<?xml version="1.0" encoding="UTF-8"?>
<X3D profile="Immersive" version="3.0">
  <Scene>
    
    <ProtoDeclare name='Joint' >
      <ProtoInterface>
	<field accessType='inputOutput' type='SFVec3f' name='center'  value='0.0 0.0 0.0' />
	<field accessType='inputOutput' type='MFNode' name='children'	/>
	<field accessType='inputOutput' type='MFFloat' name='llimit'  />
	<field accessType='inputOutput' type='SFRotation' name='limitOrientation'	value='0.0 0.0 1.0 0.0' />
	<field accessType='inputOutput' type='SFString' name='name'  value='' />
	<field accessType='inputOutput' type='SFRotation' name='rotation'	value='0.0 0.0 1.0 0.0' />
	<field accessType='inputOutput' type='SFVec3f' name='scale'  value='1.0 1.0 1.0' />
	<field accessType='inputOutput' type='SFRotation' name='scaleOrientation'	value='0.0 0.0 1.0 0.0' />
	<field accessType='inputOutput' type='MFFloat' name='stiffness'  value='0.0 ,0.0 ,0.0' />
	<field accessType='inputOutput' type='SFVec3f' name='translation'	value='0.0 0.0 0.0' />
	<field accessType='inputOutput' type='MFFloat' name='ulimit'  />
	<field accessType='inputOutput' type='MFFloat' name='dh'  value='0.0 ,0.0 ,0.0 ,0.0' />
	<field accessType='inputOutput' type='SFString' name='jointType'  value='' />
	<field accessType='inputOutput' type='SFFloat' name='jointId'	value='-1.0' />
	<field accessType='inputOutput' type='SFVec3f' name='jointAxis'  value='1.0 0.0 0.0' />
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      <ProtoBody>
	<Transform>
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	    <connect nodeField='children' protoField='children' />
	    <connect nodeField='center' protoField='center' />
	    <connect nodeField='rotation' protoField='rotation' />
	    <connect nodeField='scale' protoField='scale' />
	    <connect nodeField='scaleOrientation' protoField='scaleOrientation' />
	    <connect nodeField='translation' protoField='translation' />
	  </IS>
	</Transform>
      </ProtoBody>
    </ProtoDeclare>

    <ProtoDeclare name='Segment' >
      <ProtoInterface>
	<field accessType='initializeOnly' type='SFVec3f' name='bboxCenter'  value='0.0 0.0 0.0' />
	<field accessType='initializeOnly' type='SFVec3f' name='bboxSize'	value='-1.0 -1.0 -1.0' />
	<field accessType='inputOutput' type='SFVec3f' name='centerOfMass'	 value='0.0 0.0 0.0' />
	<field accessType='inputOutput' type='MFNode' name='children'	/>
	<field accessType='inputOutput' type='SFNode' name='coord'	 />
	<field accessType='inputOutput' type='MFNode' name='displacers'  />
	<field accessType='inputOutput' type='SFFloat' name='mass'	 value='0.0' />
	<field accessType='inputOutput' type='MFFloat' name='momentsOfInertia'	 value='0.0 ,0.0 ,0.0 ,0.0 ,0.0 ,0.0 ,0.0 ,0.0 ,0.0' />
	<field accessType='inputOutput' type='SFString' name='name'  value='' />
	<field accessType='inputOnly' type='MFNode' name='addChildren'	 />
	<field accessType='inputOnly' type='MFNode' name='removeChildren'	/>
      </ProtoInterface>
      <ProtoBody>
	<Group>
	  <IS>
	    <connect nodeField='children' protoField='children' />
	    <connect nodeField='addChildren' protoField='addChildren' />
	    <connect nodeField='removeChildren' protoField='removeChildren' />
	    <connect nodeField='bboxCenter' protoField='bboxCenter' />
	    <connect nodeField='bboxSize' protoField='bboxSize' />
	  </IS>
	</Group>
      </ProtoBody>
    </ProtoDeclare>
    
      <ProtoDeclare name='Humanoid' >
      <ProtoInterface>
	<field accessType='initializeOnly' type='SFVec3f' name='bboxCenter'  value='0.0 0.0 0.0' />
	<field accessType='initializeOnly' type='SFVec3f' name='bboxSize'	value='-1.0 -1.0 -1.0' />
	<field accessType='inputOutput' type='SFVec3f' name='center'  value='0.0 0.0 0.0' />
	<field accessType='inputOutput' type='MFNode' name='humanoidBody'	/>
	<field accessType='inputOutput' type='MFString' name='info'  />
	<field accessType='inputOutput' type='MFNode' name='joints'  />
	<field accessType='inputOutput' type='SFString' name='name'  value='' />
	<field accessType='inputOutput' type='SFRotation' name='rotation'	value='0.0 0.0 1.0 0.0' />
	<field accessType='inputOutput' type='SFVec3f' name='scale'  value='1.0 1.0 1.0' />
	<field accessType='inputOutput' type='SFRotation' name='scaleOrientation'	value='0.0 0.0 1.0 0.0' />
	<field accessType='inputOutput' type='MFNode' name='segments'	/>
	<field accessType='inputOutput' type='MFNode' name='sites'	 />
	<field accessType='inputOutput' type='SFVec3f' name='translation'	value='0.0 0.0 0.0' />
	<field accessType='inputOutput' type='SFString' name='version'	 value='1.0' />
	<field accessType='inputOutput' type='MFNode' name='viewpoints'  />
      </ProtoInterface>
      <ProtoBody>
	<Transform>
	  <IS>
	    <connect nodeField='bboxCenter' protoField='bboxCenter' />
	    <connect nodeField='bboxSize' protoField='bboxSize' />
	    <connect nodeField='center' protoField='center' />
	    <connect nodeField='rotation' protoField='rotation' />
	    <connect nodeField='scale' protoField='scale' />
	    <connect nodeField='scaleOrientation' protoField='scaleOrientation' />
	    <connect nodeField='translation' protoField='translation' />
	  </IS>
	  <Group>
	    <IS>
	      <connect nodeField='children' protoField='viewpoints' />
	    </IS>
	  </Group>
	  <Group>
	    <IS>
	      <connect nodeField='children' protoField='humanoidBody' />
	    </IS>
	  </Group>
	</Transform>
      </ProtoBody>
    </ProtoDeclare>
    
     <ProtoInstance name='Humanoid' DEF="HRP1"	 containerField='children'>
      <fieldValue name='info' value='"This is a sample model of OpenHRP.","You can modify and use this model freely.","Author:okamoto (tome) 2011.2.1"' />
      <fieldValue name='name' value='sample' />
      <fieldValue name='version' value='1.1' />
      
      <ProtoInstance name='Joint' DEF="WAIST"  containerField='humanoidBody'>
	<fieldValue name='name' value='WAIST' />
	<fieldValue name='translation' value='0.0 0.0 0.0' />
	<fieldValue name='jointType' value='free' />
	<fieldValue name='jointId' value='1.0' />
	
	<ProtoInstance name='Joint' DEF="HIP_JOINT_Z"	containerField='children'>
	  <fieldValue name='name' value='HIP_JOINT_Z' />
	  <fieldValue name='jointType' value='rotate' />
	  <fieldValue name='jointAxis' value='0.0 0.0 1.0' />
	  <fieldValue name='jointId' value='2.0' />
	  <ProtoInstance name='Joint' DEF="HIP_JOINT_X"	containerField='children'>
	    <fieldValue name='name' value='HIP_JOINT_X' />
	    <fieldValue name='jointType' value='rotate' />
	    <fieldValue name='jointAxis' value='1.0 0.0 0.0' />
	    <fieldValue name='jointId' value='3.0' />
	    <ProtoInstance name='Joint' DEF="HIP_JOINT_Y"	containerField='children'>
	      <fieldValue name='name' value='HIP_JOINT_Y' />
	      <fieldValue name='jointType' value='rotate' />
	      <fieldValue name='jointAxis' value='0.0 1.0 0.0' />
	      <fieldValue name='jointId' value='4.0' />
	      <ProtoInstance name='Segment' DEF="WAIST_LINK0"	containerField='children'>
		<fieldValue name='name' value='WAIST_LINK0' />
		<fieldValue name='centerOfMass' value='0.0 7.5 0.0' />
		<fieldValue name='mass' value='27.0' />
		<fieldValue name='jointId' value='5.0' />
		<fieldValue name='momentsOfInertia' value='1.0 ,0.0 ,0.0 ,0.0 ,1.0 ,0.0 ,0.0 ,0.0 ,1.0' />
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		  <Shape>
		    <Appearance>
		      <ImageTexture url='"man_c01.jpg"' />
		    </Appearance>
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	      <ProtoInstance name='Joint' DEF="WAIST_JOINT"  containerField='children'>
		<fieldValue name='name' value='WAIST_JOINT' />
		<fieldValue name='jointType' value='fixed' />
		<fieldValue name='jointId' value='6.0' />
		<ProtoInstance name='Joint' DEF="WAIST_JOINT_Z"  containerField='children'>
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		  <fieldValue name='jointType' value='rotate' />
		  <fieldValue name='jointId' value='7.0' />
		  <fieldValue name='jointAxis' value='0.0 0.0 1.0' />
		  <ProtoInstance name='Joint' DEF="WAIST_JOINT_X"  containerField='children'>
		    <fieldValue name='name' value='WAIST_JOINT_X' />
		    <fieldValue name='jointType' value='rotate' />
		    <fieldValue name='jointId' value='8.0' />
		    <fieldValue name='jointAxis' value='1.0 0.0 0.0' />
		    <ProtoInstance name='Joint' DEF="WAIST_JOINT_Y"  containerField='children'>
		      <fieldValue name='name' value='WAIST_JOINT_Y' />
		      <fieldValue name='jointType' value='rotate' />
		      <fieldValue name='jointId' value='9.0' />
		      <fieldValue name='jointAxis' value='0.0 1.0 0.0' />
		      <ProtoInstance name='Segment' DEF="WAIST_LINK1"  containerField='children'>
			<fieldValue name='name' value='WAIST_LINK1' />
			<fieldValue name='centerOfMass' value='0.0 35.0 0.0' />
			<fieldValue name='mass' value='6.0' />
			<fieldValue name='momentsOfInertia' value='1.0 ,0.0 ,0.0 ,0.0 ,1.0 ,0.0 ,0.0 ,0.0 ,1.0' />
			<Transform>
			  
			  <Shape>
			    <Appearance>
			      <ImageTexture url='"man_c01.jpg"' />
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				      </Transform>

				    </ProtoInstance> 
				  </ProtoInstance>
				</ProtoInstance>
			      </ProtoInstance>
			    </ProtoInstance>
			  </ProtoInstance>
			</ProtoInstance>
		      </ProtoInstance>
		      
		      <!--ARMJoint-->		      
		      <ProtoInstance name='Joint' DEF="ARM"  containerField='children'>
			<fieldValue name='name' value='ARM' />
			<fieldValue name='jointType' value='fixed' />
			<fieldValue name='jointId' value='20.0' />
			<ProtoInstance name='Joint' DEF="COLLAR_JOINT"  containerField='children'>
			  <fieldValue name='name' value='COLLAR_JOINT' />
			  <fieldValue name='translation' value='0.0 42.0 -1.0' />
			  <fieldValue name='jointType' value='fixed' />
			  <fieldValue name='jointAxis' value='0.0 0.0 0.0' />
			  <fieldValue name='jointId' value='21.0' />
			  
			  
			  <ProtoInstance name='Joint' DEF="LARM_JOINT"  containerField='children'>
			    <fieldValue name='name' value='LARM_JOINT' />
			    <fieldValue name='jointType' value='fixed' />
			    <fieldValue name='jointId' value='22.0' />
			    


			    <ProtoInstance name='Joint' DEF="LSHOULDER_JOINT_Z"	 containerField='children'>
			      <fieldValue name='name' value='LSHOULDER_JOINT_Z' />
			      <fieldValue name='translation' value='20.0 0.0 0.0' />
			      <fieldValue name='dh' value='0.0 ,0.0 ,1.5708 ,-1.5708' />
			      <fieldValue name='jointType' value='rotate' />
			      <fieldValue name='jointAxis' value='0.0 0.0 1.0' />
			      <fieldValue name='jointId' value='23.0' />
			      <ProtoInstance name='Joint' DEF="LSHOULDER_JOINT_X"	 containerField='children'>
				<fieldValue name='name' value='LSHOULDER_JOINT_X' />
				<fieldValue name='jointType' value='rotate' />
				<fieldValue name='jointAxis' value='1.0 0.0 0.0' />
				<fieldValue name='jointId' value='24.0' />
				<ProtoInstance name='Joint' DEF="LSHOULDER_JOINT_Y"	 containerField='children'>
				  <fieldValue name='name' value='LSHOULDER_JOINT_Y' />
				  <fieldValue name='jointType' value='rotate' />
				  <fieldValue name='jointAxis' value='0.0 1.0 0.0' />
				  <fieldValue name='jointId' value='25.0' />
				  
				  <ProtoInstance name='Joint' DEF="LSHOULDER_JOINT_OFFSET"     containerField='children'>
				    <fieldValue name='name' value='LSHOULDER_JOINT_OFFSET' />
				    <fieldValue name='translation' value='0.0 0.0 0.0' />
				    <fieldValue name='jointType' value='sphere' />

				    
				    
				  <ProtoInstance name='Segment' DEF="LARM_LINK2"	 containerField='children'>
				    <fieldValue name='name' value='LARM_LINK2' />
				    <fieldValue name='centerOfMass' value='10.0 0.0 0.0' />
				    <fieldValue name='mass' value='0.6' />
				    <fieldValue name='momentsOfInertia' value='1.0 ,0.0 ,0.0 ,0.0 ,1.0 ,0.0 ,0.0 ,0.0 ,1.0' />

		
				    <Transform translation='-2.0 0.0 0.0'>
				      <Shape>
					<Appearance>
					  <ImageTexture url='"man_c01.jpg"' />
					</Appearance>
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				  <ProtoInstance name='Joint' DEF="LELBOW_JOINT_Z"  containerField='children'>
				    <fieldValue name='name' value='LELBOW_JOINT_Z' />
				    <fieldValue name='translation' value='19.0 0.0 0.0' />
				    <fieldValue name='jointType' value='rotate' />
				    <fieldValue name='jointAxis' value='0.0 0.0 1.0' />
				    <fieldValue name='jointId' value='26.0' />
				    <ProtoInstance name='Joint' DEF="LELBOW_JOINT_X"  containerField='children'>
				      <fieldValue name='name' value='LELBOW_JOINT_X' />
				      <fieldValue name='jointType' value='rotate' />
				      <fieldValue name='jointAxis' value='1.0 0.0 0.0' />
				      <fieldValue name='jointId' value='27.0' />
				      <ProtoInstance name='Joint' DEF="LELBOW_JOINT_Y"  containerField='children'>
					<fieldValue name='name' value='LELBOW_JOINT_Y' />
					<fieldValue name='jointType' value='rotate' />
					<fieldValue name='jointAxis' value='0.0 1.0 0.0' />
					<fieldValue name='jointId' value='28.0' />
					
					<ProtoInstance name='Joint' DEF="LELBOW_JOINT_OFFSET"     containerField='children'>
					  <fieldValue name='name' value='LELBOW_JOINT_OFFSET' />
					  <fieldValue name='translation' value='0.0 0.0 0.0' />
					  <fieldValue name='jointType' value='sphere' />
					  

					<ProtoInstance name='Segment' DEF="LARM_LINK4"  containerField='children'>
					  <fieldValue name='name' value='LARM_LINK4' />
					  <fieldValue name='centerOfMass' value='11.5 0.0 0.0' />
					  <fieldValue name='mass' value='0.6' />
					  <fieldValue name='momentsOfInertia' value='1.0 ,0.0 ,0.0 ,0.0 ,1.0 ,0.0 ,0.0 ,0.0 ,1.0' />


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					    <Shape>
					      <Appearance>
						<ImageTexture url='"man_c01.jpg"' />
					      </Appearance>
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					<ProtoInstance name='Joint' DEF="LWRIST_JOINT_Z"	containerField='children'>
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					      <ProtoInstance name='Joint' DEF="LWRIST_JOINT_OFFSET"     containerField='children'>
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						<ProtoInstance name='Segment' DEF="LARM_LINK7"	containerField='children'>
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			  <ProtoInstance name='Joint' DEF="RARM_JOINT"  containerField='children'>
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			    <ProtoInstance name='Joint' DEF="RSHOULDER_JOINT_Z"	 containerField='children'>
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