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#-----------------------------------------------------------------------------
#
# file:robo-bird.bones
#
# Skeleton for bird-like robot model with feet, body and large head.
# All joints are 1 DOF, except for hips (2 DOF) and ankles (2 DOF).
# Mass and inertia parameters calculated automatically using density of
# 1.0 g/cm^3
#
# Body axes:forward -> -1,0,0(-ve x-axis)
#right-> 0,0,-1(-ve z-axis)
#up-> 0,1,0(+ve y-axis)
#
# Joints:(z - pitch, x - roll, y - yaw)
# neck-z, rhip-x, rhip-z, rknee1-z, rknee2-z, rknee3-z, rankle-z, rankle-x
#lhip-x, lhip-z, lknee1-z, lknee2-z, lknee3-z, lankle-z, lankle-x
#
#-----------------------------------------------------------------------------

### STRUCTURE + LINK PARAMETERS--------------------------------------------

# the words "left" and "right" may be backwards in the descriptions below.

bone 1# body
# x-aligned segments
seg 1.0,-0.4,-1.5 -4,-0.4,-1.5
seg 1.0,-0.4,1.5 -4,-0.4,1.5
seg 1.0,0.8,-1.5 -4,0.8,-1.5
seg 1.0,0.8,1.5 -4,0.8,1.5
# z-aligned segments
seg 1.0,0.8,-1.5 1.0,0.8,1.5
seg 1.0,-0.4,-1.5 1.0,-0.4,1.5
seg -4,-0.4,-1.5 -4,-0.4,1.5
seg -4,0.8,-1.5 -4,0.8,1.5
# y-aligned segments
seg 1.0,-0.4,-1.5 1.0,0.8,-1.5
seg 1.0,-0.4,1.5 1.0,0.8,1.5
seg -4,-0.4,-1.5 -4,0.8,-1.5
seg -4,-0.4,1.5 -4,0.8,1.5

bone 2# head
# x-aligned segments
seg 0.5,1.5,-1.75 -6.0,1.5,-0.9
seg 0.5,1.5,1.75 -6.0,1.5,0.9
seg 0.5,5.5,-2.25 -4.5,5.5,-1.25
seg 0.5,5.5,2.25 -4.5,5.5,1.25
# z-aligned segments
seg 0.5,1.5,-1.75 0.5,1.5,1.75
seg 0.5,5.5,-2.25 0.5,5.5,2.25
seg -6.0,1.5,-0.9 -6.0,1.5,0.9
seg -4.5,5.5,-1.25 -4.5,5.5,1.25
# y-aligned segments
seg 0.5,1.5,-1.75 0.5,5.5,-2.25
seg 0.5,1.5,1.75 0.5,5.5,2.25
seg -6.0,1.5,-0.9 -4.5,5.5,-1.25
seg -6.0,1.5,0.9 -4.5,5.5,1.25
hinge 1 -2.3,1.0,0 0,1,0# neck - 1 DOF (yaw)

bone 3# right leg bone1 (upper)
seg 0,0,-2.5 -3,0,-2.5
uhinge 1 0,0,-2.5 1,0,0 0,0,1# hip - 2 DOF
#(roll, pitch)