[hrpsys_choreonoid_tutorials] add HRP2JSK*

hrpsys_choreonoid_tutorials/CMakeLists.txt

@@ -27,6 +27,14 @@ else()
   set (JSK_MODELS_DIR ${jsk_models_SOURCE_PREFIX})
 endif()
 
+find_package(hrp2_models QUIET)
+if(NOT "${hrp2_models_FOUND}")
+  string(ASCII 27 Esc)
+  message(WARNING "${Esc}[1;33mPackage hrp2_models is not found, if you have right to access them please include source code in catkin workspace${Esc}[m")
+else()
+  set (HRP2_MODELS_DIR ${hrp2_models_SOURCE_PREFIX})
+endif()
+
 ################################
 ## compile_openhrp_model
 ##  Generate OpenHRP3 .xml and .conf file.
@@ -198,6 +206,27 @@ configure_file(${PROJECT_SOURCE_DIR}/config/TABLIS_RH_FLAT.cnoid.in ${PROJECT_SO
 configure_file(${PROJECT_SOURCE_DIR}/config/TABLIS_BASE_RH_FLAT.cnoid.in ${PROJECT_SOURCE_DIR}/config/TABLIS_BASE_RH_FLAT.cnoid @ONLY)
 endif()
 
+###
+#HRP2JSK conid
+###
+if (${hrp2_models_FOUND})
+configure_file(${PROJECT_SOURCE_DIR}/config/HRP2JSK_RH_LOAD_OBJ.cnoid.in ${PROJECT_SOURCE_DIR}/config/HRP2JSK_RH_LOAD_OBJ.cnoid @ONLY)
+endif()
+
+###
+#HRP2JSKNT conid
+###
+if (${hrp2_models_FOUND})
+configure_file(${PROJECT_SOURCE_DIR}/config/HRP2JSKNT_RH_LOAD_OBJ.cnoid.in ${PROJECT_SOURCE_DIR}/config/HRP2JSKNT_RH_LOAD_OBJ.cnoid @ONLY)
+endif()
+
+###
+#HRP2JSKNTS conid
+###
+if (${hrp2_models_FOUND})
+configure_file(${PROJECT_SOURCE_DIR}/config/HRP2JSKNTS_RH_LOAD_OBJ.cnoid.in ${PROJECT_SOURCE_DIR}/config/HRP2JSKNTS_RH_LOAD_OBJ.cnoid @ONLY)
+endif()
+
 ###
 # scene.yaml
 ###

hrpsys_choreonoid_tutorials/config/BodyRTC_HRP2JSK.RH.conf

@@ -0,0 +1,92 @@
+##
+name-server = localhost:15005
+##
+## PD Controller
+##     in: angleRef, angle
+##     out: torque
+##
+in-port = tauIn:JOINT_TORQUE
+out-port = angleOut:JOINT_VALUE
+out-port = qvel:JOINT_VELOCITY
+out-port = torque:JOINT_TORQUE
+# out-port = ddq:JOINT_ACCELERATION
+connection = tauIn:RobotHardware_choreonoid0:torqueOut
+connection = angleOut:RobotHardware_choreonoid0:angleIn
+connection = qvel:RobotHardware_choreonoid0:qvel_sim
+connection = torque:RobotHardware_choreonoid0:torque_sim
+###
+# debug ## ground truth robot potition
+###
+out-port = WAIST:WAIST:ABS_TRANSFORM
+# out-port = headq:motor_joint:JOINT_VALUE
+####
+# sensors
+####
+out-port = rfsensor_sim:rfsensor:FORCE_SENSOR
+out-port = lfsensor_sim:lfsensor:FORCE_SENSOR
+out-port = rhsensor_sim:rhsensor:FORCE_SENSOR
+out-port = lhsensor_sim:lhsensor:FORCE_SENSOR
+out-port = gsensor_sim:gsensor:ACCELERATION_SENSOR2
+out-port = gyrometer_sim:gyrometer:RATE_GYRO_SENSOR2
+connection = rfsensor_sim:RobotHardware_choreonoid0:rfsensor_sim
+connection = lfsensor_sim:RobotHardware_choreonoid0:lfsensor_sim
+connection = rhsensor_sim:RobotHardware_choreonoid0:rhsensor_sim
+connection = lhsensor_sim:RobotHardware_choreonoid0:lhsensor_sim
+connection = gsensor_sim:RobotHardware_choreonoid0:gsensor_sim
+connection = gyrometer_sim:RobotHardware_choreonoid0:gyrometer_sim
+####
+# vision
+####
+# out-port = HEAD_RANGE:HEAD_RANGE:RANGE_SENSOR
+# out-port = HEAD_LEFT_DEPTH:HEAD_LEFT_CAMERA:CAMERA_RANGE
+# out-port = HEAD_LEFT_CAMERA:HEAD_LEFT_CAMERA:CAMERA_IMAGE
+# out-port = HEAD_RIGHT_CAMERA:HEAD_RIGHT_CAMERA:CAMERA_IMAGE
+#out-port = CHEST_CAMERA:CHEST_CAMERA:CAMERA_IMAGE
+#out-port = LARM_CAMERA:LARM_CAMERA:CAMERA_IMAGE
+#out-port = RARM_CAMERA:RARM_CAMERA:CAMERA_IMAGE
+#out-port = LARM_CAMERA_N:LARM_CAMERA_N:CAMERA_IMAGE
+#out-port = RARM_CAMERA_N:RARM_CAMERA_N:CAMERA_IMAGE
+
+####
+# constraint
+####
+# out-port = F_BODY:WAIST:CONSTRAINT_FORCE
+# out-port = F_CHEST_LINK0:CHEST_JOINT0:CONSTRAINT_FORCE
+# out-port = F_CHEST_LINK1:CHEST_JOINT1:CONSTRAINT_FORCE
+# out-port = F_CHEST_LINK2:CHEST_JOINT2:CONSTRAINT_FORCE
+# out-port = F_HEAD_LINK0:HEAD_JOINT0:CONSTRAINT_FORCE
+# out-port = F_HEAD_LINK1:HEAD_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK0:LARM_JOINT0:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK1:LARM_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK2:LARM_JOINT2:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK3:LARM_JOINT3:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK4:LARM_JOINT4:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK5:LARM_JOINT5:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK6:LARM_JOINT6:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK7:LARM_JOINT7:CONSTRAINT_FORCE
+# out-port = F_LARM_FINGER0:LARM_F_JOINT0:CONSTRAINT_FORCE
+# out-port = F_LARM_FINGER1:LARM_F_JOINT1:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK0:RARM_JOINT0:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK1:RARM_JOINT1:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK2:RARM_JOINT2:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK3:RARM_JOINT3:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK4:RARM_JOINT4:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK5:RARM_JOINT5:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK6:RARM_JOINT6:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK7:RARM_JOINT7:CONSTRAINT_FORCE
+# out-port = F_RARM_FINGER0:RARM_F_JOINT0:CONSTRAINT_FORCE
+# out-port = F_RARM_FINGER1:RARM_F_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK0:LLEG_JOINT0:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK1:LLEG_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK2:LLEG_JOINT2:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK3:LLEG_JOINT3:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK4:LLEG_JOINT4:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK5_UPPER:LLEG_JOINT5:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK5_LOWER:LLEG_BUSH_PITCH:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK0:RLEG_JOINT0:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK1:RLEG_JOINT1:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK2:RLEG_JOINT2:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK3:RLEG_JOINT3:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK4:RLEG_JOINT4:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK5_UPPER:RLEG_JOINT5:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK5_LOWER:RLEG_BUSH_PITCH:CONSTRAINT_FORCE

hrpsys_choreonoid_tutorials/config/BodyRTC_HRP2JSKNT.RH.conf

@@ -0,0 +1,92 @@
+##
+name-server = localhost:15005
+##
+## PD Controller
+##     in: angleRef, angle
+##     out: torque
+##
+in-port = tauIn:JOINT_TORQUE
+out-port = angleOut:JOINT_VALUE
+out-port = qvel:JOINT_VELOCITY
+out-port = torque:JOINT_TORQUE
+# out-port = ddq:JOINT_ACCELERATION
+connection = tauIn:RobotHardware_choreonoid0:torqueOut
+connection = angleOut:RobotHardware_choreonoid0:angleIn
+connection = qvel:RobotHardware_choreonoid0:qvel_sim
+connection = torque:RobotHardware_choreonoid0:torque_sim
+###
+# debug ## ground truth robot potition
+###
+out-port = WAIST:WAIST:ABS_TRANSFORM
+# out-port = headq:motor_joint:JOINT_VALUE
+####
+# sensors
+####
+out-port = rfsensor_sim:rfsensor:FORCE_SENSOR
+out-port = lfsensor_sim:lfsensor:FORCE_SENSOR
+out-port = rhsensor_sim:rhsensor:FORCE_SENSOR
+out-port = lhsensor_sim:lhsensor:FORCE_SENSOR
+out-port = gsensor_sim:gsensor:ACCELERATION_SENSOR2
+out-port = gyrometer_sim:gyrometer:RATE_GYRO_SENSOR2
+connection = rfsensor_sim:RobotHardware_choreonoid0:rfsensor_sim
+connection = lfsensor_sim:RobotHardware_choreonoid0:lfsensor_sim
+connection = rhsensor_sim:RobotHardware_choreonoid0:rhsensor_sim
+connection = lhsensor_sim:RobotHardware_choreonoid0:lhsensor_sim
+connection = gsensor_sim:RobotHardware_choreonoid0:gsensor_sim
+connection = gyrometer_sim:RobotHardware_choreonoid0:gyrometer_sim
+####
+# vision
+####
+# out-port = HEAD_RANGE:HEAD_RANGE:RANGE_SENSOR
+# out-port = HEAD_LEFT_DEPTH:HEAD_LEFT_CAMERA:CAMERA_RANGE
+# out-port = HEAD_LEFT_CAMERA:HEAD_LEFT_CAMERA:CAMERA_IMAGE
+# out-port = HEAD_RIGHT_CAMERA:HEAD_RIGHT_CAMERA:CAMERA_IMAGE
+#out-port = CHEST_CAMERA:CHEST_CAMERA:CAMERA_IMAGE
+#out-port = LARM_CAMERA:LARM_CAMERA:CAMERA_IMAGE
+#out-port = RARM_CAMERA:RARM_CAMERA:CAMERA_IMAGE
+#out-port = LARM_CAMERA_N:LARM_CAMERA_N:CAMERA_IMAGE
+#out-port = RARM_CAMERA_N:RARM_CAMERA_N:CAMERA_IMAGE
+
+####
+# constraint
+####
+# out-port = F_BODY:WAIST:CONSTRAINT_FORCE
+# out-port = F_CHEST_LINK0:CHEST_JOINT0:CONSTRAINT_FORCE
+# out-port = F_CHEST_LINK1:CHEST_JOINT1:CONSTRAINT_FORCE
+# out-port = F_CHEST_LINK2:CHEST_JOINT2:CONSTRAINT_FORCE
+# out-port = F_HEAD_LINK0:HEAD_JOINT0:CONSTRAINT_FORCE
+# out-port = F_HEAD_LINK1:HEAD_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK0:LARM_JOINT0:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK1:LARM_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK2:LARM_JOINT2:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK3:LARM_JOINT3:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK4:LARM_JOINT4:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK5:LARM_JOINT5:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK6:LARM_JOINT6:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK7:LARM_JOINT7:CONSTRAINT_FORCE
+# out-port = F_LARM_FINGER0:LARM_F_JOINT0:CONSTRAINT_FORCE
+# out-port = F_LARM_FINGER1:LARM_F_JOINT1:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK0:RARM_JOINT0:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK1:RARM_JOINT1:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK2:RARM_JOINT2:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK3:RARM_JOINT3:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK4:RARM_JOINT4:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK5:RARM_JOINT5:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK6:RARM_JOINT6:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK7:RARM_JOINT7:CONSTRAINT_FORCE
+# out-port = F_RARM_FINGER0:RARM_F_JOINT0:CONSTRAINT_FORCE
+# out-port = F_RARM_FINGER1:RARM_F_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK0:LLEG_JOINT0:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK1:LLEG_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK2:LLEG_JOINT2:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK3:LLEG_JOINT3:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK4:LLEG_JOINT4:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK5_UPPER:LLEG_JOINT5:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK5_LOWER:LLEG_BUSH_PITCH:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK0:RLEG_JOINT0:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK1:RLEG_JOINT1:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK2:RLEG_JOINT2:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK3:RLEG_JOINT3:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK4:RLEG_JOINT4:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK5_UPPER:RLEG_JOINT5:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK5_LOWER:RLEG_BUSH_PITCH:CONSTRAINT_FORCE

hrpsys_choreonoid_tutorials/config/BodyRTC_HRP2JSKNTS.RH.conf

@@ -0,0 +1,92 @@
+##
+name-server = localhost:15005
+##
+## PD Controller
+##     in: angleRef, angle
+##     out: torque
+##
+in-port = tauIn:JOINT_TORQUE
+out-port = angleOut:JOINT_VALUE
+out-port = qvel:JOINT_VELOCITY
+out-port = torque:JOINT_TORQUE
+# out-port = ddq:JOINT_ACCELERATION
+connection = tauIn:RobotHardware_choreonoid0:torqueOut
+connection = angleOut:RobotHardware_choreonoid0:angleIn
+connection = qvel:RobotHardware_choreonoid0:qvel_sim
+connection = torque:RobotHardware_choreonoid0:torque_sim
+###
+# debug ## ground truth robot potition
+###
+out-port = WAIST:WAIST:ABS_TRANSFORM
+# out-port = headq:motor_joint:JOINT_VALUE
+####
+# sensors
+####
+out-port = rfsensor_sim:rfsensor:FORCE_SENSOR
+out-port = lfsensor_sim:lfsensor:FORCE_SENSOR
+out-port = rhsensor_sim:rhsensor:FORCE_SENSOR
+out-port = lhsensor_sim:lhsensor:FORCE_SENSOR
+out-port = gsensor_sim:gsensor:ACCELERATION_SENSOR2
+out-port = gyrometer_sim:gyrometer:RATE_GYRO_SENSOR2
+connection = rfsensor_sim:RobotHardware_choreonoid0:rfsensor_sim
+connection = lfsensor_sim:RobotHardware_choreonoid0:lfsensor_sim
+connection = rhsensor_sim:RobotHardware_choreonoid0:rhsensor_sim
+connection = lhsensor_sim:RobotHardware_choreonoid0:lhsensor_sim
+connection = gsensor_sim:RobotHardware_choreonoid0:gsensor_sim
+connection = gyrometer_sim:RobotHardware_choreonoid0:gyrometer_sim
+####
+# vision
+####
+#out-port = HEAD_RANGE:HEAD_RANGE:RANGE_SENSOR
+out-port = HEAD_DEPTH:CARMINE_DEPTH:CAMERA_RANGE
+out-port = HEAD_CAMERA:CARMINE:CAMERA_IMAGE
+#out-port = HEAD_RIGHT_CAMERA:HEAD_RIGHT_CAMERA:CAMERA_IMAGE
+#out-port = CHEST_CAMERA:CHEST_CAMERA:CAMERA_IMAGE
+#out-port = LARM_CAMERA:LARM_CAMERA:CAMERA_IMAGE
+#out-port = RARM_CAMERA:RARM_CAMERA:CAMERA_IMAGE
+#out-port = LARM_CAMERA_N:LARM_CAMERA_N:CAMERA_IMAGE
+#out-port = RARM_CAMERA_N:RARM_CAMERA_N:CAMERA_IMAGE
+
+####
+# constraint
+####
+# out-port = F_BODY:WAIST:CONSTRAINT_FORCE
+# out-port = F_CHEST_LINK0:CHEST_JOINT0:CONSTRAINT_FORCE
+# out-port = F_CHEST_LINK1:CHEST_JOINT1:CONSTRAINT_FORCE
+# out-port = F_CHEST_LINK2:CHEST_JOINT2:CONSTRAINT_FORCE
+# out-port = F_HEAD_LINK0:HEAD_JOINT0:CONSTRAINT_FORCE
+# out-port = F_HEAD_LINK1:HEAD_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK0:LARM_JOINT0:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK1:LARM_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK2:LARM_JOINT2:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK3:LARM_JOINT3:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK4:LARM_JOINT4:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK5:LARM_JOINT5:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK6:LARM_JOINT6:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK7:LARM_JOINT7:CONSTRAINT_FORCE
+# out-port = F_LARM_FINGER0:LARM_F_JOINT0:CONSTRAINT_FORCE
+# out-port = F_LARM_FINGER1:LARM_F_JOINT1:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK0:RARM_JOINT0:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK1:RARM_JOINT1:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK2:RARM_JOINT2:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK3:RARM_JOINT3:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK4:RARM_JOINT4:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK5:RARM_JOINT5:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK6:RARM_JOINT6:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK7:RARM_JOINT7:CONSTRAINT_FORCE
+# out-port = F_RARM_FINGER0:RARM_F_JOINT0:CONSTRAINT_FORCE
+# out-port = F_RARM_FINGER1:RARM_F_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK0:LLEG_JOINT0:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK1:LLEG_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK2:LLEG_JOINT2:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK3:LLEG_JOINT3:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK4:LLEG_JOINT4:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK5_UPPER:LLEG_JOINT5:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK5_LOWER:LLEG_BUSH_PITCH:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK0:RLEG_JOINT0:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK1:RLEG_JOINT1:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK2:RLEG_JOINT2:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK3:RLEG_JOINT3:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK4:RLEG_JOINT4:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK5_UPPER:RLEG_JOINT5:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK5_LOWER:RLEG_BUSH_PITCH:CONSTRAINT_FORCE

hrpsys_choreonoid_tutorials/config/HRP2JSKCustomizer.yaml

@@ -0,0 +1,5 @@
+bush:
+  springT: 3.3e5
+  dampingT: 3.3e2
+  springR: 1.0e3
+  dampingR: 1.0

hrpsys_choreonoid_tutorials/config/HRP2JSKNTCustomizer.yaml

@@ -0,0 +1,21 @@
+bush:
+  RLEG:
+    springT: 3.3e5
+    dampingT: 3.3e2
+    springR: 1.0e3
+    dampingR: 1.0
+  LLEG:
+    springT: 3.3e5
+    dampingT: 3.3e2
+    springR: 1.0e3
+    dampingR: 1.0
+  RARM:
+    springT: 1.0e5
+    dampingT: 1.0e3
+    springR: 3.0e2
+    dampingR: 3.0
+  LARM:
+    springT: 1.0e5
+    dampingT: 1.0e3
+    springR: 3.0e2
+    dampingR: 3.0

hrpsys_choreonoid_tutorials/config/HRP2JSKNTSCustomizer.yaml

@@ -0,0 +1,21 @@
+bush:
+  RLEG:
+    springT: 3.3e5
+    dampingT: 3.3e2
+    springR: 1.0e3
+    dampingR: 1.0
+  LLEG:
+    springT: 3.3e5
+    dampingT: 3.3e2
+    springR: 1.0e3
+    dampingR: 1.0
+  RARM:
+    springT: 1.0e5
+    dampingT: 1.0e3
+    springR: 3.0e2
+    dampingR: 3.0
+  LARM:
+    springT: 1.0e5
+    dampingT: 1.0e3
+    springR: 3.0e2
+    dampingR: 3.0