<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<grxui>
    <mode name="Simulation">
        <item class="com.generalrobotix.ui.item.GrxSimulationItem" name="simulationItem" select="true">
            <property name="integrate" value="true"/>
            <property name="viewsimulate" value="false"/>
            <property name="totalTime" value="10.0 "/>
            <property name="timeStep" value="0.0010 "/>
            <property name="realTime" value="false"/>
            <property name="gravity" value="9.8 "/>
            <property name="method" value="RUNGE_KUTTA"/>
        </item>
        <item class="com.generalrobotix.ui.item.GrxModelItem" name="ball" select="true" url="$(CURRENT_DIR)/ball.wrl">
            <property name="markRadius" value="0.05 "/>
            <property name="root.rotation" value="0.0 1.0 0.0 0.0 "/>
            <property name="root.translation" value="0.0 0.0 0.11"/>
            <property name="root.velocity" value="0.0 0.0 0.0 "/>
            <property name="root.mode" value="Torque"/>
            <property name="isRobot" value="true"/>
            <property name="root.angularVelocity" value="0.0 0.0 0.0 "/>
        </item>
        <item class="com.generalrobotix.ui.item.GrxModelItem" name="robot_body" select="true" url="$(CURRENT_DIR)/robot.wrl">
            <property name="setupCommand" value="BBcont$(BIN_SFX)"/>
            <property name="controlTime" value="0.005"/>
            <property name="markRadius" value="0.05 "/>
            <property name="isRobot" value="true"/>
            <property name="controller" value="BBcontroller"/>
            <property name="setupDirectory" value="$(CURRENT_DIR)/../controller"/>
            <property name="root.translation" value="0.0 0.0 0.11"/>
            <property name="root.rotation" value="1.0 0.0 0.0 1.5708 "/>
            <property name="root.mode" value="Torque"/>
            <property name="root.angle" value="0.0 "/>
            <property name="root.velocity" value="0.0 0.0 0.0 "/>
            <property name="root.angularVelocity" value="0.0 0.0 0.0 "/>
            <property name="SX1.mode" value="Torque"/>
            <property name="SX2.mode" value="Torque"/>
            <property name="SY1.mode" value="Torque"/>
            <property name="SY2.mode" value="Torque"/>
            <property name="RX1.mode" value="Torque"/>
            <property name="RX2.mode" value="Torque"/>
            <property name="RY1.mode" value="Torque"/>
            <property name="RY2.mode" value="Torque"/>
            <property name="SX1.angle" value="0.0 "/>
            <property name="SX2.angle" value="0.0 "/>
            <property name="SY1.angle" value="0.0 "/>
            <property name="SY2.angle" value="0.0 "/>
            <property name="RX1.angle" value="0.0 "/>
            <property name="RX2.angle" value="0.0 "/>
            <property name="RY1.angle" value="0.0 "/>
            <property name="RY2.angle" value="0.0 "/>
        </item>
        <item class="com.generalrobotix.ui.item.GrxModelItem" name="floor" select="true" url="$(CURRENT_DIR)/floor.wrl">
            <property name="markRadius" value="0.05 "/>
            <property name="root.rotation" value="0.0 1.0 0.0 0.0 "/>
            <property name="root.translation" value="0.0 0.0 0.0 "/>
            <property name="root.velocity" value="0.0 0.0 0.0 "/>
            <property name="root.mode" value="Torque"/>
            <property name="isRobot" value="false"/>
            <property name="root.angularVelocity" value="0.0 0.0 0.0 "/>
        </item>
        <item class="com.generalrobotix.ui.item.GrxWorldStateItem" name="newworldstate0" select="true">
            <property name="logTimeStep" value="0.0010 "/>
        </item>
        <item class="com.generalrobotix.ui.item.GrxCollisionPairItem" name="CP#floor_#ball_" select="true">
            <property name="springConstant" value="0 0 0 0 0 0"/>
            <property name="slidingFriction" value="0.5"/>
            <property name="cullingThresh" value="0.01"/>
            <property name="jointName2" value=""/>
            <property name="jointName1" value=""/>
            <property name="damperConstant" value="0 0 0 0 0 0"/>
            <property name="objectName2" value="ball"/>
            <property name="objectName1" value="floor"/>
            <property name="springDamperModel" value="false"/>
            <property name="staticFriction" value="0.5"/>
        </item>
        <item class="com.generalrobotix.ui.item.GrxCollisionPairItem" name="CP#ball_#robot_body_RX1" select="true">
            <property name="springConstant" value="0 0 0 0 0 0"/>
            <property name="slidingFriction" value="0.5"/>
            <property name="cullingThresh" value="0.01"/>
            <property name="jointName2" value="RX1"/>
            <property name="jointName1" value=""/>
            <property name="damperConstant" value="0 0 0 0 0 0"/>
            <property name="objectName2" value="robot_body"/>
            <property name="objectName1" value="ball"/>
            <property name="springDamperModel" value="false"/>
            <property name="staticFriction" value="0.5"/>
        </item>
        <item class="com.generalrobotix.ui.item.GrxCollisionPairItem" name="CP#ball_#robot_body_RX2" select="true">
            <property name="springConstant" value="0 0 0 0 0 0"/>
            <property name="slidingFriction" value="0.5"/>
            <property name="cullingThresh" value="0.01"/>
            <property name="jointName2" value="RX2"/>
            <property name="jointName1" value=""/>
            <property name="damperConstant" value="0 0 0 0 0 0"/>
            <property name="objectName2" value="robot_body"/>
            <property name="objectName1" value="ball"/>
            <property name="springDamperModel" value="false"/>
            <property name="staticFriction" value="0.5"/>
        </item>
        <item class="com.generalrobotix.ui.item.GrxCollisionPairItem" name="CP#ball_#robot_body_RY1" select="true">
            <property name="springConstant" value="0 0 0 0 0 0"/>
            <property name="slidingFriction" value="0.5"/>
            <property name="cullingThresh" value="0.01"/>
            <property name="jointName2" value="RY1"/>
            <property name="jointName1" value=""/>
            <property name="damperConstant" value="0 0 0 0 0 0"/>
            <property name="objectName2" value="robot_body"/>
            <property name="objectName1" value="ball"/>
            <property name="springDamperModel" value="false"/>
            <property name="staticFriction" value="0.5"/>
        </item>
        <item class="com.generalrobotix.ui.item.GrxCollisionPairItem" name="CP#ball_#robot_body_RY2" select="true">
            <property name="springConstant" value="0 0 0 0 0 0"/>
            <property name="slidingFriction" value="0.5"/>
            <property name="cullingThresh" value="0.01"/>
            <property name="jointName2" value="RY2"/>
            <property name="jointName1" value=""/>
            <property name="damperConstant" value="0 0 0 0 0 0"/>
            <property name="objectName2" value="robot_body"/>
            <property name="objectName1" value="ball"/>
            <property name="springDamperModel" value="false"/>
            <property name="staticFriction" value="0.5"/>
        </item>
        <item class="com.generalrobotix.ui.item.GrxCollisionPairItem" name="CP#ball_#robot_body_root" select="true">
            <property name="springConstant" value="0 0 0 0 0 0"/>
            <property name="slidingFriction" value="0.01"/>
            <property name="cullingThresh" value="0.01"/>
            <property name="jointName2" value="root"/>
            <property name="jointName1" value=""/>
            <property name="damperConstant" value="0 0 0 0 0 0"/>
            <property name="objectName2" value="robot_body"/>
            <property name="objectName1" value="ball"/>
            <property name="springDamperModel" value="false"/>
            <property name="staticFriction" value="0.01"/>
        </item>
        <item class="com.generalrobotix.ui.item.GrxCollisionPairItem" name="CP#floor_#robot_body_root" select="true">
            <property name="springConstant" value="0 0 0 0 0 0"/>
            <property name="slidingFriction" value="0.5"/>
            <property name="cullingThresh" value="0.01"/>
            <property name="jointName2" value="root"/>
            <property name="jointName1" value=""/>
            <property name="damperConstant" value="0 0 0 0 0 0"/>
            <property name="objectName2" value="robot_body"/>
            <property name="objectName1" value="floor"/>
            <property name="springDamperModel" value="false"/>
            <property name="staticFriction" value="0.5"/>
        </item>
        <item class="com.generalrobotix.ui.item.GrxGraphItem" name="newgraphcontents0" select="true">
            <property name="Graph1.Graph1_robot_body_AccSensor_acceleration_1.attr" value="acceleration"/>
            <property name="Graph0.Graph0_robot_body_GyroSensor_angularVelocity_1.attr" value="angularVelocity"/>
            <property name="timeRange" value="1.0 0.8 "/>
            <property name="Graph2.Graph2_robot_body_RX1_angle.color" value="0,255,0"/>
            <property name="Graph2.Graph2_robot_body_RX1_angle.legend" value="robot_body.RX1.angle"/>
            <property name="Graph2.Graph2_robot_body_RX1_angle.object" value="robot_body"/>
            <property name="Graph2.Graph2_robot_body_RY1_angle.attr" value="angle"/>
            <property name="Graph0.Graph0_robot_body_GyroSensor_angularVelocity_1.color" value="255,0,0"/>
            <property name="Graph2.Graph2_robot_body_RX1_angle.index" value="-1"/>
            <property name="Graph0.Graph0_robot_body_GyroSensor_angularVelocity_0.color" value="255,0,255"/>
            <property name="Graph0.Graph0_robot_body_GyroSensor_angularVelocity_2.color" value="0,0,255"/>
            <property name="Graph0.Graph0_robot_body_GyroSensor_angularVelocity_1.index" value="1"/>
            <property name="Graph0.Graph0_robot_body_GyroSensor_angularVelocity_0.index" value="0"/>
            <property name="Graph0.Graph0_robot_body_GyroSensor_angularVelocity_2.index" value="2"/>
            <property name="Graph2.Graph2_robot_body_RX2_angle.node" value="RX2"/>
            <property name="Graph1.Graph1_robot_body_AccSensor_acceleration_1.node" value="AccSensor"/>
            <property name="Graph0.Graph0_robot_body_GyroSensor_angularVelocity_1.node" value="GyroSensor"/>
            <property name="Graph2.dataItems" value="Graph2_robot_body_RY1_angle,Graph2_robot_body_RX2_angle,Graph2_robot_body_RX1_angle,Graph2_robot_body_RY2_angle"/>
            <property name="Graph2.Graph2_robot_body_RY2_angle.legend" value="robot_body.RY2.angle"/>
            <property name="Graph2.Graph2_robot_body_RY1_angle.node" value="RY1"/>
            <property name="Graph2.Graph2_robot_body_RY2_angle.object" value="robot_body"/>
            <property name="Graph2.Graph2_robot_body_RX1_angle.attr" value="angle"/>
            <property name="Graph2.Graph2_robot_body_RY2_angle.color" value="255,0,255"/>
            <property name="Graph0.dataItems" value="Graph0_robot_body_GyroSensor_angularVelocity_0,Graph0_robot_body_GyroSensor_angularVelocity_1,Graph0_robot_body_GyroSensor_angularVelocity_2"/>
            <property name="Graph1.Graph1_robot_body_AccSensor_acceleration_1.color" value="0,255,255"/>
            <property name="Graph1.Graph1_robot_body_AccSensor_acceleration_0.attr" value="acceleration"/>
            <property name="Graph1.Graph1_robot_body_AccSensor_acceleration_0.color" value="255,255,0"/>
            <property name="Graph0.Graph0_robot_body_GyroSensor_angularVelocity_0.attr" value="angularVelocity"/>
            <property name="Graph1.Graph1_robot_body_AccSensor_acceleration_2.color" value="255,0,255"/>
            <property name="Graph2.Graph2_robot_body_RY2_angle.index" value="-1"/>
            <property name="Graph1.Graph1_robot_body_AccSensor_acceleration_2.attr" value="acceleration"/>
            <property name="Graph0.Graph0_robot_body_GyroSensor_angularVelocity_2.attr" value="angularVelocity"/>
            <property name="Graph1.Graph1_robot_body_AccSensor_acceleration_1.index" value="1"/>
            <property name="Graph1.Graph1_robot_body_AccSensor_acceleration_0.index" value="0"/>
            <property name="Graph1.Graph1_robot_body_AccSensor_acceleration_2.index" value="2"/>
            <property name="Graph2.Graph2_robot_body_RY2_angle.attr" value="angle"/>
            <property name="Graph0.Graph0_robot_body_GyroSensor_angularVelocity_0.legend" value="robot_body.GyroSensor.angularVelocity.0"/>
            <property name="Graph1.Graph1_robot_body_AccSensor_acceleration_0.legend" value="robot_body.AccSensor.acceleration.0"/>
            <property name="Graph2.Graph2_robot_body_RY1_angle.legend" value="robot_body.RY1.angle"/>
            <property name="Graph0.Graph0_robot_body_GyroSensor_angularVelocity_0.object" value="robot_body"/>
            <property name="Graph2.Graph2_robot_body_RX1_angle.node" value="RX1"/>
            <property name="Graph1.Graph1_robot_body_AccSensor_acceleration_0.object" value="robot_body"/>
            <property name="Graph2.Graph2_robot_body_RY1_angle.object" value="robot_body"/>
            <property name="Graph0.Graph0_robot_body_GyroSensor_angularVelocity_1.legend" value="robot_body.GyroSensor.angularVelocity.1"/>
            <property name="Graph1.Graph1_robot_body_AccSensor_acceleration_1.legend" value="robot_body.AccSensor.acceleration.1"/>
            <property name="Graph2.Graph2_robot_body_RX2_angle.color" value="255,255,0"/>
            <property name="Graph0.Graph0_robot_body_GyroSensor_angularVelocity_1.object" value="robot_body"/>
            <property name="Graph1.Graph1_robot_body_AccSensor_acceleration_1.object" value="robot_body"/>
            <property name="Graph1.Graph1_robot_body_AccSensor_acceleration_0.node" value="AccSensor"/>
            <property name="Graph2.Graph2_robot_body_RY1_angle.color" value="0,255,255"/>
            <property name="Graph2.Graph2_robot_body_RX2_angle.legend" value="robot_body.RX2.angle"/>
            <property name="Graph0.Graph0_robot_body_GyroSensor_angularVelocity_0.node" value="GyroSensor"/>
            <property name="Graph2.Graph2_robot_body_RX2_angle.object" value="robot_body"/>
            <property name="Graph1.Graph1_robot_body_AccSensor_acceleration_2.node" value="AccSensor"/>
            <property name="Graph0.Graph0_robot_body_GyroSensor_angularVelocity_2.node" value="GyroSensor"/>
            <property name="Graph0.Graph0_robot_body_GyroSensor_angularVelocity_2.legend" value="robot_body.GyroSensor.angularVelocity.2"/>
            <property name="Graph2.Graph2_robot_body_RX2_angle.index" value="-1"/>
            <property name="Graph1.Graph1_robot_body_AccSensor_acceleration_2.legend" value="robot_body.AccSensor.acceleration.2"/>
            <property name="Graph0.Graph0_robot_body_GyroSensor_angularVelocity_2.object" value="robot_body"/>
            <property name="Graph0.vRange" value="-5.0 10.0 "/>
            <property name="Graph1.Graph1_robot_body_AccSensor_acceleration_2.object" value="robot_body"/>
            <property name="Graph2.Graph2_robot_body_RY1_angle.index" value="-1"/>
            <property name="Graph1.dataItems" value="Graph1_robot_body_AccSensor_acceleration_2,Graph1_robot_body_AccSensor_acceleration_0,Graph1_robot_body_AccSensor_acceleration_1"/>
            <property name="Graph2.Graph2_robot_body_RY2_angle.node" value="RY2"/>
            <property name="Graph2.Graph2_robot_body_RX2_angle.attr" value="angle"/>
        </item>
        <view class="com.generalrobotix.ui.view.GrxRobotStatView" name="Robot State">
            <property name="jcolumnWidth9" value="50"/>
            <property name="jcolumnWidth8" value="40"/>
            <property name="jcolumnWidth7" value="40"/>
            <property name="jcolumnWidth6" value="40"/>
            <property name="jcolumnWidth5" value="40"/>
            <property name="jcolumnWidth4" value="60"/>
            <property name="jcolumnWidth3" value="60"/>
            <property name="jcolumnWidth10" value="50"/>
            <property name="jcolumnWidth2" value="60"/>
            <property name="scolumnWidth6" value="75"/>
            <property name="jcolumnWidth1" value="90"/>
            <property name="scolumnWidth5" value="75"/>
            <property name="scolumnWidth4" value="75"/>
            <property name="jcolumnWidth0" value="30"/>
            <property name="scolumnWidth3" value="75"/>
            <property name="scolumnWidth2" value="75"/>
            <property name="scolumnWidth1" value="75"/>
            <property name="scolumnWidth0" value="110"/>
        </view>
        <view class="com.generalrobotix.ui.view.Grx3DView" name="3DView">
            <property name="view.mode" value="Room"/>
            <property name="showCoM" value="false"/>
            <property name="showCoMonFloor" value="false"/>
            <property name="showDistance" value="false"/>
            <property name="showIntersection" value="false"/>
            <property name="eyeHomePosition" value="-0.70711 -0 0.70711 2 0.70711 -0 0.70711 2 0 1 0 0.8 0 0 0 1 "/>
            <property name="showCollision" value="true"/>
            <property name="showActualState" value="true"/>
            <property name="showScale" value="true"/>
        </view>
    <perspective editorAreaTrimState="2" editorAreaVisible="0" fixed="0" version="0.016">
<descriptor descriptor="com.generalrobotix.ui.grxui.GrxUIPerspectiveFactory" id="com.generalrobotix.ui.grxui.GrxUIPerspectiveFactory.project" label="test01"/>
<window height="1166" width="1787" x="127" y="-12"/>
<alwaysOnActionSet id="com.generalrobotix.ui.actionSet"/>
<view id="com.generalrobotix.ui.view.GrxLoggerViewPart"/>
<view id="com.generalrobotix.ui.view.GrxGraphViewPart"/>
<view id="com.generalrobotix.ui.view.GrxPropertyViewPart"/>
<view id="com.generalrobotix.ui.view.GrxRobotStatViewPart"/>
<view id="com.generalrobotix.ui.view.Grx3DViewPart"/>
<view id="com.generalrobotix.ui.view.GrxOpenHRPViewPart"/>
<view id="com.generalrobotix.ui.view.GrxControllerViewPart"/>
<view id="com.generalrobotix.ui.view.GrxCollisionPairViewPart"/>
<view id="com.generalrobotix.ui.view.GrxTextEditorViewPart"/>
<view id="com.generalrobotix.ui.view.GrxItemViewPart"/>
<view id="com.generalrobotix.ui.view.GrxORBMonitorViewPart"/>
<view id="com.generalrobotix.ui.view.GrxProcessManagerViewPart"/>
<view id="com.generalrobotix.ui.view.GrxServerManagerViewPart"/>
<fastViewBars/>
<layout>
<mainWindow>
<info folder="true" part="TopViews">
<folder activePageID="com.generalrobotix.ui.view.GrxLoggerViewPart" appearance="2" expanded="2">
<page content="com.generalrobotix.ui.view.GrxLoggerViewPart" label="ロガー"/>
<presentation id="org.eclipse.ui.presentations.WorkbenchPresentationFactory">
<part id="0"/>
</presentation>
</folder>
</info>
<info folder="true" part="stickyFolderRight" ratio="0.75" ratioLeft="756" ratioRight="252" relationship="2" relative="TopViews">
<folder appearance="2" expanded="2">
<page content="org.eclipse.ui.internal.introview" label="LabelNotFound"/>
</folder>
</info>
<info folder="true" part="TopLeftViews" ratio="0.109350234" ratioLeft="69" ratioRight="562" relationship="4" relative="TopViews">
<folder activePageID="com.generalrobotix.ui.view.GrxItemViewPart" appearance="2" expanded="2">
<page content="com.generalrobotix.ui.view.GrxItemViewPart" label="アイテム"/>
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</presentation>
</folder>
</info>
<info folder="true" part="RightMIDDLEViews" ratio="0.5992063" ratioLeft="604" ratioRight="404" relationship="2" relative="TopLeftViews">
<folder activePageID="com.generalrobotix.ui.view.GrxGraphViewPart" appearance="2" expanded="2">
<page content="com.generalrobotix.ui.view.GrxGraphViewPart" label="グラフ"/>
<page content="com.generalrobotix.ui.view.GrxPropertyViewPart" label="プロパティ"/>
<page content="com.generalrobotix.ui.view.GrxRobotStatViewPart" label="ロボット"/>
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<part id="0"/>
<part id="1"/>
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</folder>
</info>
<info folder="true" part="MiddleViews" ratio="0.3985765" ratioLeft="224" ratioRight="338" relationship="4" relative="TopLeftViews">
<folder activePageID="com.generalrobotix.ui.view.Grx3DViewPart" appearance="2" expanded="2">
<page content="com.generalrobotix.ui.view.Grx3DViewPart" label="3Dビュー"/>
<page content="com.generalrobotix.ui.view.GrxOpenHRPViewPart" label="シミュレーション"/>
<page content="com.generalrobotix.ui.view.GrxControllerViewPart" label="コントローラ"/>
<page content="com.generalrobotix.ui.view.GrxCollisionPairViewPart" label="コリジョン"/>
<page content="com.generalrobotix.ui.view.GrxTextEditorViewPart" label="テキストエディタ"/>
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<part id="1"/>
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<part id="3"/>
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</presentation>
</folder>
</info>
<info part="org.eclipse.ui.editorss" ratio="0.59933776" ratioLeft="362" ratioRight="242" relationship="2" relative="TopLeftViews"/>
<info folder="true" part="TopRightViews" ratio="0.3480663" ratioLeft="126" ratioRight="236" relationship="2" relative="TopLeftViews">
<folder activePageID="com.generalrobotix.ui.view.GrxORBMonitorViewPart" appearance="2" expanded="2">
<page content="com.generalrobotix.ui.view.GrxORBMonitorViewPart" label="ネームサービスモニタ"/>
<page content="com.generalrobotix.ui.view.GrxProcessManagerViewPart" label="プロセスマネージャー"/>
<page content="com.generalrobotix.ui.view.GrxServerManagerViewPart" label="サーバマネージャー"/>
<presentation id="org.eclipse.ui.presentations.WorkbenchPresentationFactory">
<part id="0"/>
<part id="1"/>
<part id="2"/>
</presentation>
</folder>
</info>
</mainWindow>
</layout>
</perspective>
</mode>
</grxui>
