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Merge pull request #356 from kirohy/jaxon-replace-foot
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[WIP][jvrc_models/JAXON_JVRC] replace foot with leptrino force sensor
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@YoheiKakiuchi
YoheiKakiuchi authored Aug 14, 2021
2 parents e76ca47 + db012b9 commit 0503094
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Showing 11 changed files with 90,349 additions and 146,767 deletions.
20 changes: 9 additions & 11 deletions jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl
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Original file line number Diff line number Diff line change
Expand Up @@ -1349,14 +1349,13 @@ DEF JAXON_JVRC Humanoid {
rotorInertia 7.0e-6
children [
DEF LLEG_LINK5 Segment {
# mass 1.552
mass 2.752
centerOfMass 0.00064 0.00264 -0.05633
momentsOfInertia [0.00442296 0 0 0 0.00907896 0 0 0 0.00902826 ]
mass 1.574
centerOfMass 0.00129 -0.00007 -0.07425
momentsOfInertia [0.00284031 0.00000330 -0.00005559 0.00000330 0.00418291 -0.00000218 -0.00005559 -0.00000218 0.00413640 ]
children [
Inline { url "LLEG_LINK5.wrl" }
DEF lfsensor ForceSensor{
translation 0 0 -0.069
translation 0 0 -0.0825
rotation 0 1 0 3.14159
sensorId 1
} #Sensor
Expand Down Expand Up @@ -1541,15 +1540,14 @@ DEF JAXON_JVRC Humanoid {
rotorInertia 7.0e-6
children [
DEF RLEG_LINK5 Segment {
# mass 1.552
mass 2.752
centerOfMass 0.00064 -0.00264 -0.05633
momentsOfInertia [0.00442296 0 0 0 0.00907896 0 0 0 0.00902826 ]
mass 1.574
centerOfMass 0.00129 0.00007 -0.07425
momentsOfInertia [0.00284031 0.00000330 -0.00005559 0.00000330 0.00418291 -0.00000218 -0.00005559 -0.00000218 0.00413640 ]
children [
Inline { url "RLEG_LINK5.wrl" }
DEF rfsensor ForceSensor{
translation 0 0 -0.069
rotation 0 1 0 3.14159
translation 0 0 -0.0825
rotation 1 0 0 3.14159
sensorId 0
} #Sensor
]
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20 changes: 9 additions & 11 deletions jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
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Original file line number Diff line number Diff line change
Expand Up @@ -1350,14 +1350,13 @@ DEF JAXON_JVRC Humanoid {
rotorInertia 7.0e-6
children [
DEF LLEG_LINK5 Segment {
# mass 1.552
mass 2.752
centerOfMass 0.00064 0.00264 -0.05633
momentsOfInertia [0.00442296 0 0 0 0.00907896 0 0 0 0.00902826 ]
mass 1.574
centerOfMass 0.00129 -0.00007 -0.07425
momentsOfInertia [0.00284031 0.00000330 -0.00005559 0.00000330 0.00418291 -0.00000218 -0.00005559 -0.00000218 0.00413640 ]
children [
Inline { url "LLEG_LINK5.wrl" }
DEF lfsensor ForceSensor{
translation 0 0 -0.069
translation 0 0 -0.0825
rotation 0 1 0 3.14159
sensorId 1
} #Sensor
Expand Down Expand Up @@ -1542,15 +1541,14 @@ DEF JAXON_JVRC Humanoid {
rotorInertia 7.0e-6
children [
DEF RLEG_LINK5 Segment {
# mass 1.552
mass 2.752
centerOfMass 0.00064 -0.00264 -0.05633
momentsOfInertia [0.00442296 0 0 0 0.00907896 0 0 0 0.00902826 ]
mass 1.574
centerOfMass 0.00129 0.00007 -0.07425
momentsOfInertia [0.00284031 0.00000330 -0.00005559 0.00000330 0.00418291 -0.00000218 -0.00005559 -0.00000218 0.00413640 ]
children [
Inline { url "RLEG_LINK5.wrl" }
DEF rfsensor ForceSensor{
translation 0 0 -0.069
rotation 0 1 0 3.14159
translation 0 0 -0.0825
rotation 1 0 0 3.14159
sensorId 0
} #Sensor
]
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24 changes: 11 additions & 13 deletions jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl
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Original file line number Diff line number Diff line change
Expand Up @@ -1486,17 +1486,16 @@ DEF JAXON_JVRC Humanoid {
rotorInertia 7.0e-6
children [
DEF LLEG_LINK5_UPPER Segment {
# mass 1.552
mass 2.752
centerOfMass 0.00064 0.00264 -0.05633
momentsOfInertia [0.00442296 0 0 0 0.00907896 0 0 0 0.00902826 ]
mass 1.574
centerOfMass 0.00129 -0.00007 -0.07425
momentsOfInertia [0.00284031 0.00000330 -0.00005559 0.00000330 0.00418291 -0.00000218 -0.00005559 -0.00000218 0.00413640 ]
children [
Surface {
visual [ Inline { url "LLEG_LINK5_U.wrl" } ] # visual
# collision [ Inline { url "collision_directory/LLEG_LINK5_U.wrl" } ] # collision
} # surface
DEF lfsensor ForceSensor {
translation 0 0 -0.069
translation 0 0 -0.0825
rotation 0 1 0 3.14159
sensorId 1
}
Expand All @@ -1505,7 +1504,7 @@ DEF JAXON_JVRC Humanoid {
DEF LLEG_BUSH_Z Joint {
jointType "slide"
jointAxis 0 0 1
translation 0 0 -0.077 # bush center
translation 0 0 -0.1025 # bush center
llimit [-1.0]
ulimit [ 1.0]
rotorInertia 0.07
Expand Down Expand Up @@ -1735,26 +1734,25 @@ DEF JAXON_JVRC Humanoid {
rotorInertia 7.0e-6
children [
DEF RLEG_LINK5_UPPER Segment {
# mass 1.552
mass 2.752
centerOfMass 0.00064 -0.00264 -0.05633
momentsOfInertia [0.00442296 0 0 0 0.00907896 0 0 0 0.00902826 ]
mass 1.574
centerOfMass 0.00129 0.00007 -0.07425
momentsOfInertia [0.00284031 0.00000330 -0.00005559 0.00000330 0.00418291 -0.00000218 -0.00005559 -0.00000218 0.00413640 ]
children [
Surface {
visual [ Inline { url "RLEG_LINK5_U.wrl" } ] # visual
# collision [ Inline { url "collision_directory/RLEG_LINK5_U.wrl" } ] # collision
} # surface
DEF rfsensor ForceSensor {
translation 0 0 -0.069
rotation 0 1 0 3.14159
translation 0 0 -0.0825
rotation 1 0 0 3.14159
sensorId 0
} #Sensor
]
} #Segment RLEG_LINK5_UPPER
DEF RLEG_BUSH_Z Joint {
jointType "slide"
jointAxis 0 0 1
translation 0 0 -0.077 # bush center
translation 0 0 -0.1025 # bush center
llimit [-1.0]
ulimit [ 1.0]
rotorInertia 0.07
Expand Down
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