Task2-AizuSpiderSS.cnoid

items: 
  id: 0
  name: "Root"
  plugin: Base
  class: RootItem
  children: 
    - 
      id: 1
      name: "ViewProject"
      plugin: Base
      class: SubProjectItem
      data: 
        filename: "${SHARE}/WRS2018/project/SingleSceneView.cnoid"
        format: PROJECT
        saveMode: "Manual save"
    - 
      id: 2
      name: "World"
      plugin: Body
      class: WorldItem
      data: 
        collisionDetection: false
        collisionDetector: AISTCollisionDetector
        materialTableFile: "${SHARE}/default/materials.yaml"
      children: 
        - 
          id: 3
          name: "T1M"
          plugin: Base
          class: SubProjectItem
          data: 
            filename: "${PROJECT_DIR}/Task2-Agent-System2019.cnoid"
            format: PROJECT
            saveMode: "Manual save"
        - 
          id: 4
          name: "AISTSimulator-Torque"
          plugin: Body
          class: AISTSimulatorItem
          data: 
            timeStep: 0.001
            realtimeSync: true
            recording: "full"
            timeRangeMode: "Unlimited"
            timeLength: 60
            allLinkPositionOutputMode: true
            deviceStateOutput: true
            controllerThreads: true
            recordCollisionData: false
            controllerOptions: "torque"
            dynamicsMode: "Forward dynamics"
            integrationMode: "Runge Kutta"
            gravity: [ 0, 0, -9.80665 ]
            staticFriction: 0.5
            dynamicFriction: 0.5
            cullingThresh: 0.01
            contactCullingDepth: 0.05
            errorCriterion: 0.001
            maxNumIterations: 1000
            contactCorrectionDepth: 0.0001
            contactCorrectionVelocityRatio: 30
            kinematicWalking: false
            2Dmode: false
            oldAccelSensorMode: false
          children: 
            - 
              id: 5
              name: "GLVisionSimulator"
              plugin: Body
              class: GLVisionSimulatorItem
              data:
                targetBodies: [ AizuSpiderAA, AizuSpiderBB ]
                targetSensors: [ ARM_CAMERA, FRONT_CAMERA ]
                enabled: true
                maxFrameRate: 1000
                maxLatency: 1
                recordVisionData: false
                threadMode: Sensor
                bestEffort: true
                allSceneObjects: false
                rangeSensorPrecisionRatio: 2
                depthError: 0
                enableHeadLight: true
                enableAdditionalLights: true
                antiAliasing: false
        - 
          id: 8
          name: "AizuSpiderAA"
          plugin: Body
          class: BodyItem
          data: 
            modelFile: "${SHARE}/model/AizuSpider/AizuSpiderSS.body"
            currentBaseLink: "CHASSIS"
            rootPosition: [ 10, -1.4, 0.035 ]
            rootAttitude: [ 
              1, 0, 0, 
              0, 1, 0, 
              0, 0, 1 ]
            jointPositions: [ 
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            initialRootPosition: [ 10, -1.4, 0.035 ]
            initialRootAttitude: [ 
              1, 0, 0, 
              0, 1, 0, 
              0, 0, 1 ]
            initialJointPositions: [ 
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            zmp: [ 0, 0, 0 ]
            collisionDetection: true
            selfCollisionDetection: true
            isEditable: true
          children:
            - 
              id: 15
              name: "AizuSpiderController"
              plugin: Body
              class: SimpleControllerItem
              data: 
                isNoDelayMode: false
                controllerOptions: ""
                controller: "AizuSpiderController"
                baseDirectory: "Controller directory"
                reloading: true
                isOldTargetVariableMode: false
              children: 
                - 
                  id: 16
                  name: "Jaco2Controller"
                  plugin: Body
                  class: SimpleControllerItem
                  data: 
                    isNoDelayMode: false
                    controllerOptions: ""
                    controller: "Jaco2Controller"
                    baseDirectory: "Controller directory"
                    reloading: true
                    isOldTargetVariableMode: false
                - 
                  id: 17
                  name: "AizuSpider-JoystickInput"
                  plugin: Body
                  class: SimpleControllerItem
                  data: 
                    isNoDelayMode: false
                    controllerOptions: ""
                    controller: "JoyTopicSubscriberController"
                    baseDirectory: "Controller directory"
                    reloading: false
                    isOldTargetVariableMode: false	  
            - 
              id: 12
              name: "BodyTrackingCamera"
              plugin: Body
              class: BodyTrackingCameraItem
              data: 
                targetLink: ""
                keepRelativeAttitude: false
                cameraType: "Perspective"
                nearClipDistance: 0.05
                farClipDistance: 200
                fieldOfView: 0.785398
            - 
              id: 13
              name: "BodyPublisher"
              plugin: ROS
              class: BodyPublisherItem
              data: 
                maxPublishRate: 30
##         - 
##           id: 14
##           name: "AizuSpiderBB"
##           plugin: Body
##           class: BodyItem
##           data: 
##             modelFile: "${SHARE}/model/AizuSpider/AizuSpiderSS.body"
##             currentBaseLink: "CHASSIS"
##             rootPosition: [ 5, 1, 0.035 ]
##             rootAttitude: [ 
##               1, 0, 0, 
##               0, 1, 0, 
##               0, 0, 1 ]
##             jointPositions: [ 
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##                0.000000,  0.000000,  0.000000 ]
##             initialRootPosition: [ 5, 1, 0.035 ]
##             initialRootAttitude: [ 
##               1, 0, 0, 
##               0, 1, 0, 
##               0, 0, 1 ]
##             initialJointPositions: [ 
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##             zmp: [ 0, 0, 0 ]
##             collisionDetection: true
##             selfCollisionDetection: true
##             isEditable: true
##           children: 
##             - 
##               id: 15
##               name: "AizuSpiderController"
##               plugin: Body
##               class: SimpleControllerItem
##               data: 
##                 isNoDelayMode: false
##                 controllerOptions: ""
##                 controller: "AizuSpiderController"
##                 baseDirectory: "Controller directory"
##                 reloading: true
##                 isOldTargetVariableMode: false
##               children: 
##                 - 
##                   id: 16
##                   name: "Jaco2Controller"
##                   plugin: Body
##                   class: SimpleControllerItem
##                   data: 
##                     isNoDelayMode: false
##                     controllerOptions: ""
##                     controller: "Jaco2Controller"
##                     baseDirectory: "Controller directory"
##                     reloading: true
##                     isOldTargetVariableMode: false
##                 - 
##                   id: 17
##                   name: "AizuSpider-JoystickInput"
##                   plugin: Body
##                   class: SimpleControllerItem
##                   data: 
##                     isNoDelayMode: false
##                     controllerOptions: ""
##                     controller: "JoyTopicSubscriberController"
##                     baseDirectory: "Controller directory"
##                     reloading: false
##                     isOldTargetVariableMode: false
##             - 
##               id: 18
##               name: "BodyTrackingCamera"
##               plugin: Body
##               class: BodyTrackingCameraItem
##               data: 
##                 targetLink: ""
##                 keepRelativeAttitude: false
##                 cameraType: "Perspective"
##                 nearClipDistance: 0.05
##                 farClipDistance: 200
##                 fieldOfView: 0.785398
##             - 
##               id: 19
##               name: "BodyPublisher"
##               plugin: ROS
##               class: BodyPublisherItem
##               data: 
##                 maxPublishRate: 30                
views: 
  - 
    id: 0
    plugin: Base
    class: ItemPropertyView
    mounted: true
  - 
    id: 1
    plugin: Base
    class: ItemTreeView
    mounted: true
    state:
      selected: [ 4 ]
      checked: [ 8, 14, 16, 18 ]
      expanded: [ 2, 4, 6, 15 ]
  - 
    id: 2
    plugin: Base
    class: MessageView
    mounted: true
  - 
    id: 3
    plugin: Base
    class: SceneView
    mounted: true
    state: 
      editMode: false
      viewpointControlMode: thirdPerson
      collisionLines: false
      polygonMode: fill
      cullingMode: enabled
      defaultHeadLight: true
      defaultHeadLightIntensity: 0.8
      headLightLightingFromBack: false
      worldLight: true
      worldLightIntensity: 0.7
      worldLightAmbient: 0.3
      additionalLights: true
      fog: true
      floorGrid: false
      floorGridSpan: 10
      floorGridInterval: 0.5
      xzGridSpan: 10
      xzGridInterval: 0.5
      xzGrid: false
      yzGridSpan: 10
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      texture: true
      lineWidth: 1
      pointSize: 1
      normalVisualization: false
      normalLength: 0.01
      coordinateAxes: true
      fpsTestIteration: 1
      showFPS: false
      enableNewDisplayListDoubleRendering: false
      useBufferForPicking: true
      upsideDown: false
      cameras: 
        - 
          camera: [ System, Perspective ]
          fieldOfView: 0.698132
          near: 0.05
          far: 200
          eye: [ 4, 2, 1.5 ]
          direction: [ -0.888888889, -0.444444444, -0.111111111 ]
          up: [ -0.0993807989, -0.0496903995, 0.99380799 ]
        - 
          camera: [ System, Orthographic ]
          orthoHeight: 20
          near: 0.05
          far: 200
        - 
          camera: BodyTrackingCamera
          isCurrent: true
          eye: [ -0.543500475, -0.414703735, 0.842134452 ]
          direction: [ 0.962129087, 0.147434452, -0.229283016 ]
          up: [ 0.226637528, 0.0347294144, 0.973359799 ]
      backgroundColor: [ 0, 0, 0 ]
      gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ]
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      yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ]
      dedicatedItemTreeViewChecks: false
  - 
    id: 4
    name: "Camera Scene"
    plugin: Base
    class: SceneView
    state: 
      editMode: false
      viewpointControlMode: thirdPerson
      collisionLines: false
      polygonMode: fill
      cullingMode: enabled
      defaultHeadLight: true
      defaultHeadLightIntensity: 0.75
      headLightLightingFromBack: false
      worldLight: true
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      additionalLights: true
      fog: true
      floorGrid: true
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      xzGridInterval: 0.5
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      yzGridSpan: 10
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      texture: true
      lineWidth: 1
      pointSize: 1
      normalVisualization: false
      normalLength: 0.01
      coordinateAxes: true
      fpsTestIteration: 1
      showFPS: false
      enableNewDisplayListDoubleRendering: false
      useBufferForPicking: true
      upsideDown: false
      cameras: 
        - 
          camera: [ System, Perspective ]
          fieldOfView: 0.698132
          near: 0.04
          far: 200
          eye: [ 4, 2, 1.5 ]
          direction: [ -0.888888889, -0.444444444, -0.111111111 ]
          up: [ -0.099380799, -0.0496903995, 0.99380799 ]
        - 
          camera: [ System, Orthographic ]
          orthoHeight: 20
          near: 0.04
          far: 200
        - 
          camera: [ AizuSpider, FRONT_CAMERA ]
          isCurrent: true
        - 
          camera: BodyTrackingCamera
          eye: [ -0.543500475, -0.414703735, 0.842134452 ]
          direction: [ 0.962129087, 0.147434452, -0.229283016 ]
          up: [ 0.226637528, 0.0347294144, 0.973359799 ]
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      dedicatedItemTreeViewChecks: true
      checked: [ 8, 12 ]
  - 
    id: 5
    plugin: Body
    class: BodyLinkView
    mounted: true
    state: 
      showRotationMatrix: false
  - 
    id: 6
    plugin: Body
    class: JointSliderView
    mounted: true
    state: 
      showAllJoints: true
      jointId: false
      name: true
      numColumns: 1
      spinBox: true
      slider: true
      dial: false
      labelOnLeft: true
  - 
    id: 7
    plugin: Body
    class: LinkSelectionView
    mounted: true
    state: 
      listingMode: "Link List"
  - 
    id: 8
    plugin: OpenRTM
    class: RTSNameServerView
    state: 
      NameServers: 
        - 
          isDefaultNameServer: true
          host: "localhost"
          port: 2809
  - 
    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
  "KinematicsBar": 
    mode: AUTO
    enablePositionDragger: true
    penetrationBlock: false
    collisionLinkHighlight: false
    snapDistance: 0.025
    penetrationBlockDepth: 0.0005
    lazyCollisionDetectionMode: true
  "LeggedBodyBar": 
    stanceWidth: 0.15
  "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
  "EditableSceneBody": 
    editableSceneBodies: 
      - 
        bodyItem: 8
        showCenterOfMass: false
        showPpcom: false
        showZmp: false
    staticModelEditing: true
  "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
OpenRTM: 
  "deleteUnmanagedRTCsOnStartingSimulation": false
layoutOfToolBars: 
  rows: 
    - 
      - { name: "FileBar", x: 0, priority: 0 }
      - { name: "CaptureBar", x: 47, priority: 2 }
      - { name: "ScriptBar", x: 47, priority: 0 }
      - { name: "SimulationBar", x: 93, priority: 1 }
      - { name: "TimeBar", x: 94, priority: 0 }
      - { name: "SceneBar", x: 5000, priority: 4 }
      - { name: "KinematicsBar", x: 5000, priority: 3 }