- axes.png (162.96 KiB) Viewed 453 times
<Body name="placa_humerus_r">
<!--List of components that this component owns and serializes.-->
<components>
<PhysicalOffsetFrame name="placa_humerus_r_geom_frame_1">
<!--The geometry used to display the axes of this Frame.-->
<FrameGeometry name="frame_geometry">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
</FrameGeometry>
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
<attached_geometry>
<Mesh name="placa_humerus_r_geom_1">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>0.00089999999999999998 0.0012999999999999999 0.0011000000000000001</scale_factors>
<!--Default appearance attributes for this Geometry-->
<Appearance>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>1</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 0 1</color>
</Appearance>
<!--Name of geometry file.-->
<mesh_file>placa_v02.stl</mesh_file>
</Mesh>
</attached_geometry>
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
<socket_parent>..</socket_parent>
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
<translation>0.040000000000000001 0.12 -0.025000000000000001</translation>
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
<orientation>0 1.8999999999999999 3.1000000000000001</orientation>
</PhysicalOffsetFrame>
</components>
<!--The geometry used to display the axes of this Frame.-->
<FrameGeometry name="frame_geometry">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
</FrameGeometry>
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
<attached_geometry />
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
<WrapObjectSet name="wrapobjectset">
<objects>
<WrapCylinder name="pasador">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0.63006399999999996 -1.54654 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>0.06 -0.175 0</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.014999999999999999</radius>
<!--The length of the cylinder.-->
<length>0.050000000000000003</length>
</WrapCylinder>
</objects>
<groups />
</WrapObjectSet>
<!--The mass of the body (kg)-->
<mass>0.20000000000000001</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0 0 0</mass_center>
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
<inertia>0 0 0 0 0 0</inertia>
</Body>
<WeldJoint name="placa_r_humerus">
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
<socket_parent_frame>humerus_r_offset</socket_parent_frame>
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
<socket_child_frame>placa_humerus_r_offset</socket_child_frame>
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
<frames>
<PhysicalOffsetFrame name="humerus_r_offset">
<!--The geometry used to display the axes of this Frame.-->
<FrameGeometry name="frame_geometry">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
</FrameGeometry>
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
<socket_parent>/bodyset/humerus_r</socket_parent>
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
<translation>0 -0.10000000000000001 0</translation>
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
<orientation>0 0 0</orientation>
</PhysicalOffsetFrame>
<PhysicalOffsetFrame name="placa_humerus_r_offset">
<!--The geometry used to display the axes of this Frame.-->
<FrameGeometry name="frame_geometry">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
</FrameGeometry>
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
<socket_parent>/bodyset/placa_humerus_r</socket_parent>
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
<translation>0 0 0</translation>
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
<orientation>0 0 0</orientation>
</PhysicalOffsetFrame>
</frames>
</WeldJoint>