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Add jaxon client #529

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Add jaxon client #529

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62bc822
add JAXON_JVRC model from https://github.com/start-jsk/rtmros_choreon…
k-okada Jul 15, 2017
98becf5
add JAXON_JVRC conf,launch,script files
k-okada Jul 15, 2017
5a53248
add group and jaxon client
yswhynot Aug 7, 2017
91c97d2
update jaxon client for rtclist and group
yswhynot Aug 7, 2017
72ad532
turn on collision detector
yswhynot Aug 15, 2017
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18 changes: 11 additions & 7 deletions hrpsys_tutorials/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(hrpsys_tutorials)

find_package(catkin REQUIRED COMPONENTS rostest)
catkin_package()
find_package(catkin REQUIRED COMPONENTS rostest roslib roslint)

configure_file(${PROJECT_SOURCE_DIR}/models/SampleRobot.conf.in
${PROJECT_SOURCE_DIR}/models/SampleRobot.conf)
configure_file(${PROJECT_SOURCE_DIR}/models/SampleRobot.xml.in
${PROJECT_SOURCE_DIR}/models/SampleRobot.xml)
catkin_python_setup()

find_package(hrpsys)
configure_file(models/SampleRobot.conf.in ${PROJECT_SOURCE_DIR}/models/SampleRobot.conf)
configure_file(models/SampleRobot.xml.in ${PROJECT_SOURCE_DIR}/models/SampleRobot.xml)

configure_file(models/JAXON_JVRC.conf.in ${PROJECT_SOURCE_DIR}/models/JAXON_JVRC.conf)
configure_file(models/JAXON_JVRC.xml.in ${PROJECT_SOURCE_DIR}/models/JAXON_JVRC.xml)

#find_package(hrpsys)
#if(EXISTS ${hrpsys_PREFIX}/share/hrpsys/samples/HRP4C/HRP4Cmain.wrl)
# rosbuild_add_rostest(test/hrp4c-test.launch)
#endif()
add_rostest(test/pa10-test.launch)
add_rostest(test/samplerobot-test.launch)

roslint_python(scripts/jaxon.py src/hrpsys_tutorials/jaxon_client.py)

13 changes: 13 additions & 0 deletions hrpsys_tutorials/launch/jaxon.launch
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<launch>
<arg name="GUI" default="true" />
<include file="$(find hrpsys_tools)/launch/hrpsys.launch" >
<arg name="MODEL_FILE" value="$(find hrpsys_tutorials)/models/JAXON_JVRC/JAXON_JVRCmain.wrl" />
<arg name="PROJECT_FILE" value="$(find hrpsys_tutorials)/models/JAXON_JVRC.xml" />
<arg name="CONF_FILE" value="$(find hrpsys_tutorials)/models/JAXON_JVRC.conf" />
<arg name="SIMULATOR_NAME" value="JAXON(Robot)0" />
<arg name="GUI" default="$(arg GUI)" />
<arg name="HRPSYS_PY_PKG" default='hrpsys_tutorials' />
<arg name="HRPSYS_PY_NAME" default='jaxon.py' />
<arg name="HRPSYS_PY_ARGS" default='' />
</include>
</launch>
14 changes: 14 additions & 0 deletions hrpsys_tutorials/models/JAXON_JVRC.conf.in
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model: file://@PROJECT_SOURCE_DIR@/models/JAXON_JVRC/JAXON_JVRCmain.wrl
dt: 0.002

abc_leg_offset: 0.0, 0.1, 0.0
end_effectors: rleg,RLEG_JOINT5,WAIST,0.0,0.0,-0.1,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.0,0.0,-0.1,0.0,0.0,0.0,0.0, rarm,RARM_JOINT7,CHEST_JOINT2,0.0,0.0,-0.220,0.0,1.0,0.0,1.5708, larm,LARM_JOINT7,CHEST_JOINT2,0.0,0.0,-0.220,0.0,1.0,0.0,1.5708,
collision_pair: RLEG_JOINT2:LLEG_JOINT2 RLEG_JOINT2:LLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT2:RARM_JOINT3 RLEG_JOINT2:RARM_JOINT4 RLEG_JOINT2:RARM_JOINT5 RLEG_JOINT2:RARM_JOINT6 RLEG_JOINT2:LARM_JOINT3 RLEG_JOINT2:LARM_JOINT4 RLEG_JOINT2:LARM_JOINT5 RLEG_JOINT2:LARM_JOINT6 RLEG_JOINT3:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT5 RLEG_JOINT3:RARM_JOINT3 RLEG_JOINT3:RARM_JOINT4 RLEG_JOINT3:RARM_JOINT5 RLEG_JOINT3:RARM_JOINT6 RLEG_JOINT3:LARM_JOINT3 RLEG_JOINT3:LARM_JOINT4 RLEG_JOINT3:LARM_JOINT5 RLEG_JOINT3:LARM_JOINT6 RLEG_JOINT5:LLEG_JOINT2 RLEG_JOINT5:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT5 RLEG_JOINT5:RARM_JOINT3 RLEG_JOINT5:RARM_JOINT4 RLEG_JOINT5:RARM_JOINT5 RLEG_JOINT5:RARM_JOINT6 RLEG_JOINT5:LARM_JOINT3 RLEG_JOINT5:LARM_JOINT4 RLEG_JOINT5:LARM_JOINT5 RLEG_JOINT5:LARM_JOINT6 LLEG_JOINT2:RARM_JOINT3 LLEG_JOINT2:RARM_JOINT4 LLEG_JOINT2:RARM_JOINT5 LLEG_JOINT2:RARM_JOINT6 LLEG_JOINT2:LARM_JOINT3 LLEG_JOINT2:LARM_JOINT4 LLEG_JOINT2:LARM_JOINT5 LLEG_JOINT2:LARM_JOINT6 LLEG_JOINT3:RARM_JOINT3 LLEG_JOINT3:RARM_JOINT4 LLEG_JOINT3:RARM_JOINT5 LLEG_JOINT3:RARM_JOINT6 LLEG_JOINT3:LARM_JOINT3 LLEG_JOINT3:LARM_JOINT4 LLEG_JOINT3:LARM_JOINT5 LLEG_JOINT3:LARM_JOINT6 LLEG_JOINT5:RARM_JOINT3 LLEG_JOINT5:RARM_JOINT4 LLEG_JOINT5:RARM_JOINT5 LLEG_JOINT5:RARM_JOINT6 LLEG_JOINT5:LARM_JOINT3 LLEG_JOINT5:LARM_JOINT4 LLEG_JOINT5:LARM_JOINT5 LLEG_JOINT5:LARM_JOINT6 CHEST_JOINT1:RARM_JOINT2 CHEST_JOINT1:RARM_JOINT3 CHEST_JOINT1:RARM_JOINT4 CHEST_JOINT1:RARM_JOINT5 CHEST_JOINT1:RARM_JOINT6 CHEST_JOINT1:LARM_JOINT2 CHEST_JOINT1:LARM_JOINT3 CHEST_JOINT1:LARM_JOINT4 CHEST_JOINT1:LARM_JOINT5 CHEST_JOINT1:LARM_JOINT6 HEAD_JOINT1:RARM_JOINT3 HEAD_JOINT1:RARM_JOINT4 HEAD_JOINT1:RARM_JOINT5 HEAD_JOINT1:RARM_JOINT6 HEAD_JOINT1:LARM_JOINT3 HEAD_JOINT1:LARM_JOINT4 HEAD_JOINT1:LARM_JOINT5 HEAD_JOINT1:LARM_JOINT6 RARM_JOINT0:LARM_JOINT4 RARM_JOINT0:LARM_JOINT5 RARM_JOINT0:LARM_JOINT6 RARM_JOINT2:LARM_JOINT4 RARM_JOINT2:LARM_JOINT5 RARM_JOINT2:LARM_JOINT6 RARM_JOINT2:WAIST RARM_JOINT3:LARM_JOINT3 RARM_JOINT3:LARM_JOINT4 RARM_JOINT3:LARM_JOINT5 RARM_JOINT3:LARM_JOINT6 RARM_JOINT3:WAIST RARM_JOINT4:LARM_JOINT0 RARM_JOINT4:LARM_JOINT2 RARM_JOINT4:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT4:LARM_JOINT5 RARM_JOINT4:LARM_JOINT6 RARM_JOINT4:WAIST RARM_JOINT5:LARM_JOINT0 RARM_JOINT5:LARM_JOINT2 RARM_JOINT5:LARM_JOINT3 RARM_JOINT5:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 RARM_JOINT5:LARM_JOINT6 RARM_JOINT5:WAIST RARM_JOINT6:LARM_JOINT0 RARM_JOINT6:LARM_JOINT2 RARM_JOINT6:LARM_JOINT3 RARM_JOINT6:LARM_JOINT4 RARM_JOINT6:LARM_JOINT5 RARM_JOINT6:LARM_JOINT6 RARM_JOINT6:WAIST LARM_JOINT2:WAIST LARM_JOINT3:WAIST LARM_JOINT4:WAIST LARM_JOINT5:WAIST LARM_JOINT6:WAIST RLEG_JOINT2:LARM_JOINT7 RLEG_JOINT3:LARM_JOINT7 RLEG_JOINT5:LARM_JOINT7 LLEG_JOINT2:LARM_JOINT7 LLEG_JOINT3:LARM_JOINT7 LLEG_JOINT5:LARM_JOINT7 CHEST_JOINT1:LARM_JOINT7 HEAD_JOINT1:LARM_JOINT7 RARM_JOINT0:LARM_JOINT7 RARM_JOINT2:LARM_JOINT7 RARM_JOINT3:LARM_JOINT7 RARM_JOINT4:LARM_JOINT7 RARM_JOINT5:LARM_JOINT7 RARM_JOINT7:LARM_JOINT7 LARM_JOINT7:WAIST RLEG_JOINT2:RARM_JOINT7 RLEG_JOINT3:RARM_JOINT7 RLEG_JOINT5:RARM_JOINT7 LLEG_JOINT2:RARM_JOINT7 LLEG_JOINT3:RARM_JOINT7 LLEG_JOINT5:RARM_JOINT7 CHEST_JOINT1:RARM_JOINT7 HEAD_JOINT1:RARM_JOINT7 RARM_JOINT7:LARM_JOINT0 RARM_JOINT7:LARM_JOINT2 RARM_JOINT7:LARM_JOINT3 RARM_JOINT7:LARM_JOINT4 RARM_JOINT7:LARM_JOINT5 RARM_JOINT7:WAIST CHEST_JOINT2:RARM_JOINT3 CHEST_JOINT2:RARM_JOINT4 CHEST_JOINT2:RARM_JOINT5 CHEST_JOINT2:RARM_JOINT6 CHEST_JOINT2:RARM_JOINT7 CHEST_JOINT2:LARM_JOINT3 CHEST_JOINT2:LARM_JOINT4 CHEST_JOINT2:LARM_JOINT5 CHEST_JOINT2:LARM_JOINT6 CHEST_JOINT2:LARM_JOINT7

collision_model: convex hull
seq_optional_data_dim: 8


# joints need joint limit table
# CHEST_JOINT2:LARM_JOINT2 CHEST_JOINT2:RARM_JOINT2
# CHEST_JOINT0:CHEST_JOINT1 CHEST_JOINT1:CHEST_JOINT0 HEAD_JOINT0:HEAD_JOINT1 HEAD_JOINT1:HEAD_JOINT0 RARM_JOINT6:RARM_JOINT7 RARM_JOINT7:RARM_JOINT6 LARM_JOINT6:LARM_JOINT7 LARM_JOINT7:LARM_JOINT6
205 changes: 205 additions & 0 deletions hrpsys_tutorials/models/JAXON_JVRC.xml.in
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<grxui>
<mode name="Simulation">
<item class="com.generalrobotix.ui.item.GrxSimulationItem" name="simulationItem">
<property name="integrate" value="true"/>
<property name="timeStep" value="0.002"/>
<property name="totalTime" value="2000000.0"/>
<property name="method" value="EULER"/>
</item>
<item class="com.generalrobotix.ui.item.GrxRTSItem" name="JAXON_JVRC" select="true">
<property name="JAXON(Robot)0.period" value="0.002"/>
<property name="HGcontroller0.period" value="0.002"/>
<property name="HGcontroller0.factory" value="HGcontroller"/>
<property name="connection" value="HGcontroller0.qOut:JAXON(Robot)0.qRef"/>
<property name="connection" value="HGcontroller0.dqOut:JAXON(Robot)0.dqRef"/>
<property name="connection" value="HGcontroller0.ddqOut:JAXON(Robot)0.ddqRef"/>
</item>
<item class="com.generalrobotix.ui.item.GrxModelItem" name="JAXON_JVRC" url="@PROJECT_SOURCE_DIR@/models/JAXON_JVRC/JAXON_JVRCmain.wrl">
<property name="rtcName" value="JAXON(Robot)0"/>
<property name="inport" value="qRef:JOINT_VALUE"/>
<property name="inport" value="dqRef:JOINT_VELOCITY"/>
<property name="inport" value="ddqRef:JOINT_ACCELERATION"/>
<property name="outport" value="q:JOINT_VALUE"/>
<property name="outport" value="dq:JOINT_VELOCITY"/>
<property name="outport" value="tau:JOINT_TORQUE"/>
<property name="outport" value="WAIST:WAIST:ABS_TRANSFORM"/>
<property name="outport" value="rfsensor:rfsensor:FORCE_SENSOR"/>
<property name="outport" value="lfsensor:lfsensor:FORCE_SENSOR"/>
<property name="outport" value="rhsensor:rhsensor:FORCE_SENSOR"/>
<property name="outport" value="lhsensor:lhsensor:FORCE_SENSOR"/>
<property name="outport" value="gyrometer:gyrometer:RATE_GYRO_SENSOR"/>
<property name="outport" value="gsensor:gsensor:ACCELERATION_SENSOR"/>
<property name="WAIST.NumOfAABB" value="1"/>
<property name="WAIST.translation" value="0 0 1.0185"/>
<property name="WAIST.rotation" value="1 0 0 0"/>
<property name="WAIST.mode" value="Torque"/>
<property name="controller" value="JAXON"/>
<property name="RLEG_JOINT0.angle" value="0.0"/>
<property name="RLEG_JOINT0.mode" value="HighGain"/>
<property name="RLEG_JOINT0.NumOfAABB" value="1"/>
<property name="RLEG_JOINT1.angle" value="0.0"/>
<property name="RLEG_JOINT1.mode" value="HighGain"/>
<property name="RLEG_JOINT1.NumOfAABB" value="1"/>
<property name="RLEG_JOINT2.angle" value="0.0"/>
<property name="RLEG_JOINT2.mode" value="HighGain"/>
<property name="RLEG_JOINT2.NumOfAABB" value="1"/>
<property name="RLEG_JOINT3.angle" value="0.0"/>
<property name="RLEG_JOINT3.mode" value="HighGain"/>
<property name="RLEG_JOINT3.NumOfAABB" value="1"/>
<property name="RLEG_JOINT4.angle" value="0.0"/>
<property name="RLEG_JOINT4.mode" value="HighGain"/>
<property name="RLEG_JOINT4.NumOfAABB" value="1"/>
<property name="RLEG_JOINT5.angle" value="0.0"/>
<property name="RLEG_JOINT5.mode" value="HighGain"/>
<property name="RLEG_JOINT5.NumOfAABB" value="1"/>
<property name="LLEG_JOINT0.angle" value="0.0"/>
<property name="LLEG_JOINT0.mode" value="HighGain"/>
<property name="LLEG_JOINT0.NumOfAABB" value="1"/>
<property name="LLEG_JOINT1.angle" value="0.0"/>
<property name="LLEG_JOINT1.mode" value="HighGain"/>
<property name="LLEG_JOINT1.NumOfAABB" value="1"/>
<property name="LLEG_JOINT2.angle" value="0.0"/>
<property name="LLEG_JOINT2.mode" value="HighGain"/>
<property name="LLEG_JOINT2.NumOfAABB" value="1"/>
<property name="LLEG_JOINT3.angle" value="0.0"/>
<property name="LLEG_JOINT3.mode" value="HighGain"/>
<property name="LLEG_JOINT3.NumOfAABB" value="1"/>
<property name="LLEG_JOINT4.angle" value="0.0"/>
<property name="LLEG_JOINT4.mode" value="HighGain"/>
<property name="LLEG_JOINT4.NumOfAABB" value="1"/>
<property name="LLEG_JOINT5.angle" value="0.0"/>
<property name="LLEG_JOINT5.mode" value="HighGain"/>
<property name="LLEG_JOINT5.NumOfAABB" value="1"/>
<property name="CHEST_JOINT0.angle" value="0.0"/>
<property name="CHEST_JOINT0.mode" value="HighGain"/>
<property name="CHEST_JOINT0.NumOfAABB" value="1"/>
<property name="CHEST_JOINT1.angle" value="0.0"/>
<property name="CHEST_JOINT1.mode" value="HighGain"/>
<property name="CHEST_JOINT1.NumOfAABB" value="1"/>
<property name="CHEST_JOINT2.angle" value="0.0"/>
<property name="CHEST_JOINT2.mode" value="HighGain"/>
<property name="CHEST_JOINT2.NumOfAABB" value="1"/>
<property name="HEAD_JOINT0.angle" value="0.0"/>
<property name="HEAD_JOINT0.mode" value="HighGain"/>
<property name="HEAD_JOINT0.NumOfAABB" value="1"/>
<property name="HEAD_JOINT1.angle" value="0.0"/>
<property name="HEAD_JOINT1.mode" value="HighGain"/>
<property name="HEAD_JOINT1.NumOfAABB" value="1"/>
<property name="RARM_JOINT0.angle" value="0.0"/>
<property name="RARM_JOINT0.mode" value="HighGain"/>
<property name="RARM_JOINT0.NumOfAABB" value="1"/>
<property name="RARM_JOINT1.angle" value="0.0"/>
<property name="RARM_JOINT1.mode" value="HighGain"/>
<property name="RARM_JOINT1.NumOfAABB" value="1"/>
<property name="RARM_JOINT2.angle" value="-0.191986"/>
<property name="RARM_JOINT2.mode" value="HighGain"/>
<property name="RARM_JOINT2.NumOfAABB" value="1"/>
<property name="RARM_JOINT3.angle" value="0.0"/>
<property name="RARM_JOINT3.mode" value="HighGain"/>
<property name="RARM_JOINT3.NumOfAABB" value="1"/>
<property name="RARM_JOINT4.angle" value="0.0"/>
<property name="RARM_JOINT4.mode" value="HighGain"/>
<property name="RARM_JOINT4.NumOfAABB" value="1"/>
<property name="RARM_JOINT5.angle" value="0.0"/>
<property name="RARM_JOINT5.mode" value="HighGain"/>
<property name="RARM_JOINT5.NumOfAABB" value="1"/>
<property name="RARM_JOINT6.angle" value="0.0"/>
<property name="RARM_JOINT6.mode" value="HighGain"/>
<property name="RARM_JOINT6.NumOfAABB" value="1"/>
<property name="RARM_JOINT7.angle" value="0.0"/>
<property name="RARM_JOINT7.mode" value="HighGain"/>
<property name="RARM_JOINT7.NumOfAABB" value="1"/>
<property name="LARM_JOINT0.angle" value="0.0"/>
<property name="LARM_JOINT0.mode" value="HighGain"/>
<property name="LARM_JOINT0.NumOfAABB" value="1"/>
<property name="LARM_JOINT1.angle" value="0.0"/>
<property name="LARM_JOINT1.mode" value="HighGain"/>
<property name="LARM_JOINT1.NumOfAABB" value="1"/>
<property name="LARM_JOINT2.angle" value="0.191986"/>
<property name="LARM_JOINT2.mode" value="HighGain"/>
<property name="LARM_JOINT2.NumOfAABB" value="1"/>
<property name="LARM_JOINT3.angle" value="0.0"/>
<property name="LARM_JOINT3.mode" value="HighGain"/>
<property name="LARM_JOINT3.NumOfAABB" value="1"/>
<property name="LARM_JOINT4.angle" value="0.0"/>
<property name="LARM_JOINT4.mode" value="HighGain"/>
<property name="LARM_JOINT4.NumOfAABB" value="1"/>
<property name="LARM_JOINT5.angle" value="0.0"/>
<property name="LARM_JOINT5.mode" value="HighGain"/>
<property name="LARM_JOINT5.NumOfAABB" value="1"/>
<property name="LARM_JOINT6.angle" value="0.0"/>
<property name="LARM_JOINT6.mode" value="HighGain"/>
<property name="LARM_JOINT6.NumOfAABB" value="1"/>
<property name="LARM_JOINT7.angle" value="0.0"/>
<property name="LARM_JOINT7.mode" value="HighGain"/>
<property name="LARM_JOINT7.NumOfAABB" value="1"/>
</item>
<view class="com.generalrobotix.ui.view.GrxRobotHardwareClientView" name="RobotHardware RTC Client">
<property name="robotHost" value="localhost"/>
<property name="StateHolderRTC" value="StateHolder0"/>
<property name="interval" value="100"/>
<property name="RobotHardwareServiceRTC" value="RobotHardware0"/>
<property name="robotPort" value="2809"/>
<property name="ROBOT" value="JAXON"/>
</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>
<item class="com.generalrobotix.ui.item.GrxRTSItem" name="longfloor" select="true">
<property name="longfloor(Robot)0.period" value="0.002"/>
<property name="HGcontroller0.period" value="0.002"/>
<property name="HGcontroller0.factory" value="HGcontroller"/>
</item>
<item class="com.generalrobotix.ui.item.GrxModelItem" name="longfloor" url="/opt/ros/indigo/share/OpenHRP-3.1/sample/model/longfloor.wrl">
<property name="rtcName" value="longfloor(Robot)0"/>
<property name="inport" value="qRef:JOINT_VALUE"/>
<property name="inport" value="dqRef:JOINT_VELOCITY"/>
<property name="inport" value="ddqRef:JOINT_ACCELERATION"/>
<property name="outport" value="q:JOINT_VALUE"/>
<property name="outport" value="dq:JOINT_VELOCITY"/>
<property name="outport" value="tau:JOINT_TORQUE"/>
<property name="outport" value="WAIST:WAIST:ABS_TRANSFORM"/>
<property name="WAIST.NumOfAABB" value="1"/>
<property name="WAIST.translation" value="0 0 -0.1"/>
<property name="WAIST.rotation" value="1 0 0 0"/>
</item>
<view class="com.generalrobotix.ui.view.GrxRobotHardwareClientView" name="RobotHardware RTC Client">
<property name="robotHost" value="localhost"/>
<property name="StateHolderRTC" value="StateHolder0"/>
<property name="interval" value="100"/>
<property name="RobotHardwareServiceRTC" value="RobotHardware0"/>
<property name="robotPort" value="2809"/>
<property name="ROBOT" value="longfloor"/>
</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 2.75 0.70711 -0 0.70711 2.75 0 1 0 0.9 0 0 0 1 "/>
<property name="showCollision" value="true"/>
<property name="showActualState" value="true"/>
<property name="showScale" value="true"/>
</view>
<item class="com.generalrobotix.ui.item.GrxCollisionPairItem" name="CP#longfloor_#JAXONmain_">
<property name="springConstant" value="0 0 0 0 0 0"/>
<property name="slidingFriction" value="0.5"/>
<property name="jointName2" value=""/>
<property name="jointName1" value=""/>
<property name="damperConstant" value="0 0 0 0 0 0"/>
<property name="objectName2" value="longfloor"/>
<property name="objectName1" value="JAXON_JVRC"/>
<property name="springDamperModel" value="false"/>
<property name="staticFriction" value="0.5"/>
</item>
</mode>
</grxui>
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