items: id: 0 name: "Root" plugin: Base class: RootItem children: - id: 1 name: "ContinuousLamp" plugin: Body class: WorldItem is_checked: true data: collision_detection: false collision_detector: AISTCollisionDetector default_material_table_file: "${SHARE}/default/materials.yaml" children: - id: 2 name: "ContinuousLamp_Stage" plugin: Body class: BodyItem is_selected: true is_checked: true data: file: "stage.body" format: CHOREONOID-BODY rootPosition: [ 0, 0, 0 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointDisplacements: [ 0, 0, 0 ] jointPositions: [ 0, 0, 0 ] initialRootPosition: [ 0, 0, 0 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] initialJointPositions: [ 0, 0 ] staticModel: false collisionDetection: true selfCollisionDetection: true location_editable: false scene_sensitive: true zmp: [ 0, 0, 0 ] - id: 3 name: "Floor" plugin: Body class: BodyItem is_checked: true data: file: "${HOME}/catkin_ws/src/choreonoid/share/model/misc/floor.body" format: CHOREONOID-BODY rootPosition: [ 0, 0, -0.1 ] rootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] jointPositions: [ ] initialRootPosition: [ 0, 0, -0.1 ] initialRootAttitude: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ] staticModel: true collisionDetection: true selfCollisionDetection: false location_editable: true scene_sensitive: true zmp: [ 0, 0, 0 ] - id: 4 name: "AizuSpider" plugin: Body class: BodyItem is_checked: true data: file: "${HOME}/catkin_ws/src/choreonoid/share/model/AizuSpider/AizuSpiderNS.body" format: CHOREONOID-BODY rootPosition: [ 4.19999315, 0.7, 0.0348083399 ] rootAttitude: [ -0.999999981, 1.78207071e-09, -0.000196235594, -1.78275715e-09, -1, 3.49789084e-09, -0.000196235594, 3.49824062e-09, 0.999999981 ] jointDisplacements: [ -0.181038, -0.181038, -0.181012, -0.181012, 0, 0, 0, 0, 0, 0 ] initialJointDisplacements: [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ] jointPositions: [ -0.00315971, -0.00315971, -0.00315926, -0.00315926, 0, 0, 0, 0, 0, 0 ] initialRootPosition: [ 4.2, 0.7, 0.035 ] initialRootAttitude: [ -1, -1.2246468e-16, 0, 1.2246468e-16, -1, 0, 0, 0, 1 ] initialJointPositions: [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ] staticModel: false collisionDetection: true selfCollisionDetection: false location_editable: true scene_sensitive: true zmp: [ 0, 0, 0 ] children: - id: 5 name: "SpiderController" plugin: Body class: SimpleControllerItem is_checked: true data: isNoDelayMode: false controllerOptions: "" controller: "AizuSpiderController" base_directory: "Controller directory" reloading: false export_symbols: false - id: 6 name: "AISTSimulator" plugin: Body class: AISTSimulatorItem is_checked: true data: timeStep: 0.001 realtimeSync: true recording: "full" timeRangeMode: "Unlimited" timeLength: 180 active_control_time_range_mode: false allLinkPositionOutputMode: false deviceStateOutput: true controllerThreads: true recordCollisionData: false controllerOptions: "" dynamicsMode: "Forward dynamics" integrationMode: "Runge Kutta" gravity: [ 0, 0, -9.80665 ] min_friction_coefficient: 0 max_friction_coefficient: 100 cullingThresh: 0.005 contactCullingDepth: 0.05 errorCriterion: 0.001 maxNumIterations: 25 contactCorrectionDepth: 0.00025 contactCorrectionVelocityRatio: 5 kinematicWalking: false 2Dmode: false oldAccelSensorMode: false views: - id: 0 plugin: Base class: ItemPropertyView mounted: true - id: 1 plugin: Base class: ItemTreeView mounted: true state: expanded: [ 1, 4, 5 ] - id: 2 plugin: Base class: LocationView mounted: true state: show_rpy: true unique_rpy: false show_quoternion: false show_rotation_matrix: false coordinate: world - id: 3 plugin: Base class: MessageView mounted: true - id: 4 plugin: Base class: SceneView mounted: true state: editMode: true viewpointOperationMode: thirdPerson visible_polygon_elements: [ face ] highlighting: false collisionLines: false restrictCameraRoll: true verticalAxis: Z lightingMode: normal cullingMode: enabled defaultHeadLight: true defaultHeadLightIntensity: 0.75 headLightLightingFromBack: false worldLight: true worldLightIntensity: 0.5 worldLightAmbient: 0.25 additionalLights: true fog: true floorGrid: true 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 lightweightViewChange: false coordinateAxes: true fpsTestIteration: 1 upsideDown: false cameras: - camera: [ System, Perspective ] isCurrent: true fieldOfView: 0.610865 near: 0.04 far: 200 eye: [ 1.54198, 5.49142, 8.0122 ] direction: [ -0.213669, -0.560907, -0.799831 ] up: [ -0.284724, -0.747436, 0.600226 ] - camera: [ System, Orthographic ] orthoHeight: 20 near: 0.04 far: 200 backgroundColor: [ 0.1, 0.1, 0.3 ] gridColor: [ 0.9, 0.9, 0.9, 1 ] xzgridColor: [ 0.9, 0.9, 0.9, 1 ] yzgridColor: [ 0.9, 0.9, 0.9, 1 ] isDedicatedItemCheckEnabled: false - id: 5 plugin: Body class: JointDisplacementView mounted: true state: show_selected_joints: false show_joint_ids: true show_joint_names: false overlap_joint_names: false show_sliders: true show_dials: false show_phases: true - id: 6 plugin: Body class: LinkDeviceListView mounted: true state: element_type: all listingMode: list - id: 7 plugin: Body class: LinkPositionView mounted: true state: coordinate_mode: world preferred_coordinate_mode: base show_rpy: true unique_rpy: false show_quoternion: false show_rotation_matrix: false target_link_type: ik_link - id: 8 plugin: Body class: LinkPropertyView mounted: true - id: 9 plugin: Python class: PythonConsoleView mounted: true toolbars: "TimeBar": minTime: 0 maxTime: 30 frameRate: 1000 playbackFrameRate: 60 idleLoopDrivenMode: false currentTime: 0 speedScale: 1 syncToOngoingUpdates: true autoExpansion: true "LeggedBodyBar": stanceWidth: 0.15 "KinematicsBar": forward_kinematics: true inverse_kinematics: true preset_kinematics: true enablePositionDragger: true penetrationBlock: false collisionLinkHighlight: false snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true "BodyMotionGenerationBar": autoGenerationForNewBody: true balancer: false autoGeneration: false timeScaleRatio: 1 preInitialDuration: 1 postFinalDuration: 1 onlyTimeBarRange: false makeNewBodyItem: true stealthyStepMode: true stealthyHeightRatioThresh: 2 flatLiftingHeight: 0.005 flatLandingHeight: 0.005 impactReductionHeight: 0.005 impactReductionTime: 0.04 autoZmp: true minZmpTransitionTime: 0.1 zmpCenteringTimeThresh: 0.03 zmpTimeMarginBeforeLiftingSpin: 0 zmpMaxDistanceFromCenter: 0.02 allLinkPositions: false lipSyncMix: false timeToStartBalancer: 0 balancerIterations: 2 plainBalancerMode: false boundaryConditionType: position boundarySmootherType: quintic boundarySmootherTime: 0.5 boundaryCmAdjustment: false boundaryCmAdjustmentTime: 1 waistHeightRelaxation: false gravity: 9.8 dynamicsTimeRatio: 1 Body: "BodyMotionEngine": updateJointVelocities: false "BodySelectionManager": current_body_item: 2 current_link: "basePlate" "EditableSceneBody": editableSceneBodies: - bodyItem: 2 show_cm: false show_cm_projection: false show_zmp: false - bodyItem: 3 show_cm: false show_cm_projection: false show_zmp: false - bodyItem: 4 show_cm: false show_cm_projection: false show_zmp: false "KinematicFaultChecker": checkJointPositions: true angleMargin: 0 translationMargin: 0 checkJointVelocities: true velocityLimitRatio: 100 targetJoints: all checkSelfCollisions: true onlyTimeBarRange: false "SplineFilterDialog": isInputFrameRateSpecified: false inputFrameRate: 200 isOutputFrameRateSpecified: false outputFrameRate: 200 viewAreas: - type: embedded tabs: true contents: type: splitter orientation: horizontal sizes: [ 1399, 445 ] children: - type: splitter orientation: horizontal sizes: [ 362, 1033 ] children: - type: splitter orientation: vertical sizes: [ 448, 448 ] children: - type: pane views: [ 1 ] - type: pane views: [ 0, 8 ] current: 0 - type: splitter orientation: vertical sizes: [ 672, 224 ] children: - type: pane views: [ 4 ] - type: pane views: [ 3, 9 ] current: 3 - type: splitter orientation: vertical sizes: [ 192, 704 ] children: - type: pane views: [ 2 ] - type: splitter orientation: vertical sizes: [ 277, 423 ] children: - type: pane views: [ 7 ] - type: pane views: [ 6, 5 ] current: 5 layoutOfToolBars: rows: - - { name: "FileBar", x: 0, priority: 0 } - { name: "ScriptBar", x: 0, priority: 1 } - { name: "SimulationBar", x: 0, priority: 2 } - { name: "TimeBar", x: 0, priority: 0 } - - { name: "BodyBar", x: 0, priority: 0 } - { name: "KinematicsBar", x: 0, priority: 1 } - { name: "SceneBar", x: 0, priority: 2 } - { name: "GraphBar", x: 0, priority: 3 } - { name: "CaptureBar", x: 0, priority: 4 }