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Jun 17th, 2019
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  1. items:
  2. id: 0
  3. name: "Root"
  4. plugin: Base
  5. class: RootItem
  6. children:
  7. -
  8. id: 1
  9. name: "I-50-2.0"
  10. plugin: Body
  11. class: BodyItem
  12. data:
  13. modelFile: "${SHARE}/WRS2018/model/I-50-2.0.body"
  14. currentBaseLink: "ROOT"
  15. rootPosition: [ 16.5, 2.8, 1.2 ]
  16. rootAttitude: [
  17. 1, 0, 0,
  18. 0, 1, 0,
  19. 0, 0, 1 ]
  20. jointPositions: [ ]
  21. initialRootPosition: [ 16.5, 2.8, 1.2 ]
  22. initialRootAttitude: [
  23. 1, 0, 0,
  24. 0, 1, 0,
  25. 0, 0, 1 ]
  26. zmp: [ 0, 0, 0 ]
  27. collisionDetection: true
  28. selfCollisionDetection: false
  29. isEditable: true
  30. -
  31. id: 2
  32. name: "BaseA-50.0"
  33. plugin: Body
  34. class: BodyItem
  35. data:
  36. modelFile: "${SHARE}/WRS2018/model/BaseA-50.body"
  37. currentBaseLink: "Base"
  38. rootPosition: [ 16.5, 3, 0.8 ]
  39. rootAttitude: [
  40. 6.123234e-17, -1, 0,
  41. 1, 6.123234e-17, 0,
  42. 0, 0, 1 ]
  43. jointPositions: [ ]
  44. initialRootPosition: [ 16.5, 3, 0.8 ]
  45. initialRootAttitude: [
  46. 2.22044605e-16, -1, 0,
  47. 1, 2.22044605e-16, 0,
  48. 0, 0, 1 ]
  49. zmp: [ 0, 0, 0 ]
  50. collisionDetection: true
  51. selfCollisionDetection: false
  52. isEditable: false
  53. -
  54. id: 13
  55. name: "BaseA-50.0"
  56. plugin: Body
  57. class: BodyItem
  58. data:
  59. modelFile: "${SHARE}/WRS2018/model/BaseA-50.body"
  60. currentBaseLink: "Base"
  61. rootPosition: [ 16.1, 3, 0.9 ]
  62. rootAttitude: [
  63. 6.123234e-17, -1, 0,
  64. 1, 6.123234e-17, 0,
  65. 0, 0, 1 ]
  66. jointPositions: [ ]
  67. initialRootPosition: [ 16.1, 3, 0.9 ]
  68. initialRootAttitude: [
  69. 2.22044605e-16, -1, 0,
  70. 1, 2.22044605e-16, 0,
  71. 0, 0, 1 ]
  72. zmp: [ 0, 0, 0 ]
  73. collisionDetection: true
  74. selfCollisionDetection: false
  75. isEditable: false
  76. -
  77. id: 14
  78. name: "BaseA-50.0"
  79. plugin: Body
  80. class: BodyItem
  81. data:
  82. modelFile: "${SHARE}/WRS2018/model/BaseA-50.body"
  83. currentBaseLink: "Base"
  84. rootPosition: [ 16.9, 3, 0.9 ]
  85. rootAttitude: [
  86. 6.123234e-17, -1, 0,
  87. 1, 6.123234e-17, 0,
  88. 0, 0, 1 ]
  89. jointPositions: [ ]
  90. initialRootPosition: [ 16.9, 3, 0.9 ]
  91. initialRootAttitude: [
  92. 2.22044605e-16, -1, 0,
  93. 1, 2.22044605e-16, 0,
  94. 0, 0, 1 ]
  95. zmp: [ 0, 0, 0 ]
  96. collisionDetection: true
  97. selfCollisionDetection: false
  98. isEditable: false
  99. -
  100. id: 3
  101. name: "Obstacle-L25-1"
  102. plugin: Body
  103. class: BodyItem
  104. data:
  105. modelFile: "${SHARE}/WRS2018/model/Obstacle-L25.body"
  106. currentBaseLink: "BASE"
  107. rootPosition: [ 9.5, -0.6, 0.125 ]
  108. rootAttitude: [
  109. 3.74939946e-33, 1, -1.8369702e-16,
  110. 6.123234e-17, -1.8369702e-16, -1,
  111. -1, -7.49879891e-33, -6.123234e-17 ]
  112. jointPositions: [ ]
  113. initialRootPosition: [ 9.5, -0.6, 0.125 ]
  114. initialRootAttitude: [
  115. 4.4408921e-16, 1, 1.11022302e-16,
  116. -5.55111512e-16, 4.4408921e-16, -1,
  117. -1, 1.11022302e-16, 8.8817842e-16 ]
  118. zmp: [ 0, 0, 0 ]
  119. collisionDetection: true
  120. selfCollisionDetection: false
  121. isEditable: true
  122. -
  123. id: 4
  124. name: "Obstacle-L50-2"
  125. plugin: Body
  126. class: BodyItem
  127. data:
  128. modelFile: "${SHARE}/WRS2018/model/Obstacle-L50.body"
  129. currentBaseLink: "BASE"
  130. rootPosition: [ 23.25, 0.5, 0.25 ]
  131. rootAttitude: [
  132. 6.123234e-17, -1.2246468e-16, -1,
  133. 0, -1, 1.2246468e-16,
  134. -1, -7.49879891e-33, -6.123234e-17 ]
  135. jointPositions: [ ]
  136. initialRootPosition: [ 23.25, 0.5, 0.25 ]
  137. initialRootAttitude: [
  138. 2.22044605e-16, -1.2246468e-16, -1,
  139. -1.23259516e-32, -1, 1.2246468e-16,
  140. -1, -1.23259516e-32, -2.22044605e-16 ]
  141. zmp: [ 0, 0, 0 ]
  142. collisionDetection: true
  143. selfCollisionDetection: false
  144. isEditable: true
  145. -
  146. id: 5
  147. name: "Flag2R"
  148. plugin: Body
  149. class: BodyItem
  150. data:
  151. modelFile: "${SHARE}/WRS2018/model/Flag2R.body"
  152. currentBaseLink: "BASE"
  153. rootPosition: [ 26, -1.5, 0 ]
  154. rootAttitude: [
  155. 1, 0, 0,
  156. 0, 1, 0,
  157. 0, 0, 1 ]
  158. jointPositions: [ ]
  159. initialRootPosition: [ 26, -1.5, 0 ]
  160. initialRootAttitude: [
  161. 1, 0, 0,
  162. 0, 1, 0,
  163. 0, 0, 1 ]
  164. zmp: [ 0, 0, 0 ]
  165. collisionDetection: true
  166. selfCollisionDetection: false
  167. isEditable: false
  168. -
  169. id: 6
  170. name: "Flag2L"
  171. plugin: Body
  172. class: BodyItem
  173. data:
  174. modelFile: "${SHARE}/WRS2018/model/Flag2L.body"
  175. currentBaseLink: "BASE"
  176. rootPosition: [ 26, 1.5, 0 ]
  177. rootAttitude: [
  178. 1, 0, 0,
  179. 0, 1, 0,
  180. 0, 0, 1 ]
  181. jointPositions: [ ]
  182. initialRootPosition: [ 26, 1.5, 0 ]
  183. initialRootAttitude: [
  184. 1, 0, 0,
  185. 0, 1, 0,
  186. 0, 0, 1 ]
  187. zmp: [ 0, 0, 0 ]
  188. collisionDetection: true
  189. selfCollisionDetection: false
  190. isEditable: false
  191. -
  192. id: 7
  193. name: "Flag1R"
  194. plugin: Body
  195. class: BodyItem
  196. data:
  197. modelFile: "${SHARE}/WRS2018/model/Flag1R.body"
  198. currentBaseLink: "BASE"
  199. rootPosition: [ 4, -3.5, 0 ]
  200. rootAttitude: [
  201. 1, 0, 0,
  202. 0, 1, 0,
  203. 0, 0, 1 ]
  204. jointPositions: [ ]
  205. initialRootPosition: [ 4, -3.5, 0 ]
  206. initialRootAttitude: [
  207. 1, 0, 0,
  208. 0, 1, 0,
  209. 0, 0, 1 ]
  210. zmp: [ 0, 0, 0 ]
  211. collisionDetection: true
  212. selfCollisionDetection: false
  213. isEditable: false
  214. -
  215. id: 8
  216. name: "Flag1L"
  217. plugin: Body
  218. class: BodyItem
  219. data:
  220. modelFile: "${SHARE}/WRS2018/model/Flag1L.body"
  221. currentBaseLink: "BASE"
  222. rootPosition: [ 4, 3.5, 0 ]
  223. rootAttitude: [
  224. 1, 0, 0,
  225. 0, 1, 0,
  226. 0, 0, 1 ]
  227. jointPositions: [ ]
  228. initialRootPosition: [ 4, 3.5, 0 ]
  229. initialRootAttitude: [
  230. 1, 0, 0,
  231. 0, 1, 0,
  232. 0, 0, 1 ]
  233. zmp: [ 0, 0, 0 ]
  234. collisionDetection: true
  235. selfCollisionDetection: false
  236. isEditable: false
  237. -
  238. id: 9
  239. name: "Ceiling1"
  240. plugin: Body
  241. class: BodyItem
  242. data:
  243. modelFile: "${SHARE}/WRS2018/model/CollapsedCeilingA.body"
  244. currentBaseLink: "Base"
  245. rootPosition: [ 10.5, -0.1, 1 ]
  246. rootAttitude: [
  247. 1, 0, 0,
  248. 0, 1, 0,
  249. 0, 0, 1 ]
  250. jointPositions: [ ]
  251. initialRootPosition: [ 10.5, -0.1, 1 ]
  252. initialRootAttitude: [
  253. 1, 0, 0,
  254. 0, 1, 0,
  255. 0, 0, 1 ]
  256. zmp: [ 0, 0, 0 ]
  257. collisionDetection: true
  258. selfCollisionDetection: false
  259. isEditable: True
  260. -
  261. id: 10
  262. name: "Ceiling2"
  263. plugin: Body
  264. class: BodyItem
  265. data:
  266. modelFile: "${SHARE}/WRS2018/model/CollapsedCeilingA.body"
  267. currentBaseLink: "Base"
  268. rootPosition: [ 9.0, -1.0, 1.5 ]
  269. rootAttitude: [
  270. 1, 0, 0,
  271. 0, 1, 0,
  272. 0, 0, 1 ]
  273. jointPositions: [ ]
  274. initialRootPosition: [ 9.0, -1.0, 1.5 ]
  275. initialRootAttitude: [
  276. 1, 0, 0,
  277. 0, 1, 0,
  278. 0, 0, 1 ]
  279. zmp: [ 0, 0, 0 ]
  280. collisionDetection: true
  281. selfCollisionDetection: false
  282. isEditable: True
  283. -
  284. id: 11
  285. name: "Ceiling3"
  286. plugin: Body
  287. class: BodyItem
  288. data:
  289. modelFile: "${SHARE}/WRS2018/model/CollapsedCeilingD.body"
  290. currentBaseLink: "Base"
  291. rootPosition: [ 9.5, -0.6, 2 ]
  292. rootAttitude: [
  293. 1, 0, 0,
  294. 0, 1, 0,
  295. 0, 0, 1 ]
  296. jointPositions: [ ]
  297. initialRootPosition: [ 9.5, -0.6, 2 ]
  298. initialRootAttitude: [
  299. 1, 0, 0,
  300. 0, 1, 0,
  301. 0, 0, 1 ]
  302. zmp: [ 0, 0, 0 ]
  303. collisionDetection: true
  304. selfCollisionDetection: false
  305. isEditable: True
  306. -
  307. id: 12
  308. name: "RoadSurfaceT2"
  309. plugin: Body
  310. class: BodyItem
  311. data:
  312. modelFile: "${SHARE}/WRS2018/model/Simple_Road_T4.body"
  313. currentBaseLink: "Base"
  314. rootPosition: [ 0, 0, 0 ]
  315. rootAttitude: [
  316. 1, 0, 0,
  317. 0, 1, 0,
  318. 0, 0, 1 ]
  319. jointPositions: [ ]
  320. initialRootPosition: [ 0, 0, 0 ]
  321. initialRootAttitude: [
  322. 1, 0, 0,
  323. 0, 1, 0,
  324. 0, 0, 1 ]
  325. zmp: [ 0, 0, 0 ]
  326. collisionDetection: true
  327. selfCollisionDetection: false
  328. isEditable: false
  329. -
  330. id: 99
  331. name: "WorldLogFile"
  332. plugin: Body
  333. class: WorldLogFileItem
  334. data:
  335. filename: T4.log
  336. timeStampSuffix: true
  337. recordingFrameRate: 100
  338.  
  339. views:
  340. -
  341. id: 1
  342. plugin: Base
  343. class: ItemTreeView
  344. mounted: true
  345. state:
  346. checked: [ 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
  347. expanded: [ 5, 8, 10, 11 ]
  348. -
  349. id: 2
  350. name: "Camera Scene"
  351. plugin: Base
  352. class: SceneView
  353. state:
  354. dedicatedItemTreeViewChecks: true
  355. checked: [ 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
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