1023 lines
24 KiB
Lua
1023 lines
24 KiB
Lua
return {
|
|
configuration = {
|
|
axis_front = { 1, 0, 0,},
|
|
axis_right = { 0, -1, 0,},
|
|
axis_up = { 0, 0, 1,},
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},
|
|
constraint_sets = {
|
|
LeftFlat = {
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|
{
|
|
normal = { 1, 0, 0,},
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point = "left_heel",
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|
},
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{
|
|
normal = { 0, 1, 0,},
|
|
point = "left_heel",
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|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "left_heel",
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|
},
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|
{
|
|
normal = { 0, 1, 0,},
|
|
point = "left_hallux",
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|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "left_hallux",
|
|
},
|
|
{
|
|
normal = { 0, 0, 1,},
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point = "left_meta5",
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|
},
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|
},
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|
LeftHallux = {
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|
{
|
|
normal = { 1, 0, 0,},
|
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point = "left_hallux",
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|
},
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|
{
|
|
normal = { 0, 1, 0,},
|
|
point = "left_hallux",
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|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "left_hallux",
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|
},
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|
},
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|
LeftHalluxRightFlat = {
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|
{
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normal = { 1, 0, 0,},
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point = "left_hallux",
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|
},
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|
{
|
|
normal = { 0, 1, 0,},
|
|
point = "left_hallux",
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|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "left_hallux",
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|
},
|
|
{
|
|
normal = { 1, 0, 0,},
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|
point = "right_heel",
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|
},
|
|
{
|
|
normal = { 0, 1, 0,},
|
|
point = "right_heel",
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|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "right_heel",
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|
},
|
|
{
|
|
normal = { 0, 1, 0,},
|
|
point = "right_hallux",
|
|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "right_hallux",
|
|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "right_meta5",
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|
},
|
|
},
|
|
LeftHalluxRightHeel = {
|
|
{
|
|
normal = { 1, 0, 0,},
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point = "left_hallux",
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|
},
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|
{
|
|
normal = { 0, 1, 0,},
|
|
point = "left_hallux",
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|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "left_hallux",
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|
},
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|
{
|
|
normal = { 1, 0, 0,},
|
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point = "right_heel",
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|
},
|
|
{
|
|
normal = { 0, 1, 0,},
|
|
point = "right_heel",
|
|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
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point = "right_heel",
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|
},
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},
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RightFlat = {
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{
|
|
normal = { 1, 0, 0,},
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point = "right_heel",
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|
},
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|
{
|
|
normal = { 0, 1, 0,},
|
|
point = "right_heel",
|
|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "right_heel",
|
|
},
|
|
{
|
|
normal = { 0, 1, 0,},
|
|
point = "right_hallux",
|
|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "right_hallux",
|
|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "right_meta5",
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|
},
|
|
},
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|
RightFlatLeftHeel = {
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|
{
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normal = { 1, 0, 0,},
|
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point = "right_heel",
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|
},
|
|
{
|
|
normal = { 0, 1, 0,},
|
|
point = "right_heel",
|
|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "right_heel",
|
|
},
|
|
{
|
|
normal = { 0, 1, 0,},
|
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point = "right_hallux",
|
|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "right_hallux",
|
|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "right_meta5",
|
|
},
|
|
{
|
|
normal = { 1, 0, 0,},
|
|
point = "left_heel",
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|
},
|
|
{
|
|
normal = { 0, 1, 0,},
|
|
point = "left_heel",
|
|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "left_heel",
|
|
},
|
|
},
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|
RightHallux = {
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|
{
|
|
normal = { 1, 0, 0,},
|
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point = "right_hallux",
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|
},
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|
{
|
|
normal = { 0, 1, 0,},
|
|
point = "right_hallux",
|
|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "right_hallux",
|
|
},
|
|
{
|
|
normal = { 1, 0, 0,},
|
|
point = "right_meta5",
|
|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "right_meta5",
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|
},
|
|
},
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|
RightHalluxLeftFlat = {
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|
{
|
|
normal = { 1, 0, 0,},
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|
point = "right_hallux",
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|
},
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|
{
|
|
normal = { 0, 1, 0,},
|
|
point = "right_hallux",
|
|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "right_hallux",
|
|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "right_meta5",
|
|
},
|
|
{
|
|
normal = { 1, 0, 0,},
|
|
point = "left_heel",
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|
},
|
|
{
|
|
normal = { 0, 1, 0,},
|
|
point = "left_heel",
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|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "left_heel",
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|
},
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|
{
|
|
normal = { 0, 1, 0,},
|
|
point = "left_hallux",
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|
},
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|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "left_hallux",
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|
},
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|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "left_meta5",
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|
},
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|
},
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|
RightHalluxLeftHeel = {
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|
{
|
|
normal = { 1, 0, 0,},
|
|
point = "right_hallux",
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|
},
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|
{
|
|
normal = { 0, 1, 0,},
|
|
point = "right_hallux",
|
|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "right_hallux",
|
|
},
|
|
{
|
|
normal = { 1, 0, 0,},
|
|
point = "right_meta5",
|
|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "right_meta5",
|
|
},
|
|
{
|
|
normal = { 1, 0, 0,},
|
|
point = "left_heel",
|
|
},
|
|
{
|
|
normal = { 0, 1, 0,},
|
|
point = "left_heel",
|
|
},
|
|
{
|
|
normal = { 0, 0, 1,},
|
|
point = "left_heel",
|
|
},
|
|
},
|
|
},
|
|
frames = {
|
|
{
|
|
joint = { "JointTypeTranslationXYZ",},
|
|
joint_frame = {
|
|
r = { 0, 0, 0,},
|
|
},
|
|
name = "PelvisTrans",
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|
parent = "ROOT",
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|
},
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|
{
|
|
body = {
|
|
com = { 0, 0, 0.042646321347356,},
|
|
inertia = {
|
|
{ 0.038200528883491, 0, 0,},
|
|
{ 0, 0.030663543577386, 0,},
|
|
{ 0, 0, 0.034801290334736,},
|
|
},
|
|
mass = 8.3775,
|
|
},
|
|
joint = { "JointTypeEulerYXZ",},
|
|
joint_frame = {
|
|
r = { 0, 0, 0,},
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|
},
|
|
markers = {
|
|
LASI = { 0.052991829812527, 0.11058157682419, 0.08067062497139,},
|
|
LPSI = { -0.12932787835598, 0.045250821858644, 0.11889722943306,},
|
|
RASI = { 0.058340698480606, -0.11695376038551, 0.089762836694717,},
|
|
RPSI = { -0.1268265992403, -0.058085463941097, 0.12065640091896,},
|
|
},
|
|
name = "Pelvis",
|
|
parent = "PelvisTrans",
|
|
visuals = {
|
|
{
|
|
color = { 0.2, 0.2, 0.9,},
|
|
dimensions = { 0.18, 0.28647, 0.10980000346899,},
|
|
geometry = {
|
|
capsule = {
|
|
length = 0.9,
|
|
radius = 0.09,
|
|
},
|
|
},
|
|
mesh_center = { 0, 0, 0.054900001734495,},
|
|
},
|
|
},
|
|
},
|
|
{
|
|
body = {
|
|
com = { 0, 0, -0.18185894693434,},
|
|
inertia = {
|
|
{ 0.22671374155723, 0, 0,},
|
|
{ 0, 0.22671374155723, 0,},
|
|
{ 0, 0, 0.04650060306457,},
|
|
},
|
|
mass = 10.62,
|
|
},
|
|
joint = { "JointTypeEulerYXZ",},
|
|
joint_frame = {
|
|
r = { 0, -0.083235, 0,},
|
|
},
|
|
name = "ThighRight",
|
|
parent = "Pelvis",
|
|
visuals = {
|
|
{
|
|
color = { 1, 0.1, 0.1,},
|
|
dimensions = { 0.15, 0.12, 0.44409999251366,},
|
|
geometry = {
|
|
capsule = {
|
|
length = 0.9,
|
|
radius = 0.09,
|
|
},
|
|
},
|
|
mesh_center = { 0, 0, -0.22204999625683,},
|
|
},
|
|
},
|
|
},
|
|
{
|
|
body = {
|
|
com = { 0, 0, -0.20627166416645,},
|
|
inertia = {
|
|
{ 0.045209378540837, 0, 0,},
|
|
{ 0, 0.043106907787935, 0,},
|
|
{ 0, 0, 0.0073760291724681,},
|
|
},
|
|
mass = 3.2475,
|
|
},
|
|
joint = {
|
|
{ 0, 1, 0, 0, 0, 0,},
|
|
},
|
|
joint_frame = {
|
|
r = { 0, 0, -0.44409999251366,},
|
|
},
|
|
markers = {
|
|
RKNE = { 0.031680159270763, -0.064131885766983, 0.0048278677277267,},
|
|
RTIB = { 0.011271089315414, -0.097036071121693, -0.11671927571297,},
|
|
},
|
|
name = "ShankRight",
|
|
parent = "ThighRight",
|
|
visuals = {
|
|
{
|
|
color = { 0.9, 0.3, 0.3,},
|
|
dimensions = { 0.13, 0.1, 0.46270000934601,},
|
|
geometry = {
|
|
capsule = {
|
|
length = 0.9,
|
|
radius = 0.09,
|
|
},
|
|
},
|
|
mesh_center = { 0, 0, -0.23135000467301,},
|
|
},
|
|
},
|
|
},
|
|
{
|
|
body = {
|
|
com = { 0.053982978, 0, -0.043524,},
|
|
inertia = {
|
|
{ 0.0033426271094276, 0, 0,},
|
|
{ 0, 0.0030377627555814, 0,},
|
|
{ 0, 0, 0.00077815310503656,},
|
|
},
|
|
mass = 1.0275,
|
|
},
|
|
joint = { "JointTypeEulerYXZ",},
|
|
joint_frame = {
|
|
r = { 0, 0, -0.46270000934601,},
|
|
},
|
|
markers = {
|
|
RANK = { 0.0054707257077098, -0.030474988743663, 0.0096247950568795,},
|
|
RHEE = { -0.053590387105942, 0.006934370379895, -0.01508407574147,},
|
|
RTOE = { 0.17356503009796, 0.011473462916911, -0.024925166741014,},
|
|
},
|
|
name = "FootRight",
|
|
parent = "ShankRight",
|
|
visuals = {
|
|
{
|
|
color = { 1, 0.1, 0.1,},
|
|
dimensions = { 0.221932, 0.1, 0.087048,},
|
|
geometry = {
|
|
box = {
|
|
length = 0.9,
|
|
radius = 0.09,
|
|
segments = 48,
|
|
},
|
|
},
|
|
mesh_center = { 0.066966, 0, -0.043524,},
|
|
},
|
|
{
|
|
color = { 1, 0.1, 0.1,},
|
|
geometry = {
|
|
sphere = {
|
|
radius = 0.087048,
|
|
},
|
|
},
|
|
translate = { -0.044, 0, 0,},
|
|
},
|
|
},
|
|
},
|
|
{
|
|
body = {
|
|
com = { 0, 0, -0.18185894693434,},
|
|
inertia = {
|
|
{ 0.22671374155723, 0, 0,},
|
|
{ 0, 0.22671374155723, 0,},
|
|
{ 0, 0, 0.04650060306457,},
|
|
},
|
|
mass = 10.62,
|
|
},
|
|
joint = { "JointTypeEulerYXZ",},
|
|
joint_frame = {
|
|
r = { 0, 0.083235, 0,},
|
|
},
|
|
name = "ThighLeft",
|
|
parent = "Pelvis",
|
|
visuals = {
|
|
{
|
|
color = { 0.1, 1, 0.1,},
|
|
dimensions = { 0.15, 0.12, 0.44409999251366,},
|
|
geometry = {
|
|
capsule = {
|
|
length = 0.9,
|
|
radius = 0.09,
|
|
},
|
|
},
|
|
mesh_center = { 0, 0, -0.22204999625683,},
|
|
},
|
|
},
|
|
},
|
|
{
|
|
body = {
|
|
com = { 0, 0, -0.20627166416645,},
|
|
inertia = {
|
|
{ 0.045209378540837, 0, 0,},
|
|
{ 0, 0.043106907787935, 0,},
|
|
{ 0, 0, 0.0073760291724681,},
|
|
},
|
|
mass = 3.2475,
|
|
},
|
|
joint = {
|
|
{ 0, 1, 0, 0, 0, 0,},
|
|
},
|
|
joint_frame = {
|
|
r = { 0, 0, -0.44409999251366,},
|
|
},
|
|
markers = {
|
|
LKNE = { 0.032328642904758, 0.047998454421759, -0.0018083926988766,},
|
|
LTIB = { 0.0066562313586473, 0.065629869699478, -0.29721513390541,},
|
|
},
|
|
name = "ShankLeft",
|
|
parent = "ThighLeft",
|
|
visuals = {
|
|
{
|
|
color = { 0.3, 0.9, 0.3,},
|
|
dimensions = { 0.13, 0.1, 0.46270000934601,},
|
|
geometry = {
|
|
capsule = {
|
|
length = 0.9,
|
|
radius = 0.09,
|
|
},
|
|
},
|
|
mesh_center = { 0, 0, -0.23135000467301,},
|
|
},
|
|
},
|
|
},
|
|
{
|
|
body = {
|
|
com = { 0.053982978, 0, -0.043524,},
|
|
inertia = {
|
|
{ 0.0033426271094276, 0, 0,},
|
|
{ 0, 0.0030377627555814, 0,},
|
|
{ 0, 0, 0.00077815310503656,},
|
|
},
|
|
mass = 1.0275,
|
|
},
|
|
joint = { "JointTypeEulerYXZ",},
|
|
joint_frame = {
|
|
r = { 0, 0, -0.46270000934601,},
|
|
},
|
|
markers = {
|
|
LANK = { 0.0081671224907041, 0.034606732428074, 0.0077109434641898,},
|
|
LHEE = { -0.051829442381859, -0.016891548410058, -0.013164701871574,},
|
|
LTOE = { 0.16798159480095, -0.0085604833438993, -0.017251666635275,},
|
|
},
|
|
name = "FootLeft",
|
|
parent = "ShankLeft",
|
|
visuals = {
|
|
{
|
|
color = { 0.1, 1, 0.1,},
|
|
dimensions = { 0.221932, 0.1, 0.087048,},
|
|
geometry = {
|
|
box = {
|
|
length = 0.9,
|
|
radius = 0.09,
|
|
segments = 48,
|
|
},
|
|
},
|
|
mesh_center = { 0.066966, 0, -0.043524,},
|
|
},
|
|
{
|
|
color = { 0.1, 1, 0.1,},
|
|
geometry = {
|
|
sphere = {
|
|
radius = 0.087048,
|
|
},
|
|
},
|
|
translate = { -0.044, 0, 0,},
|
|
},
|
|
},
|
|
},
|
|
{
|
|
body = {
|
|
com = { 0, 0, 0.1218165427915,},
|
|
inertia = {
|
|
{ 0.13968333431522, 0, 0,},
|
|
{ 0, 0.088195832661997, 0,},
|
|
{ 0, 0, 0.13168679350845,},
|
|
},
|
|
mass = 12.2475,
|
|
},
|
|
joint = { "JointTypeEulerYXZ",},
|
|
joint_frame = {
|
|
r = { 0, 0, 0.10980000346899,},
|
|
},
|
|
name = "MiddleTrunk",
|
|
parent = "Pelvis",
|
|
visuals = {
|
|
{
|
|
color = { 0.3, 0.3, 1,},
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dimensions = { 0.216, 0.29189999602795, 0.22156519241815,},
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geometry = {
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capsule = {
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length = 0.9,
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radius = 0.09,
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mesh_center = { 0, 0, 0.11078259620908,},
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{
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body = {
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com = { 0, 0, 0.16375339219495,},
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inertia = {
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{ 0.33572265599833, 0, 0,},
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{ 0, 0.13497903265299, 0,},
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{ 0, 0, 0.28439727764741,},
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mass = 11.97,
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joint = {},
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joint_frame = {
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r = { 0, 0, 0.22156519241815,},
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markers = {
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C7 = { -0.039351474493742, -0.0084890006110072, 0.28900960087776,},
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T10 = { -0.13401326537132, -0.010717937722802, 0.0360297113657,},
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name = "UpperTrunk",
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parent = "MiddleTrunk",
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visuals = {
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{
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color = { 0.1, 0.1, 1,},
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dimensions = { 0.234, 0.2973299920559, 0.2339000031352,},
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geometry = {
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capsule = {
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length = 0.9,
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mesh_center = { 0, 0, 0.1169500015676,},
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{
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body = {
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com = { 0, 0, 0,},
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inertia = {
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{ 0, 0, 0,},
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{ 0, 0, 0,},
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{ 0, 0, 0,},
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},
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mass = 0,
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joint = {},
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joint_frame = {
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r = { 0, 0, 0.228900000453,},
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},
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name = "ClaviculaRight",
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parent = "UpperTrunk",
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visuals = {
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{
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color = { 0.3, 0.3, 1,},
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dimensions = { 0.06, 0.06, 0.174899995327,},
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geometry = {
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capsule = {
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length = 0.9,
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radius = 0.09,
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mesh_center = { 0, -0.0874499976635, 0,},
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rotate = {
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angle = 90,
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axis = { 1, 0, 0,},
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{
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body = {
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com = { 0, 0, -0.21910512,},
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inertia = {
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{ 0.02378880803637, 0, 0,},
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{ 0, 0.021192760090117, 0,},
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{ 0, 0, 0.0073113426139728,},
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mass = 2.0325,
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joint = { "JointTypeEulerYXZ",},
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joint_frame = {
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r = { 0, -0.174899995327, 0,},
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markers = {
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RUPA = { -0.0080910492688417, -0.03629956394434, -0.27596998214722,},
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},
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name = "UpperArmRight",
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parent = "ClaviculaRight",
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visuals = {
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{
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color = { 1, 0.1, 0.1,},
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dimensions = { 0.12, 0.09, 0.3796,},
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geometry = {
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capsule = {
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length = 0.88,
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radius = 0.12,
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mesh_center = { 0, 0, -0.1898,},
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},
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{
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body = {
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com = { 0, 0, -0.124133786,},
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inertia = {
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{ 0.0068168246715783, 0, 0,},
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{ 0, 0.0062842826160678, 0,},
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{ 0, 0, 0.0013101912678085,},
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},
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mass = 1.215,
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},
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joint = {
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{ 0, 1, 0, 0, 0, 0,},
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},
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joint_frame = {
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r = { 0, 0, -0.3796,},
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markers = {
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RELB = { -0.0073555246926844, -0.04216194152832, 0.0015217624604702,},
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RWRA = { 0.045201644301414, 0.039090558886528, -0.27397903800011,},
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RWRB = { -0.015719685703516, -0.017938679084182, -0.28111892938614,},
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},
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name = "LowerArmRight",
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|
parent = "UpperArmRight",
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visuals = {
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{
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color = { 1, 0.3, 0.3,},
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dimensions = { 0.1, 0.08, 0.27139,},
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geometry = {
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capsule = {
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length = 0.88,
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radius = 0.12,
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},
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},
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mesh_center = { 0, 0, -0.135695,},
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},
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},
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{
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body = {
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com = { 0, 0, -0.05189568,},
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inertia = {
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{ 0.0007781478285312, 0, 0,},
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{ 0, 0.00051809912508, 0,},
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{ 0, 0, 0.0003176236121088,},
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},
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mass = 0.4575,
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},
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joint = {},
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joint_frame = {
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r = { 0, 0, -0.27139,},
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},
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name = "HandRight",
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|
parent = "LowerArmRight",
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visuals = {
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{
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|
color = { 1, 0.1, 0.1,},
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dimensions = { 0.1, 0.04, 0.1432,},
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geometry = {
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capsule = {
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length = 0.9,
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radius = 0.09,
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},
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},
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mesh_center = { 0, 0, -0.0716,},
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},
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},
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},
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{
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body = {
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com = { 0, 0, 0,},
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inertia = {
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{ 0, 0, 0,},
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{ 0, 0, 0,},
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{ 0, 0, 0,},
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},
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mass = 0,
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},
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joint = {},
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joint_frame = {
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r = { 0, 0, 0.228900000453,},
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},
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|
name = "ClaviculaLeft",
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|
parent = "UpperTrunk",
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visuals = {
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|
{
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|
color = { 0.3, 0.3, 1,},
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dimensions = { 0.06, 0.06, 0.174899995327,},
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geometry = {
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capsule = {
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length = 0.9,
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radius = 0.09,
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},
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mesh_center = { 0, 0.0874499976635, 0,},
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rotate = {
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|
angle = 90,
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axis = { 1, 0, 0,},
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},
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},
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},
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},
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{
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body = {
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com = { 0, 0, -0.21910512,},
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inertia = {
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{ 0.02378880803637, 0, 0,},
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{ 0, 0.021192760090117, 0,},
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{ 0, 0, 0.0073113426139728,},
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},
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mass = 2.0325,
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},
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joint = { "JointTypeEulerYXZ",},
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joint_frame = {
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r = { 0, 0.174899995327, 0,},
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},
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markers = {
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LUPA = { -0.0083068665117025, 0.041783545166254, -0.16908901929855,},
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},
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|
name = "UpperArmLeft",
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|
parent = "ClaviculaLeft",
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visuals = {
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{
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|
color = { 0.1, 1, 0.1,},
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dimensions = { 0.12, 0.09, 0.3796,},
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geometry = {
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capsule = {
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length = 0.88,
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radius = 0.12,
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},
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mesh_center = { 0, 0, -0.1898,},
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},
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},
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{
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body = {
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com = { 0, 0, -0.124133786,},
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inertia = {
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{ 0.0068168246715783, 0, 0,},
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{ 0, 0.0062842826160678, 0,},
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{ 0, 0, 0.0013101912678085,},
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},
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mass = 1.215,
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joint = {
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{ 0, 1, 0, 0, 0, 0,},
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},
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joint_frame = {
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r = { 0, 0, -0.3796,},
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},
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markers = {
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LELB = { -0.0020065398421139, 0.043605700135231, 0.0037837768904865,},
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LWRA = { 0.02726911008358, -0.025259353220463, -0.26385623216629,},
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|
LWRB = { -0.035459812730551, 0.032188482582569, -0.26435285806656,},
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},
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name = "LowerArmLeft",
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|
parent = "UpperArmLeft",
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|
visuals = {
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{
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color = { 0.3, 0.9, 0.3,},
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dimensions = { 0.1, 0.08, 0.27139,},
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geometry = {
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capsule = {
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length = 0.88,
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radius = 0.12,
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},
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},
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mesh_center = { 0, 0, -0.135695,},
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},
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},
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},
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{
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body = {
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com = { 0, 0, -0.05189568,},
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inertia = {
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{ 0.0007781478285312, 0, 0,},
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{ 0, 0.00051809912508, 0,},
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{ 0, 0, 0.0003176236121088,},
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},
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mass = 0.4575,
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},
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|
joint = {},
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|
joint_frame = {
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|
r = { 0, 0, -0.27139,},
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},
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|
name = "HandLeft",
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|
parent = "LowerArmLeft",
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|
visuals = {
|
|
{
|
|
color = { 0.1, 1, 0.1,},
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|
dimensions = { 0.1, 0.04, 0.1432,},
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|
geometry = {
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|
capsule = {
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length = 0.9,
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radius = 0.09,
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},
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},
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mesh_center = { 0, 0, -0.0716,},
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},
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},
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},
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{
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body = {
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com = { 0, 0, 0.017902498432397,},
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inertia = {
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{ 4.9072875886111e-05, 0, 0,},
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{ 0, 4.5239218508482e-05, 0,},
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{ 0, 0, 9.4317892229646e-06,},
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},
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mass = 0.5025,
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},
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joint = {},
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|
joint_frame = {
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|
r = { 0, 0, 0.2339000031352,},
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},
|
|
name = "Neck",
|
|
parent = "UpperTrunk",
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|
visuals = {
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|
{
|
|
color = { 0.2, 0.2, 0.9,},
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|
dimensions = { 0.07, 0.07, 0.035804996864795,},
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|
geometry = {
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|
capsule = {
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length = 0.9,
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radius = 0.09,
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},
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},
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mesh_center = { 0, 0, 0.017902498432397,},
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},
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},
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},
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{
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body = {
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com = { 0, 0, 0.088409292,},
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inertia = {
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|
{ 0.032924391420566, 0, 0,},
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|
{ 0, 0.035520273812414, 0,},
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|
{ 0, 0, 0.024457372778941,},
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},
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|
mass = 5.205,
|
|
},
|
|
joint = { "JointTypeEulerYXZ",},
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|
joint_frame = {
|
|
r = { 0, 0, 0.035804996864795,},
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|
},
|
|
markers = {
|
|
LBHD = { 0.019333571195602, 0.088616423308849, 0.20507903397083,},
|
|
LFHD = { 0.12930905818939, 0.067053556442261, 0.20482148230076,},
|
|
RBHD = { 0.011489745229483, -0.087685711681843, 0.19465588033199,},
|
|
RFHD = { 0.12186269462109, -0.073935218155384, 0.1992692053318,},
|
|
},
|
|
name = "Head",
|
|
parent = "Neck",
|
|
visuals = {
|
|
{
|
|
color = { 0.1, 0.1, 0.9,},
|
|
dimensions = { 0.2, 0.18, 0.2416755,},
|
|
geometry = {
|
|
capsule = {
|
|
length = 0.8,
|
|
radius = 0.2,
|
|
},
|
|
},
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|
mesh_center = { 0, 0, 0.09886725,},
|
|
},
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},
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|
},
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|
},
|
|
gravity = { 0, 0, -9.81,},
|
|
parameters = {
|
|
ClaviculaLeftLength = 0.174899995327,
|
|
ClaviculaRightLength = 0.174899995327,
|
|
FootLeftHeight = 0.087048,
|
|
FootLeftLength = 0.221932,
|
|
FootLeftMass = 1.0275,
|
|
FootLeftPosteriorPoint = 0.044,
|
|
FootRightHeight = 0.087048,
|
|
FootRightLength = 0.221932,
|
|
FootRightMass = 1.0275,
|
|
FootRightPosteriorPoint = 0.044,
|
|
HandLeftLength = 0.1432,
|
|
HandLeftMass = 0.4575,
|
|
HandRightLength = 0.1432,
|
|
HandRightMass = 0.4575,
|
|
HeadLength = 0.219705,
|
|
HeadMass = 5.205,
|
|
HipLeftWidth = 0.083235,
|
|
HipRightWidth = 0.083235,
|
|
LowerArmLeftLength = 0.27139,
|
|
LowerArmLeftMass = 1.215,
|
|
LowerArmRightLength = 0.27139,
|
|
LowerArmRightMass = 1.215,
|
|
LowerTrunkHeight = 0.10980000346899,
|
|
LowerTrunkMass = 8.3775,
|
|
MiddleTrunkHeight = 0.22156519241815,
|
|
MiddleTrunkMass = 12.2475,
|
|
NeckLength = 0.035804996864795,
|
|
NeckMass = 0.5025,
|
|
ShankLeftLength = 0.46270000934601,
|
|
ShankLeftMass = 3.2475,
|
|
ShankRightLength = 0.46270000934601,
|
|
ShankRightMass = 3.2475,
|
|
ShoulderLeftHeight = 0.228900000453,
|
|
ShoulderRightHeight = 0.228900000453,
|
|
SuprasternaleHeight = 0.2339000031352,
|
|
ThighLeftLength = 0.44409999251366,
|
|
ThighLeftMass = 10.62,
|
|
ThighRightLength = 0.44409999251366,
|
|
ThighRightMass = 10.62,
|
|
UpperArmLeftLength = 0.3796,
|
|
UpperArmLeftMass = 2.0325,
|
|
UpperArmRightLength = 0.3796,
|
|
UpperArmRightMass = 2.0325,
|
|
UpperTrunkAltHeight = 0.25864790350373,
|
|
UpperTrunkAltMass = 11.97,
|
|
UpperTrunkHeight = 0.2339000031352,
|
|
UpperTrunkMass = 11.97,
|
|
},
|
|
points = {
|
|
{
|
|
body = "FootRight",
|
|
name = "right_heel",
|
|
point = { -0.044, 0, -0.087048,},
|
|
},
|
|
{
|
|
body = "FootRight",
|
|
name = "right_hallux",
|
|
point = { 0.177932, 0.03, -0.087048,},
|
|
},
|
|
{
|
|
body = "FootRight",
|
|
name = "right_meta5",
|
|
point = { 0.177932, -0.06, -0.087048,},
|
|
},
|
|
{
|
|
body = "FootLeft",
|
|
name = "left_heel",
|
|
point = { -0.044, 0, -0.087048,},
|
|
},
|
|
{
|
|
body = "FootLeft",
|
|
name = "left_hallux",
|
|
point = { 0.177932, -0.03, -0.087048,},
|
|
},
|
|
{
|
|
body = "FootLeft",
|
|
name = "left_meta5",
|
|
point = { 0.177932, 0.06, -0.087048,},
|
|
},
|
|
},
|
|
} |