items: 
  id: 0
  name: "Root"
  plugin: Base
  class: RootItem
  children: 
    - 
      id: 1
      name: "World"
      plugin: Body
      class: WorldItem
      data: 
        collisionDetection: false
        collisionDetector: AISTCollisionDetector
      children: 
        - 
          id: 2
          name: "Tank"
          plugin: Body
          class: BodyItem
          data: 
            modelFile: "${SHARE}/model/Tank/Tank.body"
            currentBaseLink: "CHASSIS"
            rootPosition: [ 0, 0, 0.1 ]
            rootAttitude: [ 
              1, 0, 0, 
              0, 1, 0, 
              0, 0, 1 ]
            jointPositions: [  0.000000,  0.000000 ]
            initialRootPosition: [ 0, 0, 0.1 ]
            initialRootAttitude: [ 
              1, 0, 0, 
              0, 1, 0, 
              0, 0, 1 ]
            initialJointPositions: [  0.000000,  0.000000 ]
            zmp: [ 0, 0, 0 ]
            collisionDetection: true
            selfCollisionDetection: true
            isEditable: true
          children: 
            - 
              id: 3
              name: "TurretController"
              plugin: SimpleController
              class: SimpleControllerItem
              data: 
                isNoDelayMode: true
                controller: "TankTutorial_TurretController2"
                reloading: true
        - 
          id: 6
          name: "Floor"
          plugin: Body
          class: BodyItem
          data: 
            modelFile: "${SHARE}/model/misc/floor.body"
            currentBaseLink: "Floor"
            rootPosition: [ 0, 0, -0.1 ]
            rootAttitude: [ 
              1, 0, 0, 
              0, 1, 0, 
              0, 0, 1 ]
            jointPositions: [  ]
            initialRootPosition: [ 0, 0, -0.1 ]
            initialRootAttitude: [ 
              1, 0, 0, 
              0, 1, 0, 
              0, 0, 1 ]
            collisionDetection: true
            selfCollisionDetection: false
            isEditable: false
        - 
          id: 7
          name: "AISTSimulator"
          plugin: Body
          class: AISTSimulatorItem
          data: 
            timestep: 0.001
            realtimeSync: true
            recording: "full"
            timeRangeMode: "Unlimited"
            timeLength: 180
            allLinkPositionOutputMode: false
            deviceStateOutput: true
            selfCollision: true
            controllerThreads: true
            recordCollisionData: false
            controllerOptions: ""
            dynamicsMode: "Forward dynamics"
            integrationMode: "Runge Kutta"
            gravity: [ 0, 0, -9.80665 ]
            staticFriction: 1
            dynamicFriction: 1
            cullingThresh: 0.005
            contactCullingDepth: 0.05
            errorCriterion: 0.001
            maxNumIterations: 1000
            contactCorrectionDepth: 0.0001
            contactCorrectionVelocityRatio: 1
            kinematicWalking: false
            2Dmode: false
            oldAccelSensorMode: false
views: 
  - 
    id: 1
    plugin: Base
    class: ItemPropertyView
    mounted: true
  - 
    id: 2
    plugin: Base
    class: ItemTreeView
    mounted: true
    state: 
      checked: [ 2, 6 ]
      expanded: [ 1, 2, 3 ]
  - 
    id: 3
    plugin: Base
    class: MessageView
    mounted: true
  - 
    id: 4
    plugin: Base
    class: SceneView
    mounted: true
  - 
    id: 6
    name: "Virtual Joystick"
    plugin: Base
    class: VirtualJoystickView
    mounted: true
  - 
    id: 7
    plugin: Body
    class: BodyLinkView
    mounted: true
    state: 
      showRotationMatrix: false
  - 
    id: 8
    plugin: Body
    class: JointSliderView
    mounted: true
    state: 
      showAllJoints: true
      jointId: false
      name: true
      numColumns: 1
      spinBox: true
      slider: true
      labelOnLeft: true
      currentBodyItem: 2
  - 
    id: 9
    plugin: Body
    class: LinkSelectionView
    mounted: true
    state: 
      listingMode: "Link List"
      currentBodyItem: 2
      bodyItems: 
        - 
          id: 6
          selectedLinks: [ 0 ]
toolbars: 
  "TimeBar": 
    minTime: 0
    maxTime: 30
    frameRate: 100
    playbackFrameRate: 50
    idleLoopDrivenMode: false
    currentTime: 0
    speedScale: 1
    syncToOngoingUpdates: true
    autoExpansion: true
viewAreas: 
  - 
    type: embedded
    tabs: true
    contents: 
      type: splitter
      orientation: horizontal
      sizes: [ 100, 500 ]
      children: 
        - 
          type: splitter
          orientation: vertical
          sizes: [ 100, 100 ]
          children: 
            - 
              type: pane
              views: [ 2 ]
              current: 2
            - 
              type: pane
              views: [ 1, 9 ]
              current: 1
        - 
          type: splitter
          orientation: vertical
          sizes: [ 500, 200 ]
          children: 
            - 
              type: splitter
              orientation: horizontal
              sizes: [ 300, 500 ]
              children: 
                - 
                  type: pane
                  views: [ 7, 8 ]
                  current: 7
                - 
                  type: pane
                  views: [ 4 ]
                  current: 4
            - 
              type: splitter
              orientation: horizontal
              sizes: [ 500, 300 ]
              children: 
                - 
                  type: pane
                  views: [ 3 ]
                  current: 3
                - 
                  type: pane
                  views: [ 6 ]
                  current: 6
layoutOfToolBars: 
  rows: 
    - 
      - { name: "SimulationBar", x: 0, priority: 1 }
      - { name: "TimeBar", x: 0, priority: 0 }
    - 
      - { name: "FileBar", x: 0, priority: 3 }
      - { name: "BodyBar", x: 0, priority: 2 }
      - { name: "KinematicsBar", x: 0, priority: 1 }
      - { name: "SceneBar", x: 0, priority: 0 }
