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poses.xml
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<poses>
<!-- joint torques in N.m -->
<!-- hips 150 -->
<!-- https://www.researchgate.net/figure/268233631_fig4_Figure-1-Hip-flexion-torque-and-electromyography-during-isometric-contraction-a -->
<!-- elbows 50 -->
<!-- https://www.researchgate.net/figure/264817651_fig4_Figure-4-Elbow-flexion-torque-for-different-shoulder-flexion-angles-and-a-neutral -->
<!-- shoulders 30-50 ft-lb == 50-75 N m -->
<!-- http://www.jospt.org/doi/pdf/10.2519/jospt.1987.8.11.518?code=jospt-site -->
<!-- joint values in degrees, speeds in deg/sec, torques(torques -->
<defaults >
<joint name='l_hip_x' value='0' torque='150' speed='180' crit_angle='10' />
<joint name='r_hip_x' value='0' torque='150' speed='180' crit_angle='10' />
<joint name='l_hip_y' value='0' torque='150' speed='180' crit_angle='10' />
<joint name='r_hip_y' value='0' torque='150' speed='180' crit_angle='10' />
<joint name='l_knee' value='0' torque='150' speed='180' crit_angle='5' />
<joint name='r_knee' value='0' torque='150' speed='180' crit_angle='5' />
<joint name='l_shoulder1' value='90' torque='75' speed='180' crit_angle='10' />
<joint name='l_shoulder2' value='0' torque='75' speed='180' crit_angle='10' />
<joint name='l_elbow' value='0' torque='50' speed='180' crit_angle='5' />
<joint name='r_shoulder1' value='90' torque='75' speed='180' crit_angle='10' />
<joint name='r_shoulder2' value='0' torque='75' speed='180' crit_angle='10' />
<joint name='r_elbow' value='0' torque='50' speed='180' crit_angle='5' />
</defaults>
<!-- torques like joint torques in N.m -->
<!-- pose speed in deg/sec -->
<pose key='l' name='loose' >
<joint name='l_hip_x' torque='10' />
<joint name='r_hip_x' torque='10' />
<joint name='l_hip_y' torque='10' />
<joint name='r_hip_y' torque='10' />
<joint name='l_knee' torque='10' />
<joint name='r_knee' torque='10' />
<joint name='l_shoulder1' torque='10' />
<joint name='l_shoulder2' torque='10' />
<joint name='l_elbow' torque='10' />
<joint name='r_elbow' torque='10' />
<joint name='r_shoulder1' torque='10' />
<joint name='r_shoulder2' torque='10' />
</pose>
<pose key='r' name='ready' >
<joint name='l_shoulder1' value='30'/>
<joint name='r_shoulder1' value='30'/>
<joint name='l_shoulder2' torque='1' />
<joint name='r_shoulder2' torque='1' />
<joint name='l_hip_y' value='10' />
<joint name='r_hip_y' value='10' />
<joint name='l_hip_x' value='15' />
<joint name='r_hip_x' value='15' />
<joint name='l_knee' value='45' />
<joint name='r_knee' value='45' />
</pose>
<pose name='loose_shoulders' >
<joint name='l_shoulder1' torque='10' />
<joint name='r_shoulder1' torque='10' />
<joint name='l_shoulder2' torque='10' />
<joint name='r_shoulder2' torque='10' />
</pose>
<pose key='f' name='flat' >
<joint name='l_elbow' value='0' speed='400' />
<joint name='r_elbow' value='0' speed='400' />
<joint name='l_shoulder1' value='90' speed='400' />
<joint name='r_shoulder1' value='90' speed='400' />
<joint name='l_hip_y' value='0' speed='400' />
<joint name='r_hip_y' value='0' speed='400' />
</pose>
<pose name='takeoff_seven' >
<joint name='l_shoulder1' value='-10'/>
<joint name='r_shoulder1' value='-10'/>
</pose>
<pose name='seven' >
<joint name='l_shoulder1' value='-20' speed='500' />
<joint name='r_shoulder1' value='-20' speed='500' />
</pose>
<pose name='sweep' >
<joint name='l_shoulder1' value='105' />
<joint name='r_shoulder1' value='105' />
<joint name='l_hip_y' value='-45' />
<joint name='r_hip_y' value='-45' />
<joint name='l_knee' value='30' />
<joint name='r_knee' value='30' />
</pose>
<pose name='legs_forward' >
<joint name='l_shoulder1' value='75' />
<joint name='r_shoulder1' value='75' />
<joint name='l_hip_y' value='45' />
<joint name='r_hip_y' value='45' />
</pose>
<pose name='curl_in' >
<joint name='l_shoulder1' value='0' speed='360' />
<joint name='r_shoulder1' value='0' speed='360' />
<joint name='l_hip_y' value='130' speed='360' />
<joint name='r_hip_y' value='130' speed='360' />
<joint name='l_knee' value='130' speed='360' />
<joint name='r_knee' value='130' speed='360' />
</pose>
<pose name='force_out' >
<joint name='l_shoulder1' value='0' speed='600' />
<joint name='r_shoulder1' value='0' speed='600'/>
<joint name='l_elbow' value='90' speed='600' />
<joint name='r_elbow' value='90' speed='600'/>
<joint name='l_hip_y' value='10' speed='600'/>
<joint name='r_hip_y' value='10' speed='600'/>
<joint name='l_knee' value='00' speed='600'/>
<joint name='r_knee' value='00' speed='600'/>
</pose>
<pose name='hollow' >
<joint name='l_shoulder1' value='70' />
<joint name='r_shoulder1' value='70' />
<joint name='l_hip_y' value='20' speed='360'/>
<joint name='r_hip_y' value='20' speed='360'/>
</pose>
<action_sequence name='takeoff_full_swing' >
<pose name='hep' />
<wait time='0.2' />
<pose name='full_swing' />
</action_sequence >
<action_sequence key='s' name='full_swing' >
<pose name='loose_shoulders' />
<wait time='0.3' />
<pose name='sweep' />
<wait time='0.6' />
<pose name='legs_forward' />
<wait time='0.4' />
<pose name='curl_in' />
<wait time='0.5' />
<pose name='force_out' />
<wait time='0.3' />
<pose name='flat' />
<wait time='0.6' />
<pose name='hollow' />
<wait time='0.3' />
<pose name='sweep' />
<wait time='0.6' />
<pose name='seven' />
<wait time='0.9' />
<pose name='full_swing' />
</action_sequence >
</poses>