# NASA ATHLETE Robot. # # Joints manually tuned, not much time spent on it. # links "hex x" "hex y" "hex z" "hex yaw" "hex roll" "hex pitch" \ "hip yaw 1" "hip pitch 1" "knee pitch 1" "knee roll 1" "ankle pitch 1" "ankle roll 1" \ "hip yaw 2" "hip pitch 2" "knee pitch 2" "knee roll 2" "ankle pitch 2" "ankle roll 2" \ "hip yaw 3" "hip pitch 3" "knee pitch 3" "knee roll 3" "ankle pitch 3" "ankle roll 3" \ "hip yaw 4" "hip pitch 4" "knee pitch 4" "knee roll 4" "ankle pitch 4" "ankle roll 4" \ "hip yaw 5" "hip pitch 5" "knee pitch 5" "knee roll 5" "ankle pitch 5" "ankle roll 5" \ "hip yaw 6" "hip pitch 6" "knee pitch 6" "knee roll 6" "ankle pitch 6" "ankle roll 6" parents -1 0 1 2 3 4 \ 5 6 7 8 9 10 \ 5 12 13 14 15 16 \ 5 18 19 20 21 22 \ 5 24 25 26 27 28 \ 5 30 31 32 33 34 \ 5 36 37 38 39 40 axis 1 0 0 0 1 0 0 0 1 0 0 1 0 1 0 1 0 0 \ 0 0 1 0 1 0 0 1 0 1 0 0 0 1 0 1 0 0 \ 0 0 1 0 1 0 0 1 0 1 0 0 0 1 0 1 0 0 \ 0 0 1 0 1 0 0 1 0 1 0 0 0 1 0 1 0 0 \ 0 0 1 0 1 0 0 1 0 1 0 0 0 1 0 1 0 0 \ 0 0 1 0 1 0 0 1 0 1 0 0 0 1 0 1 0 0 \ 0 0 1 0 1 0 0 1 0 1 0 0 0 1 0 1 0 0 jointtype p p p r r r \ r r r r r r \ r r r r r r \ r r r r r r \ r r r r r r \ r r r r r r \ r r r r r r TParent 1 0 0 0 1 0 0 0 1 0 0 0.66 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ \ 1 0 0 0 1 0 0 0 1 0.447 0 0 \ 1 0 0 0 1 0 0 0 1 0.117 0 -0.12 \ 1 0 0 0 1 0 0 0 1 0.245 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ 1 0 0 0 1 0 0 0 1 0.163 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ \ 0.5 -0.8660254 0 0.8660254 0.5 0 0 0 1 0.2235 0.38711336 0 \ 1 0 0 0 1 0 0 0 1 0.117 0 -0.12 \ 1 0 0 0 1 0 0 0 1 0.245 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ 1 0 0 0 1 0 0 0 1 0.163 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ \ -0.5 -0.8660254 0 0.8660254 -0.5 0 0 0 1 -0.2235 0.38711336 0 \ 1 0 0 0 1 0 0 0 1 0.117 0 -0.12 \ 1 0 0 0 1 0 0 0 1 0.245 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ 1 0 0 0 1 0 0 0 1 0.163 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ \ -1 0 0 0 -1 0 0 0 1 -0.447 0 0 \ 1 0 0 0 1 0 0 0 1 0.117 0 -0.12 \ 1 0 0 0 1 0 0 0 1 0.245 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ 1 0 0 0 1 0 0 0 1 0.163 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ \ -0.5 0.8660254 0 -0.8660254 -0.5 0 0 0 1 -0.2235 -0.38711336 0 \ 1 0 0 0 1 0 0 0 1 0.117 0 -0.12 \ 1 0 0 0 1 0 0 0 1 0.245 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ 1 0 0 0 1 0 0 0 1 0.163 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ \ 0.5 0.8660254 0 -0.8660254 0.5 0 0 0 1 0.2235 -0.38711336 0 \ 1 0 0 0 1 0 0 0 1 0.117 0 -0.12 \ 1 0 0 0 1 0 0 0 1 0.245 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0 \ 1 0 0 0 1 0 0 0 1 0.163 0 0 \ 1 0 0 0 1 0 0 0 1 0 0 0 qdeg 0 0 0 0 0 0 \ 0 30 30 0 30 0 \ 0 30 30 0 30 0 \ 0 30 30 0 30 0 \ 0 30 30 0 30 0 \ 0 30 30 0 30 0 \ 0 30 30 0 30 0 qmindeg -inf -inf -inf -inf -inf -inf \ -170 -90 -110 -160 -135 -160 \ -170 -90 -110 -160 -135 -160 \ -170 -90 -110 -160 -135 -160 \ -170 -90 -110 -160 -135 -160 \ -170 -90 -110 -160 -135 -160 \ -170 -90 -110 -160 -135 -160 qmaxdeg inf inf inf inf inf inf \ 170 90 180 160 135 160 \ 170 90 180 160 135 160 \ 170 90 180 160 135 160 \ 170 90 180 160 135 160 \ 170 90 180 160 135 160 \ 170 90 180 160 135 160 geometry "" "" "" "" "" "athlete/hex.off" \ "athlete/hipyaw.off" "athlete/hippitch.off" "athlete/kneepitch.off" "athlete/kneeroll.off" "athlete/anklepitch.off" "athlete/ankleroll.off" \ "athlete/hipyaw.off" "athlete/hippitch.off" "athlete/kneepitch.off" "athlete/kneeroll.off" "athlete/anklepitch.off" "athlete/ankleroll.off" \ "athlete/hipyaw.off" "athlete/hippitch.off" "athlete/kneepitch.off" "athlete/kneeroll.off" "athlete/anklepitch.off" "athlete/ankleroll.off" \ "athlete/hipyaw.off" "athlete/hippitch.off" "athlete/kneepitch.off" "athlete/kneeroll.off" "athlete/anklepitch.off" "athlete/ankleroll.off" \ "athlete/hipyaw.off" "athlete/hippitch.off" "athlete/kneepitch.off" "athlete/kneeroll.off" "athlete/anklepitch.off" "athlete/ankleroll.off" \ "athlete/hipyaw.off" "athlete/hippitch.off" "athlete/kneepitch.off" "athlete/kneeroll.off" "athlete/anklepitch.off" "athlete/ankleroll.off" mount 11 "athlete/wheel_scaled.off" 1 0 0 0 1 0 0 0 1 0.184 0 0 mount 17 "athlete/wheel_scaled.off" 1 0 0 0 1 0 0 0 1 0.184 0 0 mount 23 "athlete/wheel_scaled.off" 1 0 0 0 1 0 0 0 1 0.184 0 0 mount 29 "athlete/wheel_scaled.off" 1 0 0 0 1 0 0 0 1 0.184 0 0 mount 35 "athlete/wheel_scaled.off" 1 0 0 0 1 0 0 0 1 0.184 0 0 mount 41 "athlete/wheel_scaled.off" 1 0 0 0 1 0 0 0 1 0.184 0 0 geomscale 1 1 1 1 1 0.01 \ 0.01 0.01 0.01 0.01 0.01 0.01 \ 0.01 0.01 0.01 0.01 0.01 0.01 \ 0.01 0.01 0.01 0.01 0.01 0.01 \ 0.01 0.01 0.01 0.01 0.01 0.01 \ 0.01 0.01 0.01 0.01 0.01 0.01 \ 0.01 0.01 0.01 0.01 0.01 0.01 mass 0 0 0 0 0 0.0388 \ 0.0269 0.0242 0.0132 0.0171 0.0127 0.0661 \ 0.0269 0.0242 0.0132 0.0171 0.0127 0.0661 \ 0.0269 0.0242 0.0132 0.0171 0.0127 0.0661 \ 0.0269 0.0242 0.0132 0.0171 0.0127 0.0661 \ 0.0269 0.0242 0.0132 0.0171 0.0127 0.0661 \ 0.0269 0.0242 0.0132 0.0171 0.0127 0.0661 com 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -0.0395 \ 0 0 -0.0395 0 0 0 0 0 0 0.055 0 0 0 0 0 0.151785 0 0 \ 0 0 -0.0395 0 0 0 0 0 0 0.055 0 0 0 0 0 0.151785 0 0 \ 0 0 -0.0395 0 0 0 0 0 0 0.055 0 0 0 0 0 0.151785 0 0 \ 0 0 -0.0395 0 0 0 0 0 0 0.055 0 0 0 0 0 0.151785 0 0 \ 0 0 -0.0395 0 0 0 0 0 0 0.055 0 0 0 0 0 0.151785 0 0 \ 0 0 -0.0395 0 0 0 0 0 0 0.055 0 0 0 0 0 0.151785 0 0 automass torquemax 0 0 0 0 0 0 \ 0.9261 0.9261 0.44688 0.39886 0.2989 0.2989 \ 0.9261 0.9261 0.44688 0.39886 0.2989 0.2989 \ 0.9261 0.9261 0.44688 0.39886 0.2989 0.2989 \ 0.9261 0.9261 0.44688 0.39886 0.2989 0.2989 \ 0.9261 0.9261 0.44688 0.39886 0.2989 0.2989 \ 0.9261 0.9261 0.44688 0.39886 0.2989 0.2989 velmax inf inf inf inf inf inf \ 2 2 2 2 2 2 \ 2 2 2 2 2 2 \ 2 2 2 2 2 2 \ 2 2 2 2 2 2 \ 2 2 2 2 2 2 \ 2 2 2 2 2 2 accmax inf inf inf inf inf inf \ 4 4 4 4 4 4 \ 4 4 4 4 4 4 \ 4 4 4 4 4 4 \ 4 4 4 4 4 4 \ 4 4 4 4 4 4 \ 4 4 4 4 4 4 joint floating 5 -1 joint normal 6 joint normal 7 joint normal 8 joint normal 9 joint normal 10 joint normal 11 joint normal 12 joint normal 13 joint normal 14 joint normal 15 joint normal 16 joint normal 17 joint normal 18 joint normal 19 joint normal 20 joint normal 21 joint normal 22 joint normal 23 joint normal 24 joint normal 25 joint normal 26 joint normal 27 joint normal 28 joint normal 29 joint normal 30 joint normal 31 joint normal 32 joint normal 33 joint normal 34 joint normal 35 joint normal 36 joint normal 37 joint normal 38 joint normal 39 joint normal 40 joint normal 41 driver normal 6 driver normal 7 driver normal 8 driver normal 9 driver normal 10 driver normal 11 driver normal 12 driver normal 13 driver normal 14 driver normal 15 driver normal 16 driver normal 17 driver normal 18 driver normal 19 driver normal 20 driver normal 21 driver normal 22 driver normal 23 driver normal 24 driver normal 25 driver normal 26 driver normal 27 driver normal 28 driver normal 29 driver normal 30 driver normal 31 driver normal 32 driver normal 33 driver normal 34 driver normal 35 driver normal 36 driver normal 37 driver normal 38 driver normal 39 driver normal 40 driver normal 41 servoP 50 50 50 25 10 10 \ 50 50 50 25 10 10 \ 50 50 50 25 10 10 \ 50 50 50 25 10 10 \ 50 50 50 25 10 10 \ 50 50 50 25 10 10 \ servoI 30 30 30 30 30 30 \ 30 30 30 30 30 30 \ 30 30 30 30 30 30 \ 30 30 30 30 30 30 \ 30 30 30 30 30 30 \ 30 30 30 30 30 30 servoD 0.5 0.5 0.5 0.25 0.1 0.1 \ 0.5 0.5 0.5 0.25 0.1 0.1 \ 0.5 0.5 0.5 0.25 0.1 0.1 \ 0.5 0.5 0.5 0.25 0.1 0.1 \ 0.5 0.5 0.5 0.25 0.1 0.1 \ 0.5 0.5 0.5 0.25 0.1 0.1 viscousFriction 1 1 1 1 1 1 \ 1 1 1 1 1 1 \ 1 1 1 1 1 1 \ 1 1 1 1 1 1 \ 1 1 1 1 1 1 \ 1 1 1 1 1 1