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Task3-Agent-System2019_b.cnoid
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items:
id: 0
name: "Root"
plugin: Base
class: RootItem
children:
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id: 1
name: "Table"
plugin: Body
class: BodyItem
data:
modelFile: "models/table.body"
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rootAttitude: [
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collisionDetection: true
selfCollisionDetection: false
isEditable: false
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name: "TrashBox"
plugin: Body
class: BodyItem
data:
modelFile: "models/TrashBox.body"
currentBaseLink: "BASE"
rootPosition: [ 16, -2.3, 0 ]
rootAttitude: [
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0, 1, 0,
0, 0, 1 ]
jointPositions: [ ]
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name: "Trash1"
plugin: Body
class: BodyItem
data:
modelFile: "models/trash_a.body"
currentBaseLink: "BASE"
rootPosition: [ 10.8, 1.5, 0.701 ] ## center table
rootAttitude: [
1, 0, 0,
0, 1, 0,
0, 0, 1 ]
jointPositions: [ ]
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initialRootAttitude: [
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collisionDetection: true
selfCollisionDetection: false
isEditable: true
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name: "Trash2"
plugin: Body
class: BodyItem
data:
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currentBaseLink: "BASE"
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rootAttitude: [
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collisionDetection: true
selfCollisionDetection: false
isEditable: true
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name: "Trash3"
plugin: Body
class: BodyItem
data:
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currentBaseLink: "BASE"
rootPosition: [ 10.9, 1.0, 0.71 ]
rootAttitude: [
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0, 0, 1 ]
jointPositions: [ ]
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0, 0, 1 ]
zmp: [ 0, 0, 0 ]
collisionDetection: true
selfCollisionDetection: false
isEditable: true
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id: 11
name: "Trash4"
plugin: Body
class: BodyItem
data:
modelFile: "models/trash_d.body"
currentBaseLink: "BASE"
rootPosition: [ 10.98, 1.9, 0.8 ]
rootAttitude: [
1, 0, 0,
0, 1, 0,
0, 0, 1 ]
jointPositions: [ ]
initialRootPosition: [ 10.98, 1.9, 0.8 ]
initialRootAttitude: [
1, 0, 0,
0, 1, 0,
0, 0, 1 ]
zmp: [ 0, 0, 0 ]
collisionDetection: true
selfCollisionDetection: false
isEditable: true
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id: 12
name: "Trash5"
plugin: Body
class: BodyItem
data:
modelFile: "models/trash_e.body"
currentBaseLink: "BASE"
rootPosition: [ 11.02, 1.9, 0.95 ]
rootAttitude: [
1, 0, 0,
0, 1, 0,
0, 0, 1 ]
jointPositions: [ ]
initialRootPosition: [ 11.02, 1.9, 0.95 ]
initialRootAttitude: [
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0, 0, 1 ]
zmp: [ 0, 0, 0 ]
collisionDetection: true
selfCollisionDetection: false
isEditable: true
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id: 13
name: "Trash6"
plugin: Body
class: BodyItem
data:
modelFile: "models/trash_f.body"
currentBaseLink: "BASE"
rootPosition: [ 8, -2.0, 0.1 ]
rootAttitude: [
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0, 1, 0,
0, 0, 1 ]
jointPositions: [ ]
initialRootPosition: [ 8, -2.0, 0.1 ]
initialRootAttitude: [
1, 0, 0,
0, 1, 0,
0, 0, 1 ]
zmp: [ 0, 0, 0 ]
collisionDetection: true
selfCollisionDetection: false
isEditable: true
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id: 14
name: "Board"
plugin: Body
class: BodyItem
data:
modelFile: "models/hook_board.body"
currentBaseLink: "BASE"
rootPosition: [ 15, 2.5, 0.0 ]
rootAttitude: [
0, -1, 0,
1, 0, 0,
0, 0, 1 ]
jointPositions: [ ]
initialRootPosition: [ 15, 2.5, 0.0 ]
initialRootAttitude: [
0, -1, 0,
1, 0, 0,
0, 0, 1 ]
zmp: [ 0, 0, 0 ]
collisionDetection: true
selfCollisionDetection: false
isEditable: true
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id: 15
name: "Trash7"
plugin: Body
class: BodyItem
data:
modelFile: "models/trash_e_hole.body"
currentBaseLink: "BASE"
rootPosition: [ 15, 2.35, 1.1 ]
rootAttitude: [
1, 0, 0,
0, 0, -1,
0, 1, 0 ]
jointPositions: [ ]
initialRootPosition: [ 15, 2.35, 1.1 ]
initialRootAttitude: [
1, 0, 0,
0, 0, -1,
0, 1, 0 ]
zmp: [ 0, 0, 0 ]
collisionDetection: true
selfCollisionDetection: false
isEditable: true
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id: 16
name: "Trash8"
plugin: Body
class: BodyItem
data:
modelFile: "models/trash_e_hole.body"
currentBaseLink: "BASE"
rootPosition: [ 15, 2.25, 1.1 ]
rootAttitude: [
1, 0, 0,
0, 0, -1,
0, 1, 0 ]
jointPositions: [ ]
initialRootPosition: [ 15, 2.25, 1.1 ]
initialRootAttitude: [
1, 0, 0,
0, 0, -1,
0, 1, 0 ]
zmp: [ 0, 0, 0 ]
collisionDetection: true
selfCollisionDetection: false
isEditable: true
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id: 17
name: "Obstacle"
plugin: Body
class: BodyItem
data:
modelFile: "${SHARE}/WRS2018/model/BaseA-50.body"
currentBaseLink: "BASE"
rootPosition: [ 11.5, -0.5, 1 ]
rootAttitude: [
0, 1, 0,
-1, 0, 0,
0, 0, 1 ]
jointPositions: [ ]
initialRootPosition: [ 11.5, -0.5, 1 ]
initialRootAttitude: [
0, 1, 0,
-1, 0, 0,
0, 0, 1 ]
zmp: [ 0, 0, 0 ]
collisionDetection: true
selfCollisionDetection: false
isEditable: false
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id: 5
name: "Flag2R"
plugin: Body
class: BodyItem
data:
modelFile: "${SHARE}/WRS2018/model/Flag2R.body"
currentBaseLink: "BASE"
rootPosition: [ 26, -1.5, 0 ]
rootAttitude: [
1, 0, 0,
0, 1, 0,
0, 0, 1 ]
jointPositions: [ ]
initialRootPosition: [ 26, -1.5, 0 ]
initialRootAttitude: [
1, 0, 0,
0, 1, 0,
0, 0, 1 ]
zmp: [ 0, 0, 0 ]
collisionDetection: true
selfCollisionDetection: false
isEditable: false
-
id: 6
name: "Flag2L"
plugin: Body
class: BodyItem
data:
modelFile: "${SHARE}/WRS2018/model/Flag2L.body"
currentBaseLink: "BASE"
rootPosition: [ 26, 1.5, 0 ]
rootAttitude: [
1, 0, 0,
0, 1, 0,
0, 0, 1 ]
jointPositions: [ ]
initialRootPosition: [ 26, 1.5, 0 ]
initialRootAttitude: [
1, 0, 0,
0, 1, 0,
0, 0, 1 ]
zmp: [ 0, 0, 0 ]
collisionDetection: true
selfCollisionDetection: false
isEditable: false
-
id: 7
name: "Flag1R"
plugin: Body
class: BodyItem
data:
modelFile: "${SHARE}/WRS2018/model/Flag1R.body"
currentBaseLink: "BASE"
rootPosition: [ 4, -3.5, 0 ]
rootAttitude: [
1, 0, 0,
0, 1, 0,
0, 0, 1 ]
jointPositions: [ ]
initialRootPosition: [ 4, -3.5, 0 ]
initialRootAttitude: [
1, 0, 0,
0, 1, 0,
0, 0, 1 ]
zmp: [ 0, 0, 0 ]
collisionDetection: true
selfCollisionDetection: false
isEditable: false
-
id: 8
name: "Flag1L"
plugin: Body
class: BodyItem
data:
modelFile: "${SHARE}/WRS2018/model/Flag1L.body"
currentBaseLink: "BASE"
rootPosition: [ 4, 3.5, 0 ]
rootAttitude: [
1, 0, 0,
0, 1, 0,
0, 0, 1 ]
jointPositions: [ ]
initialRootPosition: [ 4, 3.5, 0 ]
initialRootAttitude: [
1, 0, 0,
0, 1, 0,
0, 0, 1 ]
zmp: [ 0, 0, 0 ]
collisionDetection: true
selfCollisionDetection: false
isEditable: false
-
id: 9
name: "RoadSurfaceT2"
plugin: Body
class: BodyItem
data:
modelFile: "${SHARE}/WRS2018/model/Simple_Road_T4.body"
currentBaseLink: "Base"
rootPosition: [ 0, 0, 0 ]
rootAttitude: [
1, 0, 0,
0, 1, 0,
0, 0, 1 ]
jointPositions: [ ]
initialRootPosition: [ 0, 0, 0 ]
initialRootAttitude: [
1, 0, 0,
0, 1, 0,
0, 0, 1 ]
zmp: [ 0, 0, 0 ]
collisionDetection: true
selfCollisionDetection: false
isEditable: false
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id: 99
name: "WorldLogFile"
plugin: Body
class: WorldLogFileItem
data:
filename: T4.log
timeStampSuffix: true
recordingFrameRate: 100
views:
-
id: 1
plugin: Base
class: ItemTreeView
mounted: true
state:
checked: [ 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17]
expanded: [ 5, 8, 10, 11 ]
-
id: 2
name: "Camera Scene"
plugin: Base
class: SceneView
state:
dedicatedItemTreeViewChecks: true
checked: [ 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17]