sofa-data 1.0~beta4-11 / usr / share / sofa / examples / Demos / Ophtalmo / toolPince.scn

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/usr/share/sofa/examples/Demos/Ophtalmo/toolPince.scn is in sofa-data 1.0~beta4-11.

This file is owned by root:root, with mode 0o644.

The actual contents of the file can be viewed below. 

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<Node name="Instrument">
	<Object type="MechanicalObject" name="DOFs" position="0 0 0 0 1" template="LaparoscopicRigid3"/>
	<Node name="RigidLayer">
		<Object type="MechanicalObject" template="Rigid" />
		<Object type="UniformMass" filename="Demos/Ophtalmo/data/mesh/Blade_instrument_centered.rigid" />
		<Object type="LaparoscopicRigidMapping" pivot="0 0 0" rotation="0 0.707 0 0.707"/>
	<Node name="articulatedObject">
		<Object type="MechanicalObject" name="ArticulatedObject" template="Vec1d" position="-0.1 0.1"/>
                <Object type="GraspingManager" openAngle="-0.1" />
		<Node name="Pince"> 
			<Object type="MechanicalObject" name="6D_Dof" template="Rigid" position="0 0 0 0 0 0 1  0 0 0 0 0 0 1  0 0 0 0 0 0 1"/>
			<Object type="UniformMass" filename="BehaviorModels/rigid.xs3"/>
			<Node name="Manche">
				<Node name="Visu">
					<Object type="OglModel" name="Visual" fileMesh="Demos/Ophtalmo/data/mesh/Blade_instrument_handle.obj" />
					<Object type="RigidMapping" object1="../.." object2="Visual" index="0"/>
				</Node>
				<!--
				<Node name="Collis">
					<Object type="Mesh" fileTopology="mesh/smCube27.obj" />
					<Object type="MechanicalObject" name="Collision"/>
					<Object type="Triangle" />
					<Object type="RigidMapping" object1="../.." object2="Collision" index="0"/>
				</Node> -->
			</Node>
			<Node name="mors_droit" >
				<Node name="Visu">
					<Object type="OglModel" name="Visual" fileMesh="Demos/Ophtalmo/data/mesh/Grab_instrument_right.obj" />
					<Object type="RigidMapping" object1="../.." object2="Visual" index="1"/>
				</Node>
				
				<Node name="Collis">
					<Object type="MeshLoader" filename="Demos/Ophtalmo/data/mesh/Grab_instrument_right.obj" />
					<Object type="Mesh" />
					<Object type="MechanicalObject" name="Collision"/>
					<Object type="Triangle" />
					<Object type="RigidMapping" object1="../.." object2="Collision" index="1"/>
				</Node>
				
				<Node name="Grasp">
					<Object type="MeshLoader" filename="Demos/Ophtalmo/data/mesh/Grab_instrument_right_inside.obj" />
					<Object type="Mesh" />
					<Object type="MechanicalObject" name="Collision" dx="-0.005" />
					<Object type="Triangle" name="stick" contactResponse="stick" active="false"/>
					<Object type="RigidMapping" object1="../.." object2="Collision" index="1"/>
				</Node>
			</Node>
			<Node name="mors_gauche">
				<Node name="Visu">
					<Object type="OglModel" name="Visual" fileMesh="Demos/Ophtalmo/data/mesh/Grab_instrument_left.obj" />
					<Object type="RigidMapping" object1="../.." object2="Visual" index="2"/>
				</Node>
				
				<Node name="Collis">
					<Object type="MeshLoader" filename="Demos/Ophtalmo/data/mesh/Grab_instrument_left.obj" />
					<Object type="Mesh" />
					<Object type="MechanicalObject" name="Collision"/>
					<Object type="Triangle" />
					<Object type="RigidMapping" object1="../.." object2="Collision" index="2"/>
				</Node>

				<Node name="Grasp">
					<Object type="MeshLoader" filename="Demos/Ophtalmo/data/mesh/Grab_instrument_left_inside.obj" />
					<Object type="Mesh" />
					<Object type="MechanicalObject" name="Collision" dx="0.005" />
					<Object type="Triangle" name="stick" contactResponse="stick" active="false" />
					<Object type="RigidMapping" object1="../.." object2="Collision" index="2"/>
				</Node>
			</Node>
			<Object type="ArticulatedSystemMapping" object1="ArticulatedObject" object2="6D_Dof"/>
		</Node>
            <Object type="ArticulatedHierarchyContainer" />
		<Node name="articulationCenters">
			<Node name="articulationCenter1">
				<Object type="ArticulationCenter" parentIndex="0" childIndex="1" posOnParent="0.003 0.0 -0.7584" posOnChild="0 0 -0.7584"/>
				<Node name="articulations">
					<Object type="Articulation" translation="0" rotation="1" rotationAxis="0 1 0" articulationIndex="0"/>
				</Node>
			</Node>
			<Node name="articulationCenter2">
				<Object type="ArticulationCenter" parentIndex="0" childIndex="2" posOnParent="-0.003 0.0 -0.7584" posOnChild="0 0 -0.7584"/>
				<Node name="articulations">
					<Object type="Articulation" translation="0" rotation="1" rotationAxis="0 1 0" articulationIndex="1"/>
				</Node>
			</Node>
		</Node>
	</Node>
	</Node>
</Node>

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