ 1.96605 @@ -31,7 +31,7 @@ RBk:knee~ 1.34195 NECK:tilt -1.2 NECK:pan~ -1.5 -delay 996 +advanceTime 996 LFr:rotor -0.743775 LFr:elvtr -0.191986 LFr:knee~ 2.33428 diff -urdN ../../Tekkotsu_2.2.1/project/ms/data/motion/k_hold.mot ./ms/data/motion/k_hold.mot --- ../../Tekkotsu_2.2.1/project/ms/data/motion/k_hold.mot Fri May 2 00:57:52 2003 +++ ./ms/data/motion/k_hold.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 553 +advanceTime 553 LFr:rotor 0.6 LFr:elvtr -0.1 LFr:knee~ 1.57 @@ -16,7 +16,7 @@ NECK:tilt 0.349066 NECK:pan~ 1.5708 NECK:roll 0 -delay 1042 +advanceTime 1042 LFr:rotor 0.6 LFr:elvtr -0.1 LFr:knee~ 1.57 diff -urdN ../../Tekkotsu_2.2.1/project/ms/data/motion/k_punch.mot ./ms/data/motion/k_punch.mot --- ../../Tekkotsu_2.2.1/project/ms/data/motion/k_punch.mot Fri May 2 00:57:52 2003 +++ ./ms/data/motion/k_punch.mot Wed Dec 22 21:21:00 2004 @@ -1,6 +1,6 @@ #MSq radians -delay 595 +advanceTime 595 LFr:rotor 0.183246 LFr:elvtr 0.556069 LFr:knee~ 1.36377 @@ -16,18 +16,18 @@ NECK:tilt 0 NECK:pan~ 0 NECK:roll 0 -delay 500 +advanceTime 500 LFr:rotor 0 LFr:elvtr 0 LFr:knee~ 2.5 -delay 710 +advanceTime 710 LFr:rotor 2 LFr:knee~ 1 RFr:knee~ 1.68938 LBk:knee~ 1.30206 -delay 100 +advanceTime 100 LFr:rotor 2 -delay 500 +advanceTime 500 LFr:rotor 1 LFr:elvtr 0 LFr:knee~ 1 @@ -40,7 +40,7 @@ RBk:rotor -0.870673 RBk:elvtr -0.110773 RBk:knee~ 1.49363 -delay 500 +advanceTime 500 LFr:rotor 0.108853 LFr:elvtr 0.325006 LFr:knee~ 1.61054 diff -urdN ../../Tekkotsu_2.2.1/project/ms/data/motion/pan_head.mot ./ms/data/motion/pan_head.mot --- ../../Tekkotsu_2.2.1/project/ms/data/motion/pan_head.mot Sat Nov 22 15:34:39 2003 +++ ./ms/data/motion/pan_head.mot Wed Dec 22 21:21:00 2004 @@ -1,11 +1,11 @@ #MSq degrees -delay 50 +advanceTime 50 NECK:tilt 15 NECK:roll 0 -delay 850 +advanceTime 850 NECK:pan~ -45 -delay 900 +advanceTime 900 NECK:pan~ 45 NECK:tilt 15 NECK:roll 0 diff -urdN ../../Tekkotsu_2.2.1/project/templates/behavior_header.h ./templates/behavior_header.h --- ../../Tekkotsu_2.2.1/project/templates/behavior_header.h Thu Nov 11 15:35:00 2004 +++ ./templates/behavior_header.h Thu Nov 11 15:35:00 2004 @@ -41,7 +41,7 @@ * @author YOURNAMEHERE (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../../Tekkotsu_2.2.1/project/templates/header.h ./templates/header.h --- ../../Tekkotsu_2.2.1/project/templates/header.h Tue Aug 24 21:09:24 2004 +++ ./templates/header.h Tue Aug 24 21:09:24 2004 @@ -15,7 +15,7 @@ * @author YOURNAMEHERE (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $ diff -urdN ../../Tekkotsu_2.2.1/project/templates/implementation.cc ./templates/implementation.cc --- ../../Tekkotsu_2.2.1/project/templates/implementation.cc Tue Aug 24 21:09:24 2004 +++ ./templates/implementation.cc Tue Aug 24 21:09:24 2004 @@ -5,7 +5,7 @@ * @author YOURNAMEHERE (Creator) * * $Author: ejt $ - * $Name: HEAD $ + * $Name: HEAD $ * $Revision: 1.1 $ * $State: Exp $ * $Date: 2004/12/23 08:41:24 $