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bio_inspired_straight_walker
Commit 59ca74bf authored by Nicolas Van der Noot's avatar Nicolas Van der Noot
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remove green shapes

parent b34d2776
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Showing with 80 additions and 4112 deletions
dataR/coman_flex_feet.mbs
View file @ 59ca74bf
......@@ -465,56 +465,6 @@
<transparency>0.0</transparency>
<url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_07_prt.obj</url>
</inline>
<box>
<name>Waist_contact_visu_1</name>
<position>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
</position>
<scale>
<x>1.0</x>
<y>1.0</y>
<z>1.0</z>
</scale>
<rotation>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
</rotation>
<color R="0" G="102" B="0" />
<specularColor R="255" G="255" B="255" />
<shininess>250.0</shininess>
<transparency>1.0</transparency>
<size>
<x>0.1</x>
<y>0.2</y>
<z>0.11</z>
</size>
</box>
<sphere>
<name>Waist_contact_visu_2</name>
<position>
<x>-0.05</x>
<y>0.0</y>
<z>0.1</z>
</position>
<scale>
<x>1.0</x>
<y>1.0</y>
<z>1.0</z>
</scale>
<rotation>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
</rotation>
<color R="0" G="102" B="0" />
<specularColor R="255" G="255" B="255" />
<shininess>250.0</shininess>
<transparency>1.0</transparency>
<radius>0.07</radius>
</sphere>
</x3D_shapes>
</x3D>
</graphics>
......@@ -912,33 +862,6 @@
<transparency>0.0</transparency>
<url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_18_prt.obj</url>
</inline>
<box>
<name>RThigh_contact_visu</name>
<position>
<x>0.003</x>
<y>0.005</y>
<z>0.01</z>
</position>
<scale>
<x>1.0</x>
<y>1.0</y>
<z>1.0</z>
</scale>
<rotation>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
</rotation>
<color R="0" G="102" B="0" />
<specularColor R="255" G="255" B="255" />
<shininess>250.0</shininess>
<transparency>1.0</transparency>
<size>
<x>0.1</x>
<y>0.1</y>
<z>0.26</z>
</size>
</box>
</x3D_shapes>
</x3D>
</graphics>
......@@ -1083,33 +1006,6 @@
<transparency>0.0</transparency>
<url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_17_prt.obj</url>
</inline>
<box>
<name>RLowLeg_contact_visu</name>
<position>
<x>0.0</x>
<y>0.005</y>
<z>-0.12</z>
</position>
<scale>
<x>1.0</x>
<y>1.0</y>
<z>1.0</z>
</scale>
<rotation>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
</rotation>
<color R="0" G="102" B="0" />
<specularColor R="255" G="255" B="255" />
<shininess>250.0</shininess>
<transparency>1.0</transparency>
<size>
<x>0.1</x>
<y>0.1</y>
<z>0.22</z>
</size>
</box>
</x3D_shapes>
</x3D>
</graphics>
......@@ -2095,33 +1991,6 @@
<transparency>0.0</transparency>
<url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_04_prt.obj</url>
</inline>
<box>
<name>LThigh_contact_visu</name>
<position>
<x>0.003</x>
<y>-0.005</y>
<z>0.01</z>
</position>
<scale>
<x>1.0</x>
<y>1.0</y>
<z>1.0</z>
</scale>
<rotation>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
</rotation>
<color R="0" G="102" B="0" />
<specularColor R="255" G="255" B="255" />
<shininess>250.0</shininess>
<transparency>1.0</transparency>
<size>
<x>0.1</x>
<y>0.1</y>
<z>0.26</z>
</size>
</box>
</x3D_shapes>
</x3D>
</graphics>
......@@ -2264,33 +2133,6 @@
<transparency>0.0</transparency>
<url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_03_prt.obj</url>
</inline>
<box>
<name>LLowLeg_contact_visu</name>
<position>
<x>0.0</x>
<y>-0.005</y>
<z>-0.12</z>
</position>
<scale>
<x>1.0</x>
<y>1.0</y>
<z>1.0</z>
</scale>
<rotation>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
</rotation>
<color R="0" G="102" B="0" />
<specularColor R="255" G="255" B="255" />
<shininess>250.0</shininess>
<transparency>1.0</transparency>
<size>
<x>0.1</x>
<y>0.1</y>
<z>0.22</z>
</size>
</box>
</x3D_shapes>
</x3D>
</graphics>
......@@ -3301,106 +3143,6 @@
<transparency>0.0</transparency>
<url>PRJPATH/animationR/obj/IIT_files/torso_blue.obj</url>
</inline>
<sphere>
<name>Torso_contact_visu_1</name>
<position>
<x>0.0</x>
<y>0.0</y>
<z>-0.05</z>
</position>
<scale>
<x>1.0</x>
<y>1.0</y>
<z>1.0</z>
</scale>
<rotation>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
</rotation>
<color R="0" G="102" B="0" />
<specularColor R="255" G="255" B="255" />
<shininess>250.0</shininess>
<transparency>1.0</transparency>
<radius>0.06</radius>
</sphere>
<box>
<name>Torso_contact_visu_2</name>
<position>
<x>-0.04</x>
<y>0.0</y>
<z>0.17</z>
</position>
<scale>
<x>1.0</x>
<y>1.0</y>
<z>1.0</z>
</scale>
<rotation>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
</rotation>
<color R="0" G="102" B="0" />
<specularColor R="255" G="255" B="255" />
<shininess>250.0</shininess>
<transparency>1.0</transparency>
<size>
<x>0.12</x>
<y>0.35</y>
<z>0.1</z>
</size>
</box>
<box>
<name>Torso_contact_visu_3</name>
<position>
<x>-0.05</x>
<y>0.0</y>
<z>0.13</z>
</position>
<scale>
<x>1.0</x>
<y>1.0</y>
<z>1.0</z>
</scale>
<rotation>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
</rotation>
<color R="0" G="102" B="0" />
<specularColor R="255" G="255" B="255" />
<shininess>250.0</shininess>
<transparency>1.0</transparency>
<size>
<x>0.19</x>
<y>0.18</y>
<z>0.2</z>
</size>
</box>
<sphere>
<name>Torso_contact_visu_4</name>
<position>
<x>-0.02</x>
<y>0.0</y>
<z>0.02</z>
</position>
<scale>
<x>1.0</x>
<y>1.0</y>
<z>1.0</z>
</scale>
<rotation>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
</rotation>
<color R="0" G="102" B="0" />
<specularColor R="255" G="255" B="255" />
<shininess>250.0</shininess>
<transparency>1.0</transparency>
<radius>0.07</radius>
</sphere>
</x3D_shapes>
</x3D>
</graphics>
......@@ -3799,33 +3541,6 @@
<transparency>0.0</transparency>
<url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_22_prt.obj</url>
</inline>
<box>
<name>Rhoulder_contact_visu</name>
<position>
<x>0.0</x>
<y>-0.015</y>
<z>-0.05</z>
</position>
<scale>
<x>1.0</x>
<y>1.0</y>
<z>1.0</z>
</scale>
<rotation>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
</rotation>
<color R="0" G="102" B="0" />
<specularColor R="255" G="255" B="255" />
<shininess>250.0</shininess>
<transparency>1.0</transparency>
<size>
<x>0.08</x>
<y>0.08</y>
<z>0.27</z>
</size>
</box>
</x3D_shapes>
</x3D>
</graphics>
......@@ -3950,56 +3665,6 @@
<transparency>0.0</transparency>
<url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_21_prt.obj</url>
</inline>
<box>
<name>RElbow_contact_visu</name>
<position>
<x>-0.02</x>
<y>-0.005</y>
<z>-0.13</z>
</position>
<scale>
<x>1.0</x>
<y>1.0</y>
<z>1.0</z>
</scale>
<rotation>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
</rotation>
<color R="0" G="102" B="0" />
<specularColor R="255" G="255" B="255" />
<shininess>250.0</shininess>
<transparency>1.0</transparency>
<size>
<x>0.032</x>
<y>0.032</y>
<z>0.16</z>
</size>
</box>
<sphere>
<name>RWrist_contact_visu</name>
<position>
<x>-0.02</x>
<y>-0.005</y>
<z>-0.208</z>
</position>
<scale>
<x>1.0</x>
<y>1.0</y>
<z>1.0</z>
</scale>
<rotation>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
</rotation>
<color R="0" G="102" B="0" />
<specularColor R="255" G="255" B="255" />
<shininess>250.0</shininess>
<transparency>1.0</transparency>
<radius>0.021</radius>
</sphere>
</x3D_shapes>
</x3D>
</graphics>
......@@ -4398,33 +4063,6 @@
<transparency>0.0</transparency>
<url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_12_prt.obj</url>
</inline>
<box>
<name>LSoulder_contact_visu</name>
<position>
<x>0.0</x>
<y>0.015</y>
<z>-0.05</z>
</position>
<scale>
<x>1.0</x>
<y>1.0</y>
<z>1.0</z>
</scale>
<rotation>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
</rotation>
<color R="0" G="102" B="0" />
<specularColor R="255" G="255" B="255" />
<shininess>250.0</shininess>
<transparency>1.0</transparency>
<size>
<x>0.08</x>
<y>0.08</y>
<z>0.27</z>
</size>
</box>
</x3D_shapes>
</x3D>
</graphics>
......@@ -4551,56 +4189,6 @@
<transparency>0.0</transparency>
<url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_11_prt.obj</url>
</inline>
<box>
<name>LElbow_contact_visu</name>
<position>
<x>0.005</x>
<y>0.005</y>
<z>-0.13</z>
</position>
<scale>
<x>1.0</x>
<y>1.0</y>
<z>1.0</z>
</scale>
<rotation>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
</rotation>
<color R="0" G="102" B="0" />
<specularColor R="255" G="255" B="255" />
<shininess>250.0</shininess>
<transparency>1.0</transparency>
<size>
<x>0.032</x>
<y>0.032</y>
<z>0.16</z>
</size>
</box>
<sphere>
<name>Lwrist_contact_visu</name>
<position>
<x>0.005</x>
<y>0.005</y>
<z>-0.208</z>
</position>
<scale>
<x>1.0</x>
<y>1.0</y>
<z>1.0</z>
</scale>
<rotation>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
</rotation>
<color R="0" G="102" B="0" />
<specularColor R="255" G="255" B="255" />
<shininess>250.0</shininess>
<transparency>1.0</transparency>
<radius>0.021</radius>
</sphere>
</x3D_shapes>
</x3D>
</graphics>
......@@ -4746,55 +4334,15 @@
</viewpoints>
<lights>
<!--This is the light list-->
<spotLight>
<name>X_fwd</name>
<joint>FJ_T3_Coman</joint>
<color R="255" G="255" B="255" />
<ambient>0.05</ambient>
<depthXWidth>1024.0</depthXWidth>
<depthYWidth>1024.0</depthYWidth>
<depthNear>0.1</depthNear>
<depthFar>100.0</depthFar>
<shadowBias>0.0</shadowBias>
<zUpVector>
<x>0.0</x>
<y>0.0</y>
<z>1.0</z>
</zUpVector>
<active />
<position>
<x>-10.0</x>
<y>-10.0</y>
<z>0.0</z>
</position>
<attenuation>
<cst>1.5</cst>
<lin>0.0</lin>
<quad>0.0</quad>
</attenuation>
<depthFovRad>1.0</depthFovRad>
<shadowDirVector>
<x>0.0</x>
<y>-1.0</y>
<z>0.0</z>
</shadowDirVector>
<direction>
<x>1.0</x>
<y>1.0</y>
<z>0.0</z>
</direction>
<angle>3.1415927</angle>
<concentration>0.0</concentration>
</spotLight>
<spotLight>
<name>X_bwd</name>
<directionalLight>
<name>Light</name>
<joint>FJ_T3_Coman</joint>
<color R="255" G="255" B="255" />
<ambient>0.05</ambient>
<depthXWidth>1024.0</depthXWidth>
<depthYWidth>1024.0</depthYWidth>
<depthNear>0.1</depthNear>
<depthFar>100.0</depthFar>
<depthNear>-10.0</depthNear>
<depthFar>20.0</depthFar>
<shadowBias>0.0</shadowBias>
<zUpVector>
<x>0.0</x>
......@@ -4802,70 +4350,18 @@
<z>1.0</z>
</zUpVector>
<active />
<position>
<x>10.0</x>
<y>10.0</y>
<z>0.0</z>
</position>
<attenuation>
<cst>1.5</cst>
<lin>0.0</lin>
<quad>0.0</quad>
</attenuation>
<depthFovRad>1.0</depthFovRad>
<shadowDirVector>
<x>0.0</x>
<y>-1.0</y>
<z>0.0</z>
</shadowDirVector>
<direction>
<x>-1.0</x>
<y>-1.0</y>
<z>0.0</z>
<y>0.20000000298023224</y>
<z>-1.0</z>
</direction>
<angle>3.1415927</angle>
<concentration>0.0</concentration>
</spotLight>
<spotLight>
<name>Z</name>
<joint>FJ_T3_Coman</joint>
<color R="255" G="255" B="255" />
<ambient>0.05</ambient>
<depthXWidth>1024.0</depthXWidth>
<depthYWidth>1024.0</depthYWidth>
<depthNear>0.1</depthNear>
<depthFar>100.0</depthFar>
<shadowBias>0.0</shadowBias>
<zUpVector>
<depthScale>0.0015</depthScale>
<relPointVector>
<x>0.0</x>
<y>0.0</y>
<z>1.0</z>
</zUpVector>
<active />
<position>
<x>0.0</x>
<y>0.0</y>
<z>10.0</z>
</position>
<attenuation>
<cst>1.2000000476837158</cst>
<lin>0.0</lin>
<quad>0.0</quad>
</attenuation>
<depthFovRad>1.0</depthFovRad>
<shadowDirVector>
<x>0.0</x>
<y>-1.0</y>
<z>0.0</z>
</shadowDirVector>
<direction>
<x>0.0</x>
<y>0.0</y>
<z>-1.0</z>
</direction>
<angle>3.1415927</angle>
<concentration>0.0</concentration>
</spotLight>
</relPointVector>
</directionalLight>
</lights>
</x3D>
</mbsDescR7>
......
dataR/coman_init_feet.mbs
View file @ 59ca74bf
......@@ -465,56 +465,6 @@
<transparency>0.0</transparency>
<url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_07_prt.obj</url>
</inline>
<box>
<name>Waist_contact_visu_1</name>
<position>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
</position>
<scale>
<x>1.0</x>
<y>1.0</y>
<z>1.0</z>
</scale>
<rotation>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
</rotation>
<color R="0" G="102" B="0" />
<specularColor R="255" G="255" B="255" />
<shininess>250.0</shininess>
<transparency>1.0</transparency>
<size>
<x>0.1</x>
<y>0.2</y>
<z>0.11</z>
</size>
</box>
<sphere>
<name>Waist_contact_visu_2</name>
<position>
<x>-0.05</x>
<y>0.0</y>
<z>0.1</z>
</position>