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xml
joint.xml
自己的xml看法
目前已知:(軸定位)
<name>Revolute_joint</name> #coppeliasim joint原本名稱
<altName>Revolute_joint</altName> #coppeliasim joint 自己定義
<localFrame>
<position>0.350000 -0.325000 0.050000</position> (x,y,z坐標軸)
<euler>-0.000000 0.000000 -0.000000</euler> (角度的x,y,z)
</localFrame>
軸與物體關係如下圖
把<shape></shape>放進<joint></joint>裡面
<joint>
<common>
<name>Revolute_joint</name>
<altName>Revolute_joint</altName>
.
.
.
<shape>
<common>
<name>Cylinder</name>
<altName>Cylinder</altName>
.
.
.
</shape>
</joint>
軸與物體關係如下圖
<joint>
.
.
.
</joint>
<shape>
.
.
.
</shape>
完整:
<CoppeliaSim>
<filetype>simpleScene</filetype>
<xmlSerializationNb>1</xmlSerializationNb>
<prgFlavor>1</prgFlavor>
<prgVer>40100</prgVer>
<prgRev>1</prgRev>
<environment>
<ambientLight>102 102 102</ambientLight>
<backgroundColor>
<down>12 12 25</down>
<up>205 221 233</up>
</backgroundColor>
<fog>
<enabled>false</enabled>
<type>linear</type>
<startEnd>0.000000 5.000000</startEnd>
<density>0.500000</density>
<color>0 0 0</color>
</fog>
<switches>
<shapeTexturesEnabled>true</shapeTexturesEnabled>
</switches>
<acknowledgment></acknowledgment>
<extensionString>povray {fogDist {4.00} fogTransp {0.50}}</extensionString>
</environment>
<settings>
<visibleLayers>255</visibleLayers>
<switches>
<visionSensorsEnabled>true</visionSensorsEnabled>
<proximitySensorsEnabled>true</proximitySensorsEnabled>
<mirrorsEnabled>true</mirrorsEnabled>
<clippingPlanesEnabled>true</clippingPlanesEnabled>
<ikEnabled>true</ikEnabled>
<collisionDetectionsEnabled>true</collisionDetectionsEnabled>
<distanceCalculationsEnabled>true</distanceCalculationsEnabled>
</switches>
</settings>
<dynamics>
<engine>bullet</engine>
<engineVersion>0</engineVersion>
<engineMode>accurate</engineMode>
<gravity>0.000000 0.000000 -9.810000</gravity>
<switches>
<dynamicsEnabled>true</dynamicsEnabled>
<showContactPoints>false</showContactPoints>
</switches>
<engines>
<bullet>
<stepsize>0.005000</stepsize>
<internalscalingfactor>10.000000</internalscalingfactor>
<collisionmarginfactor>0.100000</collisionmarginfactor>
<constraintsolvingiterations>100</constraintsolvingiterations>
<constraintsolvertype>0</constraintsolvertype>
<fullinternalscaling>true</fullinternalscaling>
</bullet>
<ode>
<stepsize>0.005000</stepsize>
<internalscalingfactor>1.000000</internalscalingfactor>
<cfm>0.000010</cfm>
<erp>0.600000</erp>
<constraintsolvingiterations>100</constraintsolvingiterations>
<randomseed>-1</randomseed>
<fullinternalscaling>true</fullinternalscaling>
<quickstep>true</quickstep>
</ode>
<vortex>
<stepsize>0.005000</stepsize>
<internalscalingfactor>1.000000</internalscalingfactor>
<contacttolerance>0.001000</contacttolerance>
<constraintlinearcompliance>0.000000</constraintlinearcompliance>
<constraintlineardamping>8000000.000000</constraintlineardamping>
<constraintlinearkineticloss>0.000060</constraintlinearkineticloss>
<constraintangularcompliance>0.000000</constraintangularcompliance>
<constraintangulardamping>800000000.000000</constraintangulardamping>
<constraintangularkineticloss>0.000001</constraintangularkineticloss>
<autosleep>true</autosleep>
<multithreading>false</multithreading>
</vortex>
<newton>
<stepsize>0.005000</stepsize>
<contactmergetolerance>0.010000</contactmergetolerance>
<constraintsolvingiterations>8</constraintsolvingiterations>
<multithreading>true</multithreading>
<exactsolver>true</exactsolver>
<highjointaccuracy>true</highjointaccuracy>
</newton>
</engines>
</dynamics>
<simulation>
<simulationTimeStep>0.050000</simulationTimeStep>
<simulationPassesPerRendering>1</simulationPassesPerRendering>
<simulationMode>50ms</simulationMode>
<realTimeCoefficient>1.000000</realTimeCoefficient>
<simulationTimeToPause>10.000000</simulationTimeToPause>
<switches>
<realTime>false</realTime>
<avoidBlocking>false</avoidBlocking>
<pauseAtTime>false</pauseAtTime>
<pauseAtError>false</pauseAtError>
<catchUpIfLate>false</catchUpIfLate>
<resetAtEnd>true</resetAtEnd>
<removeNewObjectsAtEnd>true</removeNewObjectsAtEnd>
</switches>
</simulation>
<camera>
<common>
<name>DefaultCamera</name>
<altName>DefaultCamera</altName>
<localFrame>
<position>1.590648 -1.293520 0.734798</position>
<euler>-107.672958 -48.202854 166.637939</euler>
</localFrame>
<hierarchyColorIndex>-1</hierarchyColorIndex>
<collectionSelfCollisionIndicator>0</collectionSelfCollisionIndicator>
<localObjectProperty>
<hierarchyCollapsed>false</hierarchyCollapsed>
<selectable>true</selectable>
<selectModelBaseInstead>false</selectModelBaseInstead>
<dontShowAsInsideModel>false</dontShowAsInsideModel>
<canUpdateDna>false</canUpdateDna>
<selectInvisible>false</selectInvisible>
<depthInvisible>false</depthInvisible>
<cannotDelete>false</cannotDelete>
<cannotDeleteDuringSimulation>false</cannotDeleteDuringSimulation>
</localObjectProperty>
<localObjectSpecialProperty>
<collidable>false</collidable>
<measurable>false</measurable>
<renderable>false</renderable>
<ultrasonicDetectable>false</ultrasonicDetectable>
<infraredDetectable>false</infraredDetectable>
<laserDetectable>false</laserDetectable>
<inductiveDetectable>false</inductiveDetectable>
<capacitiveDetectable>false</capacitiveDetectable>
</localObjectSpecialProperty>
<localModelProperty>
<notCollidable>false</notCollidable>
<notMeasurable>false</notMeasurable>
<notRenderable>false</notRenderable>
<notDetectable>false</notDetectable>
<notDynamic>false</notDynamic>
<notRespondable>false</notRespondable>
<notReset>false</notReset>
<notVisible>false</notVisible>
<scriptsInactive>false</scriptsInactive>
<notShowAsInsideModel>false</notShowAsInsideModel>
</localModelProperty>
<layer>4096</layer>
<switches>
<modelBase>false</modelBase>
<ignoredByViewFitting>false</ignoredByViewFitting>
</switches>
<extensionString>povray {focalBlur {false} focalDist {2.00} aperture{0.05} blurSamples{10}}</extensionString>
<modelAcknowledgement></modelAcknowledgement>
</common>
<mainCamera>true</mainCamera>
<trackedObject></trackedObject>
<size>0.050000</size>
<orthoViewSize>2.000000</orthoViewSize>
<viewAngle>60.000000</viewAngle>
<clippingPlanes>0.050000 70.000000</clippingPlanes>
<color>
<part1>255 75 75</part1>
<part2>165 165 165</part2>
</color>
</camera>
<dummy>
<common>
<name>XYZCameraProxy</name>
<altName>XYZCameraProxy</altName>
<localFrame>
<position>0.000000 0.000000 0.750000</position>
<euler>-0.000000 0.000000 -0.000000</euler>
</localFrame>
<hierarchyColorIndex>-1</hierarchyColorIndex>
<collectionSelfCollisionIndicator>0</collectionSelfCollisionIndicator>
<localObjectProperty>
<hierarchyCollapsed>true</hierarchyCollapsed>
<selectable>true</selectable>
<selectModelBaseInstead>false</selectModelBaseInstead>
<dontShowAsInsideModel>true</dontShowAsInsideModel>
<canUpdateDna>true</canUpdateDna>
<selectInvisible>false</selectInvisible>
<depthInvisible>false</depthInvisible>
<cannotDelete>false</cannotDelete>
<cannotDeleteDuringSimulation>false</cannotDeleteDuringSimulation>
</localObjectProperty>
<localObjectSpecialProperty>
<collidable>false</collidable>
<measurable>false</measurable>
<renderable>false</renderable>
<ultrasonicDetectable>false</ultrasonicDetectable>
<infraredDetectable>false</infraredDetectable>
<laserDetectable>false</laserDetectable>
<inductiveDetectable>false</inductiveDetectable>
<capacitiveDetectable>false</capacitiveDetectable>
</localObjectSpecialProperty>
<localModelProperty>
<notCollidable>false</notCollidable>
<notMeasurable>false</notMeasurable>
<notRenderable>false</notRenderable>
<notDetectable>false</notDetectable>
<notDynamic>false</notDynamic>
<notRespondable>false</notRespondable>
<notReset>false</notReset>
<notVisible>false</notVisible>
<scriptsInactive>false</scriptsInactive>
<notShowAsInsideModel>false</notShowAsInsideModel>
</localModelProperty>
<layer>1024</layer>
<switches>
<modelBase>true</modelBase>
<ignoredByViewFitting>false</ignoredByViewFitting>
</switches>
<extensionString></extensionString>
<modelAcknowledgement></modelAcknowledgement>
</common>
<size>0.010000</size>
<linkedDummy></linkedDummy>
<linkType>dynamics_loopClosure</linkType>
<color>
<object>255 196 138</object>
</color>
<camera>
<common>
<name>DefaultXViewCamera</name>
<altName>DefaultXViewCamera</altName>
<localFrame>
<position>20.000000 0.000000 0.000000</position>
<euler>0.000000 -90.000000 -90.000000</euler>
</localFrame>
<hierarchyColorIndex>-1</hierarchyColorIndex>
<collectionSelfCollisionIndicator>0</collectionSelfCollisionIndicator>
<localObjectProperty>
<hierarchyCollapsed>false</hierarchyCollapsed>
<selectable>true</selectable>
<selectModelBaseInstead>false</selectModelBaseInstead>
<dontShowAsInsideModel>true</dontShowAsInsideModel>
<canUpdateDna>false</canUpdateDna>
<selectInvisible>false</selectInvisible>
<depthInvisible>false</depthInvisible>
<cannotDelete>false</cannotDelete>
<cannotDeleteDuringSimulation>false</cannotDeleteDuringSimulation>
</localObjectProperty>
<localObjectSpecialProperty>
<collidable>false</collidable>
<measurable>false</measurable>
<renderable>false</renderable>
<ultrasonicDetectable>false</ultrasonicDetectable>
<infraredDetectable>false</infraredDetectable>
<laserDetectable>false</laserDetectable>
<inductiveDetectable>false</inductiveDetectable>
<capacitiveDetectable>false</capacitiveDetectable>
</localObjectSpecialProperty>
<localModelProperty>
<notCollidable>false</notCollidable>
<notMeasurable>false</notMeasurable>
<notRenderable>false</notRenderable>
<notDetectable>false</notDetectable>
<notDynamic>false</notDynamic>
<notRespondable>false</notRespondable>
<notReset>false</notReset>
<notVisible>false</notVisible>
<scriptsInactive>false</scriptsInactive>
<notShowAsInsideModel>false</notShowAsInsideModel>
</localModelProperty>
<layer>4096</layer>
<switches>
<modelBase>false</modelBase>
<ignoredByViewFitting>false</ignoredByViewFitting>
</switches>
<extensionString>povray {focalBlur {false} focalDist {2.00} aperture{0.05} blurSamples{10}}</extensionString>
<modelAcknowledgement></modelAcknowledgement>
</common>
<mainCamera>false</mainCamera>
<trackedObject></trackedObject>
<size>0.050000</size>
<orthoViewSize>7.531251</orthoViewSize>
<viewAngle>60.000000</viewAngle>
<clippingPlanes>0.050000 30.000000</clippingPlanes>
<color>
<part1>255 75 75</part1>
<part2>165 165 165</part2>
</color>
</camera>
<camera>
<common>
<name>DefaultYViewCamera</name>
<altName>DefaultYViewCamera</altName>
<localFrame>
<position>0.000000 20.000000 0.000000</position>
<euler>89.999992 0.000000 -0.000000</euler>
</localFrame>
<hierarchyColorIndex>-1</hierarchyColorIndex>
<collectionSelfCollisionIndicator>0</collectionSelfCollisionIndicator>
<localObjectProperty>
<hierarchyCollapsed>false</hierarchyCollapsed>
<selectable>true</selectable>
<selectModelBaseInstead>false</selectModelBaseInstead>
<dontShowAsInsideModel>true</dontShowAsInsideModel>
<canUpdateDna>false</canUpdateDna>
<selectInvisible>false</selectInvisible>
<depthInvisible>false</depthInvisible>
<cannotDelete>false</cannotDelete>
<cannotDeleteDuringSimulation>false</cannotDeleteDuringSimulation>
</localObjectProperty>
<localObjectSpecialProperty>
<collidable>false</collidable>
<measurable>false</measurable>
<renderable>false</renderable>
<ultrasonicDetectable>false</ultrasonicDetectable>
<infraredDetectable>false</infraredDetectable>
<laserDetectable>false</laserDetectable>
<inductiveDetectable>false</inductiveDetectable>
<capacitiveDetectable>false</capacitiveDetectable>
</localObjectSpecialProperty>
<localModelProperty>
<notCollidable>false</notCollidable>
<notMeasurable>false</notMeasurable>
<notRenderable>false</notRenderable>
<notDetectable>false</notDetectable>
<notDynamic>false</notDynamic>
<notRespondable>false</notRespondable>
<notReset>false</notReset>
<notVisible>false</notVisible>
<scriptsInactive>false</scriptsInactive>
<notShowAsInsideModel>false</notShowAsInsideModel>
</localModelProperty>
<layer>4096</layer>
<switches>
<modelBase>false</modelBase>
<ignoredByViewFitting>false</ignoredByViewFitting>
</switches>
<extensionString>povray {focalBlur {false} focalDist {2.00} aperture{0.05} blurSamples{10}}</extensionString>
<modelAcknowledgement></modelAcknowledgement>
</common>
<mainCamera>false</mainCamera>
<trackedObject></trackedObject>
<size>0.050000</size>
<orthoViewSize>7.531251</orthoViewSize>
<viewAngle>60.000000</viewAngle>
<clippingPlanes>0.050000 30.000000</clippingPlanes>
<color>
<part1>255 75 75</part1>
<part2>165 165 165</part2>
</color>
</camera>
<camera>
<common>
<name>DefaultZViewCamera</name>
<altName>DefaultZViewCamera</altName>
<localFrame>
<position>0.000000 0.000000 20.000000</position>
<euler>-179.999985 0.000000 -0.000000</euler>
</localFrame>
<hierarchyColorIndex>-1</hierarchyColorIndex>
<collectionSelfCollisionIndicator>0</collectionSelfCollisionIndicator>
<localObjectProperty>
<hierarchyCollapsed>false</hierarchyCollapsed>
<selectable>true</selectable>
<selectModelBaseInstead>false</selectModelBaseInstead>
<dontShowAsInsideModel>true</dontShowAsInsideModel>
<canUpdateDna>false</canUpdateDna>
<selectInvisible>false</selectInvisible>
<depthInvisible>false</depthInvisible>
<cannotDelete>false</cannotDelete>
<cannotDeleteDuringSimulation>false</cannotDeleteDuringSimulation>
</localObjectProperty>
<localObjectSpecialProperty>
<collidable>false</collidable>
<measurable>false</measurable>
<renderable>false</renderable>
<ultrasonicDetectable>false</ultrasonicDetectable>
<infraredDetectable>false</infraredDetectable>
<laserDetectable>false</laserDetectable>
<inductiveDetectable>false</inductiveDetectable>
<capacitiveDetectable>false</capacitiveDetectable>
</localObjectSpecialProperty>
<localModelProperty>
<notCollidable>false</notCollidable>
<notMeasurable>false</notMeasurable>
<notRenderable>false</notRenderable>
<notDetectable>false</notDetectable>
<notDynamic>false</notDynamic>
<notRespondable>false</notRespondable>
<notReset>false</notReset>
<notVisible>false</notVisible>
<scriptsInactive>false</scriptsInactive>
<notShowAsInsideModel>false</notShowAsInsideModel>
</localModelProperty>
<layer>4096</layer>
<switches>
<modelBase>false</modelBase>
<ignoredByViewFitting>false</ignoredByViewFitting>
</switches>
<extensionString>povray {focalBlur {false} focalDist {2.00} aperture{0.05} blurSamples{10}}</extensionString>
<modelAcknowledgement></modelAcknowledgement>
</common>
<mainCamera>false</mainCamera>
<trackedObject></trackedObject>
<size>0.050000</size>
<orthoViewSize>7.531251</orthoViewSize>
<viewAngle>60.000000</viewAngle>
<clippingPlanes>0.050000 30.000000</clippingPlanes>
<color>
<part1>255 75 75</part1>
<part2>165 165 165</part2>
</color>
</camera>
<camera>
<common>
<name>DefaultNXViewCamera</name>
<altName>DefaultNXViewCamera</altName>
<localFrame>
<position>-20.000000 -0.000002 0.000000</position>
<euler>0.000000 90.000000 90.000008</euler>
</localFrame>
<hierarchyColorIndex>-1</hierarchyColorIndex>
<collectionSelfCollisionIndicator>0</collectionSelfCollisionIndicator>
<localObjectProperty>
<hierarchyCollapsed>false</hierarchyCollapsed>
<selectable>true</selectable>
<selectModelBaseInstead>false</selectModelBaseInstead>
<dontShowAsInsideModel>true</dontShowAsInsideModel>
<canUpdateDna>false</canUpdateDna>
<selectInvisible>false</selectInvisible>
<depthInvisible>false</depthInvisible>
<cannotDelete>false</cannotDelete>
<cannotDeleteDuringSimulation>false</cannotDeleteDuringSimulation>
</localObjectProperty>
<localObjectSpecialProperty>
<collidable>false</collidable>
<measurable>false</measurable>
<renderable>false</renderable>
<ultrasonicDetectable>false</ultrasonicDetectable>
<infraredDetectable>false</infraredDetectable>
<laserDetectable>false</laserDetectable>
<inductiveDetectable>false</inductiveDetectable>
<capacitiveDetectable>false</capacitiveDetectable>
</localObjectSpecialProperty>
<localModelProperty>
<notCollidable>false</notCollidable>
<notMeasurable>false</notMeasurable>
<notRenderable>false</notRenderable>
<notDetectable>false</notDetectable>
<notDynamic>false</notDynamic>
<notRespondable>false</notRespondable>
<notReset>false</notReset>
<notVisible>false</notVisible>
<scriptsInactive>false</scriptsInactive>
<notShowAsInsideModel>false</notShowAsInsideModel>
</localModelProperty>
<layer>4096</layer>
<switches>
<modelBase>false</modelBase>
<ignoredByViewFitting>false</ignoredByViewFitting>
</switches>
<extensionString>povray {focalBlur {false} focalDist {2.00} aperture{0.05} blurSamples{10}}</extensionString>
<modelAcknowledgement></modelAcknowledgement>
</common>
<mainCamera>false</mainCamera>
<trackedObject></trackedObject>
<size>0.050000</size>
<orthoViewSize>7.531251</orthoViewSize>
<viewAngle>60.000000</viewAngle>
<clippingPlanes>0.050000 30.000000</clippingPlanes>
<color>
<part1>255 75 75</part1>
<part2>165 165 165</part2>
</color>
</camera>
<camera>
<common>
<name>DefaultNYViewCamera</name>
<altName>DefaultNYViewCamera</altName>
<localFrame>
<position>0.000002 -20.000000 0.000000</position>
<euler>-90.000008 -0.000005 -180.000000</euler>
</localFrame>
<hierarchyColorIndex>-1</hierarchyColorIndex>
<collectionSelfCollisionIndicator>0</collectionSelfCollisionIndicator>
<localObjectProperty>
<hierarchyCollapsed>false</hierarchyCollapsed>
<selectable>true</selectable>
<selectModelBaseInstead>false</selectModelBaseInstead>
<dontShowAsInsideModel>true</dontShowAsInsideModel>
<canUpdateDna>false</canUpdateDna>
<selectInvisible>false</selectInvisible>
<depthInvisible>false</depthInvisible>
<cannotDelete>false</cannotDelete>
<cannotDeleteDuringSimulation>false</cannotDeleteDuringSimulation>
</localObjectProperty>
<localObjectSpecialProperty>
<collidable>false</collidable>
<measurable>false</measurable>
<renderable>false</renderable>
<ultrasonicDetectable>false</ultrasonicDetectable>
<infraredDetectable>false</infraredDetectable>
<laserDetectable>false</laserDetectable>
<inductiveDetectable>false</inductiveDetectable>
<capacitiveDetectable>false</capacitiveDetectable>
</localObjectSpecialProperty>
<localModelProperty>
<notCollidable>false</notCollidable>
<notMeasurable>false</notMeasurable>
<notRenderable>false</notRenderable>
<notDetectable>false</notDetectable>
<notDynamic>false</notDynamic>
<notRespondable>false</notRespondable>
<notReset>false</notReset>
<notVisible>false</notVisible>
<scriptsInactive>false</scriptsInactive>
<notShowAsInsideModel>false</notShowAsInsideModel>
</localModelProperty>
<layer>4096</layer>
<switches>
<modelBase>false</modelBase>
<ignoredByViewFitting>false</ignoredByViewFitting>
</switches>
<extensionString>povray {focalBlur {false} focalDist {2.00} aperture{0.05} blurSamples{10}}</extensionString>
<modelAcknowledgement></modelAcknowledgement>
</common>
<mainCamera>false</mainCamera>
<trackedObject></trackedObject>
<size>0.050000</size>
<orthoViewSize>7.531251</orthoViewSize>
<viewAngle>60.000000</viewAngle>
<clippingPlanes>0.050000 30.000000</clippingPlanes>
<color>
<part1>255 75 75</part1>
<part2>165 165 165</part2>
</color>
</camera>
<camera>
<common>
<name>DefaultNZViewCamera</name>
<altName>DefaultNZViewCamera</altName>
<localFrame>
<position>0.000002 0.000000 -21.500000</position>
<euler>0.000005 -0.000005 0.000005</euler>
</localFrame>
<hierarchyColorIndex>-1</hierarchyColorIndex>
<collectionSelfCollisionIndicator>0</collectionSelfCollisionIndicator>
<localObjectProperty>
<hierarchyCollapsed>false</hierarchyCollapsed>
<selectable>true</selectable>
<selectModelBaseInstead>false</selectModelBaseInstead>
<dontShowAsInsideModel>true</dontShowAsInsideModel>
<canUpdateDna>false</canUpdateDna>
<selectInvisible>false</selectInvisible>
<depthInvisible>false</depthInvisible>
<cannotDelete>false</cannotDelete>
<cannotDeleteDuringSimulation>false</cannotDeleteDuringSimulation>
</localObjectProperty>
<localObjectSpecialProperty>
<collidable>false</collidable>
<measurable>false</measurable>
<renderable>false</renderable>
<ultrasonicDetectable>false</ultrasonicDetectable>
<infraredDetectable>false</infraredDetectable>
<laserDetectable>false</laserDetectable>
<inductiveDetectable>false</inductiveDetectable>
<capacitiveDetectable>false</capacitiveDetectable>
</localObjectSpecialProperty>
<localModelProperty>
<notCollidable>false</notCollidable>
<notMeasurable>false</notMeasurable>
<notRenderable>false</notRenderable>
<notDetectable>false</notDetectable>
<notDynamic>false</notDynamic>
<notRespondable>false</notRespondable>
<notReset>false</notReset>
<notVisible>false</notVisible>
<scriptsInactive>false</scriptsInactive>
<notShowAsInsideModel>false</notShowAsInsideModel>
</localModelProperty>
<layer>4096</layer>
<switches>
<modelBase>false</modelBase>
<ignoredByViewFitting>false</ignoredByViewFitting>
</switches>
<extensionString>povray {focalBlur {false} focalDist {2.00} aperture{0.05} blurSamples{10}}</extensionString>
<modelAcknowledgement></modelAcknowledgement>
</common>
<mainCamera>false</mainCamera>
<trackedObject></trackedObject>
<size>0.050000</size>
<orthoViewSize>7.531251</orthoViewSize>
<viewAngle>60.000000</viewAngle>
<clippingPlanes>0.050000 30.000000</clippingPlanes>
<color>
<part1>255 75 75</part1>
<part2>165 165 165</part2>
</color>
</camera>
</dummy>
<dummy>
<common>
<name>ResizableFloor_5_25</name>
<altName>ResizableFloor_5_25</altName>
<localFrame>
<position>0.000000 0.000000 0.000000</position>
<euler>-0.000000 0.000000 -0.000000</euler>
</localFrame>
<hierarchyColorIndex>-1</hierarchyColorIndex>
<collectionSelfCollisionIndicator>0</collectionSelfCollisionIndicator>
<localObjectProperty>
<hierarchyCollapsed>true</hierarchyCollapsed>
<selectable>false</selectable>
<selectModelBaseInstead>false</selectModelBaseInstead>
<dontShowAsInsideModel>false</dontShowAsInsideModel>
<canUpdateDna>true</canUpdateDna>
<selectInvisible>false</selectInvisible>
<depthInvisible>false</depthInvisible>
<cannotDelete>false</cannotDelete>
<cannotDeleteDuringSimulation>false</cannotDeleteDuringSimulation>
</localObjectProperty>
<localObjectSpecialProperty>
<collidable>false</collidable>
<measurable>false</measurable>
<renderable>false</renderable>
<ultrasonicDetectable>false</ultrasonicDetectable>
<infraredDetectable>false</infraredDetectable>
<laserDetectable>false</laserDetectable>
<inductiveDetectable>false</inductiveDetectable>
<capacitiveDetectable>false</capacitiveDetectable>
</localObjectSpecialProperty>
<localModelProperty>
<notCollidable>false</notCollidable>
<notMeasurable>false</notMeasurable>
<notRenderable>false</notRenderable>
<notDetectable>false</notDetectable>
<notDynamic>false</notDynamic>
<notRespondable>false</notRespondable>
<notReset>false</notReset>
<notVisible>false</notVisible>
<scriptsInactive>false</scriptsInactive>
<notShowAsInsideModel>false</notShowAsInsideModel>
</localModelProperty>
<layer>0</layer>
<switches>
<modelBase>true</modelBase>
<ignoredByViewFitting>true</ignoredByViewFitting>
</switches>
<extensionString></extensionString>
<modelAcknowledgement></modelAcknowledgement>
</common>
<size>0.010000</size>
<linkedDummy></linkedDummy>
<linkType>ik_tipTarget</linkType>
<color>
<object>255 190 123</object>
</color>
<customizationScript>
<switches>
<enabled>true</enabled>
</switches>
<executionOrder>1</executionOrder>
<treeTraversalDirection>0</treeTraversalDirection>
<scriptText>function sysCall_init()
model=sim.getObjectAssociatedWithScript(sim.handle_self)
e1=sim.getObjectHandle('ResizableFloor_5_25_element')
e2=sim.getObjectHandle('ResizableFloor_5_25_visibleElement')
end
function sysCall_cleanup()
hideDlg()
end
function sysCall_nonSimulation()
local s=sim.getObjectSelection()
if s and #s>=1 and s[1]==model then
showDlg()
else
hideDlg()
end
end
function sysCall_beforeSimulation()
hideDlg()
end
function sysCall_beforeSimulation()
hideDlg()
end
function updateFloor()
local c=readInfo()
local sx=c['sizes'][1]/5
local sy=c['sizes'][2]/5
local sizeFact=sim.getObjectSizeFactor(model)
sim.setObjectParent(e1,-1,true)
local child=sim.getObjectChild(model,0)
while child~=-1 do
sim.removeObject(child)
child=sim.getObjectChild(model,0)
end
local xPosInit=(sx-1)*-2.5*sizeFact
local yPosInit=(sy-1)*-2.5*sizeFact
local f1,f2
for x=1,sx,1 do
for y=1,sy,1 do
if (x==1)and(y==1) then
sim.setObjectParent(e1,model,true)
f1=e1
else
f1=sim.copyPasteObjects({e1},0)[1]
f2=sim.copyPasteObjects({e2},0)[1]
sim.setObjectParent(f1,model,true)
sim.setObjectParent(f2,f1,true)
end
local p=sim.getObjectPosition(f1,sim.handle_parent)
p[1]=xPosInit+(x-1)*5*sizeFact
p[2]=yPosInit+(y-1)*5*sizeFact
sim.setObjectPosition(f1,sim.handle_parent,p)
end
end
end
function getDefaultInfoForNonExistingFields(info)
if not info['version'] then
info['version']=0
end
if not info['sizes'] then
info['sizes']={1,1}
end
end
function readInfo()
local data=sim.readCustomDataBlock(model,'XYZ_FLOOR_INFO')
if data then
data=sim.unpackTable(data)
else
data={}
end
getDefaultInfoForNonExistingFields(data)
return data
end
function writeInfo(data)
if data then
sim.writeCustomDataBlock(model,'XYZ_FLOOR_INFO',sim.packTable(data))
else
sim.writeCustomDataBlock(model,'XYZ_FLOOR_INFO','')
end
end
function updateUi()
local c=readInfo()
local sizeFact=sim.getObjectSizeFactor(model)
simUI.setLabelText(ui,1,'X-size (m): '..string.format("%.2f",c['sizes'][1]*sizeFact),true)
simUI.setSliderValue(ui,2,c['sizes'][1]/5,true)
simUI.setLabelText(ui,3,'Y-size (m): '..string.format("%.2f",c['sizes'][2]*sizeFact),true)
simUI.setSliderValue(ui,4,c['sizes'][2]/5,true)
end
function sliderXChange(ui,id,newVal)
local c=readInfo()
c['sizes'][1]=newVal*5
writeInfo(c)
updateUi()
updateFloor()
end
function sliderYChange(ui,id,newVal)
local c=readInfo()
c['sizes'][2]=newVal*5
writeInfo(c)
updateUi()
updateFloor()
end
function closeEventHandler(h)
sim.removeScript(sim.handle_self)
end
function showDlg()
if not ui then
xml = [[
<ui title="Floor Customizer" closeable="true" on-close="closeEventHandler" resizable="false" activate="false">
<group layout="form" flat="true">
<label text="X-size (m): 1" id="1"/>
<hslider tick-position="above" tick-interval="1" minimum="1" maximum="5" on-change="sliderXChange" id="2"/>
<label text="Y-size (m): 1" id="3"/>
<hslider tick-position="above" tick-interval="1" minimum="1" maximum="5" on-change="sliderYChange" id="4"/>
</group>
<label text="" style="* {margin-left: 400px;}"/>
</ui>
]]
ui=simUI.create(xml)
if 2==sim.getInt32Parameter(sim.intparam_platform) then
-- To fix a Qt bug on Linux
sim.auxFunc('activateMainWindow')
end
updateUi()
end
end
function hideDlg()
if ui then
simUI.destroy(ui)
ui=nil
end
end
</scriptText>
</customizationScript>
<shape>
<common>
<name>ResizableFloor_5_25_element</name>
<altName>ResizableFloor_5_25_element</altName>
<localFrame>
<position>0.000000 0.000000 -0.020000</position>
<euler>-0.000000 0.000000 -0.000000</euler>
</localFrame>
<hierarchyColorIndex>-1</hierarchyColorIndex>
<collectionSelfCollisionIndicator>0</collectionSelfCollisionIndicator>
<localObjectProperty>
<hierarchyCollapsed>true</hierarchyCollapsed>
<selectable>false</selectable>
<selectModelBaseInstead>false</selectModelBaseInstead>
<dontShowAsInsideModel>false</dontShowAsInsideModel>
<canUpdateDna>false</canUpdateDna>
<selectInvisible>false</selectInvisible>
<depthInvisible>false</depthInvisible>
<cannotDelete>false</cannotDelete>
<cannotDeleteDuringSimulation>false</cannotDeleteDuringSimulation>
</localObjectProperty>
<localObjectSpecialProperty>
<collidable>false</collidable>
<measurable>false</measurable>
<renderable>false</renderable>
<ultrasonicDetectable>false</ultrasonicDetectable>
<infraredDetectable>false</infraredDetectable>
<laserDetectable>false</laserDetectable>
<inductiveDetectable>false</inductiveDetectable>
<capacitiveDetectable>false</capacitiveDetectable>
</localObjectSpecialProperty>
<localModelProperty>
<notCollidable>false</notCollidable>
<notMeasurable>false</notMeasurable>
<notRenderable>false</notRenderable>
<notDetectable>false</notDetectable>
<notDynamic>false</notDynamic>
<notRespondable>false</notRespondable>
<notReset>false</notReset>
<notVisible>false</notVisible>
<scriptsInactive>false</scriptsInactive>
<notShowAsInsideModel>false</notShowAsInsideModel>
</localModelProperty>
<layer>32768</layer>
<switches>
<modelBase>false</modelBase>
<ignoredByViewFitting>true</ignoredByViewFitting>
</switches>
<extensionString></extensionString>
<modelAcknowledgement></modelAcknowledgement>
</common>
<primitive>
<type>cuboid</type>
<size>5.000000 5.000000 0.040000</size>
<localFrame>
<position>0.000000 0.000000 0.000000</position>
<euler>-0.000000 0.000000 -0.000000</euler>
</localFrame>
<shadingAngle>20.000000</shadingAngle>
<culling>true</culling>
<wireframe>false</wireframe>
<color>
<ambientDiffuse>255 204 255</ambientDiffuse>
<specular>38 38 38</specular>
<emission>0 0 0</emission>
</color>
</primitive>
<dynamics>
<respondableMask>65535</respondableMask>
<initialLinearVelocity>0.000000 0.000000 0.000000</initialLinearVelocity>
<initialAngularVelocity>0.000000 0.000000 0.000000</initialAngularVelocity>
<mass>1000.000000</mass>
<localInertiaFrame>
<position>0.000000 0.000000 0.000000</position>
<euler>-0.000000 0.000000 -0.000000</euler>
</localInertiaFrame>
<principalMomentOfInertia>2.083467 2.083467 4.166667</principalMomentOfInertia>
<switches>
<static>true</static>
<respondable>true</respondable>
<startSleeping>false</startSleeping>
<setToDynamicIfGetsParent>false</setToDynamicIfGetsParent>
</switches>
<material>
<engines>
<bullet>
<restitution>0.500000</restitution>
<friction>1.000000</friction>
<oldfriction>1.000000</oldfriction>
<lineardamping>0.000000</lineardamping>
<angulardamping>0.000000</angulardamping>
<nondefaultcollisionmargingfactor>0.100000</nondefaultcollisionmargingfactor>
<nondefaultcollisionmargingfactorconvex>0.002000</nondefaultcollisionmargingfactorconvex>
<sticky>false</sticky>
<usenondefaultcollisionmargin>false</usenondefaultcollisionmargin>
<usenondefaultcollisionmarginconvex>true</usenondefaultcollisionmarginconvex>
<autoshrinkconvex>false</autoshrinkconvex>
</bullet>
<ode>
<friction>1.000000</friction>
<softerp>0.200000</softerp>
<softcfm>0.000000</softcfm>
<lineardamping>0.000000</lineardamping>
<angulardamping>0.000000</angulardamping>
<maxcontacts>64</maxcontacts>
</ode>
<vortex>
<primlinearaxisfriction>1.000000</primlinearaxisfriction>
<seclinearaxisfriction>1.000000</seclinearaxisfriction>
<primangularaxisfriction>0.000000</primangularaxisfriction>
<secangularaxisfriction>0.000000</secangularaxisfriction>
<normalangularaxisfriction>0.000000</normalangularaxisfriction>
<primlinearaxisstaticfrictionscale>1.100000</primlinearaxisstaticfrictionscale>
<seclinearaxisstaticfrictionscale>1.100000</seclinearaxisstaticfrictionscale>
<primangularaxisstaticfrictionscale>1.000000</primangularaxisstaticfrictionscale>
<secangularaxisstaticfrictionscale>1.000000</secangularaxisstaticfrictionscale>
<normalangularaxisstaticfrictionscale>1.000000</normalangularaxisstaticfrictionscale>
<compliance>0.000000</compliance>
<damping>10000000.000000</damping>
<restitution>0.000000</restitution>
<restitutionthreshold>0.500000</restitutionthreshold>
<adhesiveforce>0.000000</adhesiveforce>
<linearvelocitydamping>0.000000</linearvelocitydamping>
<angularvelocitydamping>0.000000</angularvelocitydamping>
<primlinearaxisslide>0.000000</primlinearaxisslide>
<seclinearaxisslide>0.000000</seclinearaxisslide>
<primangularaxisslide>0.000000</primangularaxisslide>
<secangularaxisslide>0.000000</secangularaxisslide>
<normalangularaxisslide>0.000000</normalangularaxisslide>
<primlinearaxisslip>0.000000</primlinearaxisslip>
<seclinearaxisslip>0.000000</seclinearaxisslip>
<primangularaxisslip>0.000000</primangularaxisslip>
<secangularaxisslip>0.000000</secangularaxisslip>
<normalangularaxisslip>0.000000</normalangularaxisslip>
<autosleeplinearspeedthreshold>0.140000</autosleeplinearspeedthreshold>
<autosleeplinearaccelthreshold>0.045000</autosleeplinearaccelthreshold>
<autosleepangularspeedthreshold>0.030000</autosleepangularspeedthreshold>
<autosleepangularaccelthreshold>0.045000</autosleepangularaccelthreshold>
<skinthickness>0.002000</skinthickness>
<autoangulardampingtensionratio>0.010000</autoangulardampingtensionratio>
<primaxisvectorx>0.000000</primaxisvectorx>
<primaxisvectory>0.000000</primaxisvectory>
<primaxisvectorz>1.000000</primaxisvectorz>
<primlinearaxisfrictionmodel>4</primlinearaxisfrictionmodel>
<seclinearaxisfrictionmodel>4</seclinearaxisfrictionmodel>
<primangulararaxisfrictionmodel>6</primangulararaxisfrictionmodel>
<secmangulararaxisfrictionmodel>6</secmangulararaxisfrictionmodel>
<normalmangulararaxisfrictionmodel>6</normalmangulararaxisfrictionmodel>
<autosleepsteplivethreshold>10</autosleepsteplivethreshold>
<materialuniqueid>210709</materialuniqueid>
<pureshapesasconvex>false</pureshapesasconvex>
<convexshapesasrandom>false</convexshapesasrandom>
<randomshapesasterrain>false</randomshapesasterrain>
<fastmoving>true</fastmoving>
<autoslip>false</autoslip>
<seclinaxissameasprimlinaxis>true</seclinaxissameasprimlinaxis>
<secangaxissameasprimangaxis>true</secangaxissameasprimangaxis>
<normangaxissameasprimangaxis>true</normangaxissameasprimangaxis>
<autoangulardamping>false</autoangulardamping>
</vortex>
<newton>
<staticfriction>1.000000</staticfriction>
<kineticfriction>1.000000</kineticfriction>
<restitution>0.000000</restitution>
<lineardrag>0.000000</lineardrag>
<angulardrag>0.000000</angulardrag>
<fastmoving>false</fastmoving>
</newton>
</engines>
</material>
</dynamics>
<shape>
<common>
<name>ResizableFloor_5_25_visibleElement</name>
<altName>ResizableFloor_5_25_visibleElement</altName>
<localFrame>
<position>0.000000 0.000000 0.020000</position>
<euler>-0.000000 0.000000 -0.000000</euler>
</localFrame>
<hierarchyColorIndex>-1</hierarchyColorIndex>
<collectionSelfCollisionIndicator>0</collectionSelfCollisionIndicator>
<localObjectProperty>
<hierarchyCollapsed>false</hierarchyCollapsed>
<selectable>false</selectable>
<selectModelBaseInstead>false</selectModelBaseInstead>
<dontShowAsInsideModel>false</dontShowAsInsideModel>
<canUpdateDna>false</canUpdateDna>
<selectInvisible>false</selectInvisible>
<depthInvisible>false</depthInvisible>
<cannotDelete>false</cannotDelete>
<cannotDeleteDuringSimulation>false</cannotDeleteDuringSimulation>
</localObjectProperty>
<localObjectSpecialProperty>
<collidable>false</collidable>
<measurable>false</measurable>
<renderable>true</renderable>
<ultrasonicDetectable>true</ultrasonicDetectable>
<infraredDetectable>true</infraredDetectable>
<laserDetectable>true</laserDetectable>
<inductiveDetectable>true</inductiveDetectable>
<capacitiveDetectable>true</capacitiveDetectable>
</localObjectSpecialProperty>
<localModelProperty>
<notCollidable>false</notCollidable>
<notMeasurable>false</notMeasurable>
<notRenderable>false</notRenderable>
<notDetectable>false</notDetectable>
<notDynamic>false</notDynamic>
<notRespondable>false</notRespondable>
<notReset>false</notReset>
<notVisible>false</notVisible>
<scriptsInactive>false</scriptsInactive>
<notShowAsInsideModel>false</notShowAsInsideModel>
</localModelProperty>
<layer>128</layer>
<switches>
<modelBase>false</modelBase>
<ignoredByViewFitting>true</ignoredByViewFitting>
</switches>
<extensionString></extensionString>
<modelAcknowledgement></modelAcknowledgement>
</common>
<compound>
<mesh>
<vertices>-2.500002 -2.500002 0.000000 2.500002 -2.500002 0.000000 -2.500002 2.500002 0.000000 2.500002 2.500002 0.000000</vertices>
<indices>0 1 3 0 3 2</indices>
<localFrame>
<position>0.000000 0.000000 -0.000000</position>
<euler>-0.000000 0.000000 -0.000000</euler>
</localFrame>
<shadingAngle>20.000000</shadingAngle>
<culling>false</culling>
<wireframe>true</wireframe>
<color>
<ambientDiffuse>0 0 0</ambientDiffuse>
<specular>0 0 0</specular>
<emission>0 0 0</emission>
</color>
</mesh>
<mesh>
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<measurable>false</measurable>
<renderable>false</renderable>
<ultrasonicDetectable>false</ultrasonicDetectable>
<infraredDetectable>false</infraredDetectable>
<laserDetectable>false</laserDetectable>
<inductiveDetectable>false</inductiveDetectable>
<capacitiveDetectable>false</capacitiveDetectable>
</localObjectSpecialProperty>
<localModelProperty>
<notCollidable>false</notCollidable>
<notMeasurable>false</notMeasurable>
<notRenderable>false</notRenderable>
<notDetectable>false</notDetectable>
<notDynamic>false</notDynamic>
<notRespondable>false</notRespondable>
<notReset>false</notReset>
<notVisible>false</notVisible>
<scriptsInactive>false</scriptsInactive>
<notShowAsInsideModel>false</notShowAsInsideModel>
</localModelProperty>
<layer>2</layer>
<switches>
<modelBase>false</modelBase>
<ignoredByViewFitting>false</ignoredByViewFitting>
</switches>
<extensionString></extensionString>
<modelAcknowledgement></modelAcknowledgement>
</common>
<type>revolute</type>
<mode>force</mode>
<minPosition>-180.000000</minPosition>
<range>360.000000</range>
<position>0.000000</position>
<screwPitch>0.000000</screwPitch>
<sphericalEuler>-0.000000 0.000000 -0.000000</sphericalEuler>
<switches>
<cyclic>true</cyclic>
<hybridMode>false</hybridMode>
</switches>
<sizes>
<length>0.150000</length>
<diameter>0.020000</diameter>
</sizes>
<color>
<part1>255 76 25</part1>
<part2>25 25 229</part2>
</color>
<ik>
<maxStepSize>9.999999</maxStepSize>
<weight>1.000000</weight>
</ik>
<dependency>
<dependentJoint></dependentJoint>
<offset_m_or_rad>0.000000</offset_m_or_rad>
<mult_m_or_rad>1.000000</mult_m_or_rad>
</dependency>
<dynamics>
<maxForce>2.500000</maxForce>
<upperVelocityLimit>360.000000</upperVelocityLimit>
<targetPosition>0.000000</targetPosition>
<targetVelocity>0.000000</targetVelocity>
<pidValues>0.100000 0.000000 0.000000</pidValues>
<kcValues>0.100000 0.000000</kcValues>
<switches>
<motorEnabled>false</motorEnabled>
<controlLoopEnabled>false</controlLoopEnabled>
<springMode>false</springMode>
<lockInVelocityControl>false</lockInVelocityControl>
</switches>
<engines>
<bullet>
<stoperp>0.200000</stoperp>
<stopcfm>0.000000</stopcfm>
<normalcfm>0.000000</normalcfm>
</bullet>
<ode>
<stoperp>0.600000</stoperp>
<stopcfm>0.000010</stopcfm>
<bounce>0.000000</bounce>
<fudgefactor>1.000000</fudgefactor>
<normalcfm>0.000010</normalcfm>
</ode>
<vortex>
<lowerlimitdamping>0.000000</lowerlimitdamping>
<upperlimitdamping>0.000000</upperlimitdamping>
<lowerlimitstiffness>-1.000000</lowerlimitstiffness>
<upperlimitstiffness>-1.000000</upperlimitstiffness>
<lowerlimitrestitution>0.000000</lowerlimitrestitution>
<upperlimitrestitution>0.000000</upperlimitrestitution>
<lowerlimitmaxforce>-1.000000</lowerlimitmaxforce>
<upperlimitmaxforce>-1.000000</upperlimitmaxforce>
<motorconstraintfrictioncoeff>0.001000</motorconstraintfrictioncoeff>
<motorconstraintfrictionmaxforce>10.000000</motorconstraintfrictionmaxforce>
<motorconstraintfrictionloss>0.000000</motorconstraintfrictionloss>
<p0loss>0.000000</p0loss>
<p0stiffness>-1.000000</p0stiffness>
<p0damping>0.000000</p0damping>
<p0frictioncoeff>0.000000</p0frictioncoeff>
<p0frictionmaxforce>0.000000</p0frictionmaxforce>
<p0frictionloss>0.000000</p0frictionloss>
<p1loss>0.000000</p1loss>
<p1stiffness>-1.000000</p1stiffness>
<p1damping>0.000000</p1damping>
<p1frictioncoeff>0.000000</p1frictioncoeff>
<p1frictionmaxforce>0.000000</p1frictionmaxforce>
<p1frictionloss>0.000000</p1frictionloss>
<p2loss>0.000000</p2loss>
<p2stiffness>-1.000000</p2stiffness>
<p2damping>0.000000</p2damping>
<p2frictioncoeff>0.000000</p2frictioncoeff>
<p2frictionmaxforce>0.000000</p2frictionmaxforce>
<p2frictionloss>0.000000</p2frictionloss>
<a0loss>0.000000</a0loss>
<a0stiffness>-1.000000</a0stiffness>
<a0damping>0.000000</a0damping>
<a0frictioncoeff>0.000000</a0frictioncoeff>
<a0frictionmaxforce>0.000000</a0frictionmaxforce>
<a0frictionloss>0.000000</a0frictionloss>
<a1loss>0.000000</a1loss>
<a1stiffness>-1.000000</a1stiffness>
<a1damping>0.000000</a1damping>
<a1frictioncoeff>0.000000</a1frictioncoeff>
<a1frictionmaxforce>0.000000</a1frictionmaxforce>
<a1frictionloss>0.000000</a1frictionloss>
<a2loss>0.000000</a2loss>
<a2stiffness>-1.000000</a2stiffness>
<a2damping>0.000000</a2damping>
<a2frictioncoeff>0.000000</a2frictioncoeff>
<a2frictionmaxforce>0.000000</a2frictionmaxforce>
<a2frictionloss>0.000000</a2frictionloss>
<dependencyfactor>1.000000</dependencyfactor>
<dependencyoffset>0.000000</dependencyoffset>
<relaxationenabledbc>0</relaxationenabledbc>
<frictionenabledbc>0</frictionenabledbc>
<frictionproportionalbc>63</frictionproportionalbc>
<objectid>17</objectid>
<dependentobjectid>-1</dependentobjectid>
<motorfrictionenabled>false</motorfrictionenabled>
<proportionalmotorfriction>true</proportionalmotorfriction>
</vortex>
<newton>
<dependencyfactor>1.000000</dependencyfactor>
<dependencyoffset>0.000000</dependencyoffset>
<objectid>17</objectid>
<dependentobjectid>-1</dependentobjectid>
</newton>
</engines>
</dynamics>
<shape>
<common>
<name>Cylinder</name>
<altName>Cylinder</altName>
<localFrame>
<position>0.000000 0.000000 0.000000</position>
<euler>-0.000000 0.000000 -0.000000</euler>
</localFrame>
<hierarchyColorIndex>-1</hierarchyColorIndex>
<collectionSelfCollisionIndicator>0</collectionSelfCollisionIndicator>
<localObjectProperty>
<hierarchyCollapsed>false</hierarchyCollapsed>
<selectable>true</selectable>
<selectModelBaseInstead>false</selectModelBaseInstead>
<dontShowAsInsideModel>false</dontShowAsInsideModel>
<canUpdateDna>false</canUpdateDna>
<selectInvisible>false</selectInvisible>
<depthInvisible>false</depthInvisible>
<cannotDelete>false</cannotDelete>
<cannotDeleteDuringSimulation>false</cannotDeleteDuringSimulation>
</localObjectProperty>
<localObjectSpecialProperty>
<collidable>false</collidable>
<measurable>false</measurable>
<renderable>false</renderable>
<ultrasonicDetectable>false</ultrasonicDetectable>
<infraredDetectable>false</infraredDetectable>
<laserDetectable>false</laserDetectable>
<inductiveDetectable>false</inductiveDetectable>
<capacitiveDetectable>false</capacitiveDetectable>
</localObjectSpecialProperty>
<localModelProperty>
<notCollidable>false</notCollidable>
<notMeasurable>false</notMeasurable>
<notRenderable>false</notRenderable>
<notDetectable>false</notDetectable>
<notDynamic>false</notDynamic>
<notRespondable>false</notRespondable>
<notReset>false</notReset>
<notVisible>false</notVisible>
<scriptsInactive>false</scriptsInactive>
<notShowAsInsideModel>false</notShowAsInsideModel>
</localModelProperty>
<layer>1</layer>
<switches>
<modelBase>false</modelBase>
<ignoredByViewFitting>false</ignoredByViewFitting>
</switches>
<extensionString></extensionString>
<modelAcknowledgement></modelAcknowledgement>
</common>
<primitive>
<type>cylinder</type>
<size>0.100000 0.100000 0.100000</size>
<localFrame>
<position>0.000000 0.000000 0.000000</position>
<euler>-0.000000 0.000000 -0.000000</euler>
</localFrame>
<shadingAngle>20.000000</shadingAngle>
<culling>false</culling>
<wireframe>false</wireframe>
<color>
<ambientDiffuse>216 216 255</ambientDiffuse>
<specular>63 63 63</specular>
<emission>0 0 0</emission>
</color>
</primitive>
<dynamics>
<respondableMask>65535</respondableMask>
<initialLinearVelocity>0.000000 0.000000 0.000000</initialLinearVelocity>
<initialAngularVelocity>0.000000 0.000000 0.000000</initialAngularVelocity>
<mass>0.785398</mass>
<localInertiaFrame>
<position>0.000000 0.000000 0.000000</position>
<euler>-0.000000 0.000000 -0.000000</euler>
</localInertiaFrame>
<principalMomentOfInertia>0.001458 0.001458 0.001250</principalMomentOfInertia>
<switches>
<static>false</static>
<respondable>true</respondable>
<startSleeping>false</startSleeping>
<setToDynamicIfGetsParent>false</setToDynamicIfGetsParent>
</switches>
<material>
<engines>
<bullet>
<restitution>0.000000</restitution>
<friction>0.500000</friction>
<oldfriction>1.000000</oldfriction>
<lineardamping>0.000000</lineardamping>
<angulardamping>0.000000</angulardamping>
<nondefaultcollisionmargingfactor>0.100000</nondefaultcollisionmargingfactor>
<nondefaultcollisionmargingfactorconvex>0.002000</nondefaultcollisionmargingfactorconvex>
<sticky>false</sticky>
<usenondefaultcollisionmargin>false</usenondefaultcollisionmargin>
<usenondefaultcollisionmarginconvex>true</usenondefaultcollisionmarginconvex>
<autoshrinkconvex>false</autoshrinkconvex>
</bullet>
<ode>
<friction>1.000000</friction>
<softerp>0.200000</softerp>
<softcfm>0.000000</softcfm>
<lineardamping>0.000000</lineardamping>
<angulardamping>0.000000</angulardamping>
<maxcontacts>64</maxcontacts>
</ode>
<vortex>
<primlinearaxisfriction>1.000000</primlinearaxisfriction>
<seclinearaxisfriction>1.000000</seclinearaxisfriction>
<primangularaxisfriction>0.000000</primangularaxisfriction>
<secangularaxisfriction>0.000000</secangularaxisfriction>
<normalangularaxisfriction>0.000000</normalangularaxisfriction>
<primlinearaxisstaticfrictionscale>1.100000</primlinearaxisstaticfrictionscale>
<seclinearaxisstaticfrictionscale>1.100000</seclinearaxisstaticfrictionscale>
<primangularaxisstaticfrictionscale>1.000000</primangularaxisstaticfrictionscale>
<secangularaxisstaticfrictionscale>1.000000</secangularaxisstaticfrictionscale>
<normalangularaxisstaticfrictionscale>1.000000</normalangularaxisstaticfrictionscale>
<compliance>0.000000</compliance>
<damping>10000000.000000</damping>
<restitution>0.000000</restitution>
<restitutionthreshold>0.500000</restitutionthreshold>
<adhesiveforce>0.000000</adhesiveforce>
<linearvelocitydamping>0.000000</linearvelocitydamping>
<angularvelocitydamping>0.000000</angularvelocitydamping>
<primlinearaxisslide>0.000000</primlinearaxisslide>
<seclinearaxisslide>0.000000</seclinearaxisslide>
<primangularaxisslide>0.000000</primangularaxisslide>
<secangularaxisslide>0.000000</secangularaxisslide>
<normalangularaxisslide>0.000000</normalangularaxisslide>
<primlinearaxisslip>0.000000</primlinearaxisslip>
<seclinearaxisslip>0.000000</seclinearaxisslip>
<primangularaxisslip>0.000000</primangularaxisslip>
<secangularaxisslip>0.000000</secangularaxisslip>
<normalangularaxisslip>0.000000</normalangularaxisslip>
<autosleeplinearspeedthreshold>0.140000</autosleeplinearspeedthreshold>
<autosleeplinearaccelthreshold>0.045000</autosleeplinearaccelthreshold>
<autosleepangularspeedthreshold>0.030000</autosleepangularspeedthreshold>
<autosleepangularaccelthreshold>0.045000</autosleepangularaccelthreshold>
<skinthickness>0.002000</skinthickness>
<autoangulardampingtensionratio>0.010000</autoangulardampingtensionratio>
<primaxisvectorx>0.000000</primaxisvectorx>
<primaxisvectory>0.000000</primaxisvectory>
<primaxisvectorz>1.000000</primaxisvectorz>
<primlinearaxisfrictionmodel>4</primlinearaxisfrictionmodel>
<seclinearaxisfrictionmodel>4</seclinearaxisfrictionmodel>
<primangulararaxisfrictionmodel>6</primangulararaxisfrictionmodel>
<secmangulararaxisfrictionmodel>6</secmangulararaxisfrictionmodel>
<normalmangulararaxisfrictionmodel>6</normalmangulararaxisfrictionmodel>
<autosleepsteplivethreshold>10</autosleepsteplivethreshold>
<materialuniqueid>5</materialuniqueid>
<pureshapesasconvex>false</pureshapesasconvex>
<convexshapesasrandom>false</convexshapesasrandom>
<randomshapesasterrain>false</randomshapesasterrain>
<fastmoving>true</fastmoving>
<autoslip>false</autoslip>
<seclinaxissameasprimlinaxis>true</seclinaxissameasprimlinaxis>
<secangaxissameasprimangaxis>true</secangaxissameasprimangaxis>
<normangaxissameasprimangaxis>true</normangaxissameasprimangaxis>
<autoangulardamping>true</autoangulardamping>
</vortex>
<newton>
<staticfriction>1.000000</staticfriction>
<kineticfriction>1.000000</kineticfriction>
<restitution>0.000000</restitution>
<lineardrag>0.000000</lineardrag>
<angulardrag>0.000000</angulardrag>
<fastmoving>false</fastmoving>
</newton>
</engines>
</material>
</dynamics>
</shape>
</joint>
</CoppeliaSim>
結論:
1.使用此方法去定位，無法用在FANUC_M710iC_50 機械手臂身上。
2.要使用 DH parameter 去定位。
3.使用DH parameter 定義的軸，目前還看不懂。
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