diff --git a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl index ab6e80a3..f0089dd3 100644 --- a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl +++ b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl @@ -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 @@ -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 ] diff --git a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl index 34ec948d..fcda23ae 100644 --- a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl +++ b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl @@ -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 @@ -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 ] diff --git a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl index 4a1152a9..f14a0b1a 100644 --- a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl +++ b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl @@ -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 } @@ -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 @@ -1735,18 +1734,17 @@ 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 ] @@ -1754,7 +1752,7 @@ DEF JAXON_JVRC Humanoid { 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 diff --git a/jvrc_models/JAXON_JVRC/LLEG_LINK5.wrl b/jvrc_models/JAXON_JVRC/LLEG_LINK5.wrl index dc9f901f..5baf9f8d 100644 --- a/jvrc_models/JAXON_JVRC/LLEG_LINK5.wrl +++ b/jvrc_models/JAXON_JVRC/LLEG_LINK5.wrl @@ -3,7 +3,7 @@ Transform { Shape { appearance Appearance { material Material { - diffuseColor 0.686275 0.768627 0.866667 + diffuseColor 0.58824 0.58824 0.58824 specularColor 0.1 0.1 0.1 emissiveColor 0.0 0.0 0.0 shininess 0.5 @@ -17,2808 +17,2472 @@ Transform { creaseAngle 0 coord Coordinate { point [ --0.00873567 0.00925663 -0.06474490, --0.00873567 0.01905190 -0.06474490, --0.01855030 0.01905190 -0.06474490, --0.00873567 0.01905190 -0.06474490, --0.00873567 0.00925663 -0.06474490, --0.00873567 0.00925663 -0.06425510, --0.01855030 0.00925663 -0.06474490, --0.00873567 0.00925663 -0.06425510, --0.00873567 0.00925663 -0.06474490, --0.01855030 0.00925663 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0.02154030, --0.04300000 0.02510870 0.02649610, --0.03650000 0.02491250 0.02668010, --0.04300010 0.02352110 0.02791480, --0.04300000 0.02510870 0.02649610, --0.04300010 0.02352110 0.02791480, --0.04299970 0.02802260 0.02339340, --0.02150100 0.01180320 0.02203710, --0.03800030 0.02145950 0.01553860, --0.03800090 0.01341050 0.02284610, --0.02150100 0.01180320 0.02203710, --0.03800090 0.01341050 0.02284610, --0.02000100 0.01173220 0.02207740, --0.02150030 0.02050370 0.01428990, --0.02000100 0.01173220 0.02207740, --0.02000030 0.02052600 0.01425900, --0.02150030 0.02050370 0.01428990, --0.02150100 0.01180320 0.02203710, --0.02000100 0.01173220 0.02207740, --0.02150030 0.02050370 0.01428990, --0.02000030 0.02052600 0.01425900, --0.03800030 0.02145950 0.01553860, --0.02150030 0.02050370 0.01428990, --0.03800030 0.02145950 0.01553860, --0.02150100 0.01180320 0.02203710, --0.04300020 0.02185340 0.02923840, --0.04300040 0.01915410 0.03105520, --0.04300010 0.02352110 0.02791480, --0.02000050 0.01843190 0.01973260, --0.02000030 0.02094720 0.01703940, --0.02000060 0.01704230 0.02094420, --0.02200070 0.01611470 0.02411260, --0.03650020 0.02167040 0.02937390, --0.02200060 0.01765720 0.02300720, --0.02200070 0.01611470 0.02411260, --0.02200060 0.01765720 0.02300720, --0.02000060 0.01704230 0.02094420, --0.02200070 0.01611470 0.02411260, --0.02200080 0.01403290 0.02536610, --0.03650050 0.01885300 0.03123960, --0.02000080 0.01403170 0.02306930, --0.02000090 0.01283210 0.02374380, --0.02200080 0.01403290 0.02536610, --0.02000080 0.01403170 0.02306930, --0.02200080 0.01403290 0.02536610, --0.02200070 0.01611470 0.02411260, --0.02000080 0.01403170 0.02306930, --0.02000060 0.01704230 0.02094420, --0.02000090 0.01283210 0.02374380, --0.02000080 0.01403170 0.02306930, --0.02200070 0.01611470 0.02411260, --0.02000060 0.01704230 0.02094420, --0.04299990 0.02661090 0.02498730, --0.04299970 0.02802260 0.02339340, --0.03649980 0.02782240 0.02363050, --0.04299990 0.02661090 0.02498730, --0.04300000 0.02510870 0.02649610, --0.04299970 0.02802260 0.02339340, --0.03649990 0.02641150 0.02519730, --0.03650000 0.02491250 0.02668010, --0.04300000 0.02510870 0.02649610, --0.03649990 0.02641150 0.02519730, --0.04300000 0.02510870 0.02649610, --0.04299990 0.02661090 0.02498730, --0.03649990 0.02641150 0.02519730, --0.04299990 0.02661090 0.02498730, --0.03649980 0.02782240 0.02363050, --0.03649990 0.02641150 0.02519730, --0.02200030 0.02050920 0.02050610, --0.03650000 0.02491250 0.02668010, --0.03650010 0.02333040 0.02807380, --0.03650020 0.02167040 0.02937390, --0.04300020 0.02185340 0.02923840, --0.03650010 0.02333040 0.02807380, --0.04300020 0.02185340 0.02923840, --0.04300010 0.02352110 0.02791480, --0.03650010 0.02333040 0.02807380, --0.02200060 0.01765720 0.02300720, --0.03650020 0.02167040 0.02937390, --0.03650010 0.02333040 0.02807380, --0.04300010 0.02352110 0.02791480, --0.03650000 0.02491250 0.02668010, --0.02200040 0.01912410 0.02180340, --0.02200060 0.01765720 0.02300720, --0.03650010 0.02333040 0.02807380, --0.02200040 0.01912410 0.02180340, --0.03650000 0.02491250 0.02668010, --0.02200030 0.02050920 0.02050610, --0.02200040 0.01912410 0.02180340, --0.03650010 0.02333040 0.02807380, --0.03650000 0.02491250 0.02668010, --0.02200040 0.01912410 0.02180340, --0.02200030 0.02050920 0.02050610, --0.02000050 0.01843190 0.01973260, --0.02200040 0.01912410 0.02180340, --0.02000060 0.01704230 0.02094420, --0.02200060 0.01765720 0.02300720, --0.02200040 0.01912410 0.02180340, --0.02000050 0.01843190 0.01973260, --0.02000060 0.01704230 0.02094420, --0.02200020 0.02180650 0.01912100, --0.02200030 0.02050920 0.02050610, --0.03649990 0.02641150 0.02519730, --0.02200020 0.02180650 0.01912100, --0.03649990 0.02641150 0.02519730, --0.03649980 0.02782240 0.02363050, --0.02200020 0.02180650 0.01912100, --0.02000030 0.02094720 0.01703940, --0.02000050 0.01843190 0.01973260, --0.02200020 0.02180650 0.01912100, --0.02000050 0.01843190 0.01973260, --0.02200030 0.02050920 0.02050610, --0.02200020 0.02180650 0.01912100, --0.03649980 0.02782240 0.02363050, --0.02200010 0.02301040 0.01765410, --0.02200020 0.02180650 0.01912100, --0.02200010 0.02301040 0.01765410, --0.02000030 0.02094720 0.01703940, --0.03650040 0.01993820 0.03057600, --0.03650020 0.02167040 0.02937390, --0.02200070 0.01611470 0.02411260, --0.03650040 0.01993820 0.03057600, --0.02200070 0.01611470 0.02411260, --0.03650050 0.01885300 0.03123960, --0.03650040 0.01993820 0.03057600, --0.03650050 0.01885300 0.03123960, --0.04300040 0.01915410 0.03105520, --0.04300040 0.02011140 0.03046260, --0.04300020 0.02185340 0.02923840, --0.03650020 0.02167040 0.02937390, --0.04300040 0.02011140 0.03046260, --0.03650020 0.02167040 0.02937390, --0.03650040 0.01993820 0.03057600, --0.04300040 0.02011140 0.03046260, --0.04300040 0.01915410 0.03105520, --0.04300020 0.02185340 0.02923840, --0.04300040 0.02011140 0.03046260, --0.03650040 0.01993820 0.03057600, --0.04300040 0.01915410 0.03105520, --0.02000010 0.02402320 0.00687516, --0.03649920 0.03546090 0.00865384, --0.03799990 0.02570210 0.00640920, --0.04299910 0.03553060 0.00836602, --0.03799990 0.02570210 0.00640920, --0.03649920 0.03546090 0.00865384, --0.03800030 0.02145950 0.01553860, --0.04299960 0.02936690 0.02167980, --0.02000020 0.02212690 0.01547010, --0.03649960 0.02945620 0.02154030, --0.02000020 0.02212690 0.01547010, --0.04299960 0.02936690 0.02167980, --0.02199970 0.02796790 0.00766086, --0.03649920 0.03546090 0.00865384, --0.02000010 0.02402320 0.00687516, --0.02000030 0.02052600 0.01425900, --0.02000020 0.02212690 0.01547010, --0.02000010 0.02402320 0.00687516, --0.02000030 0.02052600 0.01425900, --0.03800030 0.02145950 0.01553860, --0.02000020 0.02212690 0.01547010, --0.01999990 0.02599240 0.00731398, --0.02000010 0.02402320 0.00687516, --0.02000020 0.02212690 0.01547010, --0.01999990 0.02599240 0.00731398, --0.02199970 0.02796790 0.00766086, --0.02000010 0.02402320 0.00687516, --0.04299940 0.03267290 0.01628020, --0.04299960 0.02936690 0.02167980, --0.04299910 0.03553060 0.00836602, --0.02200010 0.02368510 0.01671250, --0.02000020 0.02212690 0.01547010, --0.03649960 0.02945620 0.02154030, --0.04299930 0.03405420 0.00803702, --0.04299910 0.03553060 0.00836602, --0.04299960 0.02936690 0.02167980, --0.04299930 0.03405420 0.00803702, --0.03799990 0.02570210 0.00640920, --0.04299910 0.03553060 0.00836602, --0.04299930 0.03405420 0.00803702, --0.03800030 0.02145950 0.01553860, --0.03799990 0.02570210 0.00640920, --0.04299970 0.02816320 0.02076920, --0.04299960 0.02936690 0.02167980, --0.03800030 0.02145950 0.01553860, --0.04299970 0.02816320 0.02076920, --0.03800030 0.02145950 0.01553860, --0.04299930 0.03405420 0.00803702, --0.04299970 0.02816320 0.02076920, --0.04299930 0.03405420 0.00803702, --0.04299960 0.02936690 0.02167980, --0.02000000 0.02476770 0.01075680, --0.01999990 0.02599240 0.00731398, --0.02000020 0.02212690 0.01547010, --0.04299930 0.03356650 0.01434780, --0.04299940 0.03267290 0.01628020, --0.04299910 0.03553060 0.00836602, --0.04299930 0.03356650 0.01434780, --0.03649930 0.03340140 0.01472680, --0.04299940 0.03267290 0.01628020, --0.03649920 0.03487660 0.01077820, --0.03649920 0.03546090 0.00865384, --0.02199970 0.02796790 0.00766086, --0.04299950 0.03166800 0.01815730, --0.04299960 0.02936690 0.02167980, --0.04299940 0.03267290 0.01628020, --0.02150030 0.02050370 0.01428990, --0.03799990 0.02570210 0.00640920, --0.03800030 0.02145950 0.01553860, --0.02150030 0.02050370 0.01428990, --0.03800030 0.02145950 0.01553860, --0.02000030 0.02052600 0.01425900, --0.04299920 0.03500860 0.01034310, --0.04299930 0.03356650 0.01434780, --0.04299910 0.03553060 0.00836602, --0.04299920 0.03500860 0.01034310, --0.04299910 0.03553060 0.00836602, --0.03649920 0.03546090 0.00865384, --0.04299920 0.03500860 0.01034310, --0.03649920 0.03546090 0.00865384, --0.03649920 0.03487660 0.01077820, --0.02150010 0.02404220 0.00680938, --0.02000030 0.02052600 0.01425900, --0.02000010 0.02402320 0.00687516, --0.02150010 0.02404220 0.00680938, --0.02150030 0.02050370 0.01428990, --0.02000030 0.02052600 0.01425900, --0.02150010 0.02404220 0.00680938, --0.02000010 0.02402320 0.00687516, --0.03799990 0.02570210 0.00640920, --0.02150010 0.02404220 0.00680938, --0.03799990 0.02570210 0.00640920, --0.02150030 0.02050370 0.01428990, --0.02000010 0.02307230 0.01402880, --0.02000000 0.02476770 0.01075680, --0.02000020 0.02212690 0.01547010, --0.02000010 0.02307230 0.01402880, --0.02000020 0.02212690 0.01547010, --0.02200010 0.02368510 0.01671250, --0.02000010 0.02307230 0.01402880, --0.02200010 0.02368510 0.01671250, --0.02200000 0.02511780 0.01450000, --0.04299950 0.03055540 0.01997260, --0.04299960 0.02936690 0.02167980, --0.04299950 0.03166800 0.01815730, --0.04299950 0.03055540 0.01997260, --0.04299950 0.03166800 0.01815730, --0.03649950 0.03148090 0.01847900, --0.03649930 0.03419610 0.01277380, --0.04299930 0.03356650 0.01434780, --0.04299920 0.03500860 0.01034310, --0.03649930 0.03419610 0.01277380, --0.04299920 0.03500860 0.01034310, --0.03649920 0.03487660 0.01077820, --0.03649930 0.03419610 0.01277380, --0.02199980 0.02679560 0.01109780, --0.03649930 0.03340140 0.01472680, --0.03649930 0.03419610 0.01277380, --0.03649930 0.03340140 0.01472680, --0.04299930 0.03356650 0.01434780, --0.03649940 0.03249540 0.01663060, --0.03649950 0.03148090 0.01847900, --0.04299950 0.03166800 0.01815730, --0.03649940 0.03249540 0.01663060, --0.04299950 0.03166800 0.01815730, --0.04299940 0.03267290 0.01628020, --0.03649940 0.03249540 0.01663060, --0.04299940 0.03267290 0.01628020, --0.03649930 0.03340140 0.01472680, --0.03649940 0.03249540 0.01663060, --0.02200000 0.02511780 0.01450000, --0.03649950 0.03148090 0.01847900, --0.02199990 0.02601240 0.01282640, --0.02200000 0.02511780 0.01450000, --0.03649940 0.03249540 0.01663060, --0.02199990 0.02601240 0.01282640, --0.03649930 0.03340140 0.01472680, --0.02199980 0.02679560 0.01109780, --0.02199990 0.02601240 0.01282640, --0.03649940 0.03249540 0.01663060, --0.03649930 0.03340140 0.01472680, --0.02199990 0.02601240 0.01282640, --0.02000000 0.02476770 0.01075680, --0.02000010 0.02307230 0.01402880, --0.02199990 0.02601240 0.01282640, --0.02000010 0.02307230 0.01402880, --0.02200000 0.02511780 0.01450000, --0.02199990 0.02601240 0.01282640, --0.02199980 0.02679560 0.01109780, --0.02000000 0.02476770 0.01075680, --0.02199980 0.02746410 0.00932175, --0.02199980 0.02679560 0.01109780, --0.03649930 0.03419610 0.01277380, --0.02199980 0.02746410 0.00932175, --0.03649930 0.03419610 0.01277380, --0.03649920 0.03487660 0.01077820, --0.02199980 0.02746410 0.00932175, --0.03649920 0.03487660 0.01077820, --0.02199970 0.02796790 0.00766086, --0.02199980 0.02746410 0.00932175, --0.02199970 0.02796790 0.00766086, --0.01999990 0.02599240 0.00731398, --0.03649960 0.03036130 0.02026570, --0.04299950 0.03055540 0.01997260, --0.03649950 0.03148090 0.01847900, --0.03649960 0.03036130 0.02026570, --0.03649960 0.02945620 0.02154030, --0.04299960 0.02936690 0.02167980, --0.03649960 0.03036130 0.02026570, --0.04299960 0.02936690 0.02167980, --0.04299950 0.03055540 0.01997260, --0.03649960 0.03036130 0.02026570, --0.02200010 0.02368510 0.01671250, --0.03649960 0.02945620 0.02154030, --0.03649960 0.03036130 0.02026570, --0.02200000 0.02511780 0.01450000, --0.02200010 0.02368510 0.01671250, --0.03649960 0.03036130 0.02026570, --0.03649950 0.03148090 0.01847900, --0.02200000 0.02511780 0.01450000, --0.01999990 0.02544400 0.00904175, --0.02000000 0.02476770 0.01075680, --0.02199980 0.02679560 0.01109780, --0.01999990 0.02544400 0.00904175, --0.02199980 0.02679560 0.01109780, --0.02199980 0.02746410 0.00932175, --0.01999990 0.02544400 0.00904175, --0.01999990 0.02599240 0.00731398, --0.02000000 0.02476770 0.01075680, --0.01999990 0.02544400 0.00904175, --0.02199980 0.02746410 0.00932175, --0.01999990 0.02599240 0.00731398, --0.01999980 0.02676100 -0.00358378, --0.03649910 0.03605150 -0.00569662, --0.04299910 0.03596260 -0.00622505, --0.02000010 0.02402320 0.00687516, --0.03799990 0.02570210 0.00640920, --0.03649920 0.03546090 0.00865384, --0.03799990 0.02601650 -0.00500671, --0.01999980 0.02676100 -0.00358378, --0.04299910 0.03596260 -0.00622505, --0.04299920 0.03553060 0.00836602, --0.03649920 0.03546090 0.00865384, --0.03799990 0.02570210 0.00640920, --0.02199970 0.02796790 0.00766086, --0.02000010 0.02402320 0.00687516, --0.03649920 0.03546090 0.00865384, --0.02000000 0.02475250 -0.00342095, --0.02000010 0.02402320 0.00687516, --0.01999980 0.02676100 -0.00358378, --0.02000000 0.02475250 -0.00342095, --0.01999980 0.02676100 -0.00358378, --0.03799990 0.02601650 -0.00500671, --0.01999990 0.02599240 0.00731398, --0.01999980 0.02676100 -0.00358378, --0.02000010 0.02402320 0.00687516, --0.01999990 0.02599240 0.00731398, --0.02000010 0.02402320 0.00687516, --0.02199970 0.02796790 0.00766086, --0.04299910 0.03645170 0.00196811, --0.04299920 0.03553060 0.00836602, 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0.03596260 -0.00622505, --0.02150000 0.02473540 -0.00354318, --0.02000010 0.02402320 0.00687516, --0.02000000 0.02475250 -0.00342095, --0.02150000 0.02473540 -0.00354318, --0.02000000 0.02475250 -0.00342095, --0.03799990 0.02601650 -0.00500671, --0.02150010 0.02404220 0.00680938, --0.02000010 0.02402320 0.00687516, --0.02150000 0.02473540 -0.00354318, --0.02150010 0.02404220 0.00680938, --0.02150000 0.02473540 -0.00354318, --0.03799990 0.02601650 -0.00500671, --0.02150010 0.02404220 0.00680938, --0.03799990 0.02570210 0.00640920, --0.02000010 0.02402320 0.00687516, --0.02150010 0.02404220 0.00680938, --0.03799990 0.02601650 -0.00500671, --0.03799990 0.02570210 0.00640920, --0.03649910 0.03621290 0.00460273, --0.04299920 0.03553060 0.00836602, --0.04299910 0.03645170 0.00196811, --0.03649910 0.03621290 0.00460273, --0.04299910 0.03645170 0.00196811, --0.03649910 0.03641820 0.00250428, --0.01999980 0.02675150 0.00367650, --0.01999980 0.02694000 0.00184254, --0.01999990 0.02599240 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0.03551070, --0.03650130 0.00836443 0.03552970, --0.03650150 0.00629892 0.03595310, --0.03650150 0.00523088 0.03610850, --0.04300150 0.00546182 0.03607440, --0.04300050 0.01830100 0.03158320, --0.04300040 0.01915410 0.03105520, --0.03650050 0.01885300 0.03123960, --0.04300050 0.01830100 0.03158320, --0.04300070 0.01642840 0.03259620, --0.04300040 0.01915410 0.03105520, --0.03650050 0.01813940 0.03167600, --0.03650070 0.01628010 0.03267030, --0.04300070 0.01642840 0.03259620, --0.03650050 0.01813940 0.03167600, --0.04300070 0.01642840 0.03259620, --0.04300050 0.01830100 0.03158320, --0.03650050 0.01813940 0.03167600, --0.04300050 0.01830100 0.03158320, --0.03650050 0.01885300 0.03123960, --0.03650050 0.01813940 0.03167600, --0.03650050 0.01885300 0.03123960, --0.02200080 0.01403290 0.02536600, --0.03650050 0.01813940 0.03167600, --0.02200080 0.01403290 0.02536600, --0.03650070 0.01628010 0.03267030, --0.03800090 0.01341050 0.02284610, --0.03650050 0.01885300 0.03123960, --0.02000090 0.01283210 0.02374380, --0.04300040 0.01915410 0.03105520, --0.03650050 0.01885300 0.03123960, --0.03800090 0.01341050 0.02284610, --0.03800030 0.02145950 0.01553860, --0.02000030 0.02052600 0.01425900, --0.04299970 0.02816320 0.02076920, --0.03800030 0.02145950 0.01553860, --0.04299970 0.02816320 0.02076920, --0.03800090 0.01341050 0.02284610, --0.03649960 0.02945620 0.02154030, --0.04299970 0.02816320 0.02076920, --0.02000030 0.02052600 0.01425900, --0.02000100 0.01173220 0.02207740, --0.02000090 0.01283210 0.02374380, --0.02000030 0.02052600 0.01425900, --0.02000100 0.01173220 0.02207740, --0.03800090 0.01341050 0.02284610, --0.02000090 0.01283210 0.02374380, --0.04299970 0.02802260 0.02339340, --0.04300040 0.01915410 0.03105520, --0.04299970 0.02816320 0.02076920, --0.04299960 0.02936690 0.02167980, --0.04299970 0.02816320 0.02076920, --0.03649960 0.02945620 0.02154030, --0.04299960 0.02936690 0.02167980, --0.04299970 0.02802260 0.02339340, --0.04299970 0.02816320 0.02076920, 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0.02980480, --0.04299970 0.02816320 0.02076920, --0.04300040 0.01915410 0.03105520, --0.04300050 0.01832880 0.02980480, --0.04300040 0.01915410 0.03105520, --0.03800090 0.01341050 0.02284610, --0.04300010 0.02352110 0.02791480, --0.04300040 0.01915410 0.03105520, --0.04299970 0.02802260 0.02339340, --0.02000060 0.01704230 0.02094420, --0.02000030 0.02094720 0.01703940, --0.02000090 0.01283210 0.02374380, --0.03649980 0.02782240 0.02363050, --0.03649960 0.02945620 0.02154030, --0.02200010 0.02301040 0.01765410, --0.03649980 0.02782240 0.02363050, --0.04299970 0.02802260 0.02339340, --0.04299960 0.02936690 0.02167980, --0.03649980 0.02782240 0.02363050, --0.04299960 0.02936690 0.02167980, --0.03649960 0.02945620 0.02154030, --0.04300000 0.02510870 0.02649610, --0.03650000 0.02491250 0.02668010, --0.04300010 0.02352110 0.02791480, --0.04300000 0.02510870 0.02649610, --0.04300010 0.02352110 0.02791480, --0.04299970 0.02802260 0.02339340, --0.02150100 0.01180320 0.02203710, --0.03800030 0.02145950 0.01553860, --0.03800090 0.01341050 0.02284610, --0.02150100 0.01180320 0.02203710, --0.03800090 0.01341050 0.02284610, --0.02000100 0.01173220 0.02207740, --0.02150030 0.02050370 0.01428990, --0.02000100 0.01173220 0.02207740, --0.02000030 0.02052600 0.01425900, --0.02150030 0.02050370 0.01428990, --0.02150100 0.01180320 0.02203710, --0.02000100 0.01173220 0.02207740, --0.02150030 0.02050370 0.01428990, --0.02000030 0.02052600 0.01425900, --0.03800030 0.02145950 0.01553860, --0.02150030 0.02050370 0.01428990, --0.03800030 0.02145950 0.01553860, --0.02150100 0.01180320 0.02203710, --0.04300020 0.02185340 0.02923840, --0.04300040 0.01915410 0.03105520, --0.04300010 0.02352110 0.02791480, --0.02000050 0.01843190 0.01973260, --0.02000030 0.02094720 0.01703940, --0.02000060 0.01704230 0.02094420, --0.02200070 0.01611470 0.02411260, --0.03650020 0.02167040 0.02937390, --0.02200060 0.01765720 0.02300720, --0.02200070 0.01611470 0.02411260, --0.02200060 0.01765720 0.02300720, 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0.02498730, --0.03649990 0.02641150 0.02519730, --0.04299990 0.02661090 0.02498730, --0.03649980 0.02782240 0.02363050, --0.03649990 0.02641150 0.02519730, --0.02200030 0.02050920 0.02050610, --0.03650000 0.02491250 0.02668010, --0.03650010 0.02333040 0.02807380, --0.03650020 0.02167040 0.02937390, --0.04300020 0.02185340 0.02923840, --0.03650010 0.02333040 0.02807380, --0.04300020 0.02185340 0.02923840, --0.04300010 0.02352110 0.02791480, --0.03650010 0.02333040 0.02807380, --0.02200060 0.01765720 0.02300720, --0.03650020 0.02167040 0.02937390, --0.03650010 0.02333040 0.02807380, --0.04300010 0.02352110 0.02791480, --0.03650000 0.02491250 0.02668010, --0.02200040 0.01912410 0.02180340, --0.02200060 0.01765720 0.02300720, --0.03650010 0.02333040 0.02807380, --0.02200040 0.01912410 0.02180340, --0.03650000 0.02491250 0.02668010, --0.02200030 0.02050920 0.02050610, --0.02200040 0.01912410 0.02180340, --0.03650010 0.02333040 0.02807380, --0.03650000 0.02491250 0.02668010, --0.02200040 0.01912410 0.02180340, --0.02200030 0.02050920 0.02050610, --0.02000050 0.01843190 0.01973260, --0.02200040 0.01912410 0.02180340, --0.02000060 0.01704230 0.02094420, --0.02200060 0.01765720 0.02300720, --0.02200040 0.01912410 0.02180340, --0.02000050 0.01843190 0.01973260, --0.02000060 0.01704230 0.02094420, --0.02200020 0.02180650 0.01912100, --0.02200030 0.02050920 0.02050610, --0.03649990 0.02641150 0.02519730, --0.02200020 0.02180650 0.01912100, --0.03649990 0.02641150 0.02519730, --0.03649980 0.02782240 0.02363050, --0.02200020 0.02180650 0.01912100, --0.02000030 0.02094720 0.01703940, --0.02000050 0.01843190 0.01973260, --0.02200020 0.02180650 0.01912100, --0.02000050 0.01843190 0.01973260, --0.02200030 0.02050920 0.02050610, --0.02200020 0.02180650 0.01912100, --0.03649980 0.02782240 0.02363050, --0.02200010 0.02301040 0.01765410, --0.02200020 0.02180650 0.01912100, --0.02200010 0.02301040 0.01765410, --0.02000030 0.02094720 0.01703940, --0.03650040 0.01993820 0.03057600, 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0.02167980, --0.02000020 0.02212690 0.01547010, --0.03649960 0.02945620 0.02154030, --0.02000020 0.02212690 0.01547010, --0.04299960 0.02936690 0.02167980, --0.02199970 0.02796790 0.00766086, --0.03649920 0.03546090 0.00865384, --0.02000010 0.02402320 0.00687516, --0.02000030 0.02052600 0.01425900, --0.02000020 0.02212690 0.01547010, --0.02000010 0.02402320 0.00687516, --0.02000030 0.02052600 0.01425900, --0.03800030 0.02145950 0.01553860, --0.02000020 0.02212690 0.01547010, --0.01999990 0.02599240 0.00731398, --0.02000010 0.02402320 0.00687516, --0.02000020 0.02212690 0.01547010, --0.01999990 0.02599240 0.00731398, --0.02199970 0.02796790 0.00766086, --0.02000010 0.02402320 0.00687516, --0.04299940 0.03267290 0.01628020, --0.04299960 0.02936690 0.02167980, --0.04299910 0.03553060 0.00836602, --0.02200010 0.02368510 0.01671250, --0.02000020 0.02212690 0.01547010, --0.03649960 0.02945620 0.02154030, --0.04299930 0.03405420 0.00803702, --0.04299910 0.03553060 0.00836602, --0.04299960 0.02936690 0.02167980, --0.04299930 0.03405420 0.00803702, --0.03799990 0.02570210 0.00640920, --0.04299910 0.03553060 0.00836602, --0.04299930 0.03405420 0.00803702, --0.03800030 0.02145950 0.01553860, --0.03799990 0.02570210 0.00640920, --0.04299970 0.02816320 0.02076920, --0.04299960 0.02936690 0.02167980, --0.03800030 0.02145950 0.01553860, --0.04299970 0.02816320 0.02076920, --0.03800030 0.02145950 0.01553860, --0.04299930 0.03405420 0.00803702, --0.04299970 0.02816320 0.02076920, --0.04299930 0.03405420 0.00803702, --0.04299960 0.02936690 0.02167980, --0.02000000 0.02476770 0.01075680, --0.01999990 0.02599240 0.00731398, --0.02000020 0.02212690 0.01547010, --0.04299930 0.03356650 0.01434780, --0.04299940 0.03267290 0.01628020, --0.04299910 0.03553060 0.00836602, --0.04299930 0.03356650 0.01434780, --0.03649930 0.03340140 0.01472680, --0.04299940 0.03267290 0.01628020, --0.03649920 0.03487660 0.01077820, --0.03649920 0.03546090 0.00865384, --0.02199970 0.02796790 0.00766086, 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0.00680938, --0.03799990 0.02570210 0.00640920, --0.02150030 0.02050370 0.01428990, --0.02000010 0.02307230 0.01402880, --0.02000000 0.02476770 0.01075680, --0.02000020 0.02212690 0.01547010, --0.02000010 0.02307230 0.01402880, --0.02000020 0.02212690 0.01547010, --0.02200010 0.02368510 0.01671250, --0.02000010 0.02307230 0.01402880, --0.02200010 0.02368510 0.01671250, --0.02200000 0.02511780 0.01450000, --0.04299950 0.03055540 0.01997260, --0.04299960 0.02936690 0.02167980, --0.04299950 0.03166800 0.01815730, --0.04299950 0.03055540 0.01997260, --0.04299950 0.03166800 0.01815730, --0.03649950 0.03148090 0.01847900, --0.03649930 0.03419610 0.01277380, --0.04299930 0.03356650 0.01434780, --0.04299920 0.03500860 0.01034310, --0.03649930 0.03419610 0.01277380, --0.04299920 0.03500860 0.01034310, --0.03649920 0.03487660 0.01077820, --0.03649930 0.03419610 0.01277380, --0.02199980 0.02679560 0.01109780, --0.03649930 0.03340140 0.01472680, --0.03649930 0.03419610 0.01277380, --0.03649930 0.03340140 0.01472680, --0.04299930 0.03356650 0.01434780, --0.03649940 0.03249540 0.01663060, --0.03649950 0.03148090 0.01847900, --0.04299950 0.03166800 0.01815730, --0.03649940 0.03249540 0.01663060, --0.04299950 0.03166800 0.01815730, --0.04299940 0.03267290 0.01628020, --0.03649940 0.03249540 0.01663060, --0.04299940 0.03267290 0.01628020, --0.03649930 0.03340140 0.01472680, --0.03649940 0.03249540 0.01663060, --0.02200000 0.02511780 0.01450000, --0.03649950 0.03148090 0.01847900, --0.02199990 0.02601240 0.01282640, --0.02200000 0.02511780 0.01450000, --0.03649940 0.03249540 0.01663060, --0.02199990 0.02601240 0.01282640, --0.03649930 0.03340140 0.01472680, --0.02199980 0.02679560 0.01109780, --0.02199990 0.02601240 0.01282640, --0.03649940 0.03249540 0.01663060, --0.03649930 0.03340140 0.01472680, --0.02199990 0.02601240 0.01282640, --0.02000000 0.02476770 0.01075680, --0.02000010 0.02307230 0.01402880, --0.02199990 0.02601240 0.01282640, --0.02000010 0.02307230 0.01402880, 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a/jvrc_models/JAXON_JVRC/convex_hull/RLEG_LINK5_L.wrl b/jvrc_models/JAXON_JVRC/convex_hull/RLEG_LINK5_L.wrl index a7e5eaa5..02785927 100644 --- a/jvrc_models/JAXON_JVRC/convex_hull/RLEG_LINK5_L.wrl +++ b/jvrc_models/JAXON_JVRC/convex_hull/RLEG_LINK5_L.wrl @@ -1,11 +1,11 @@ ### sole plate Transform { # translation 0.0155 -0.01 -0.096 - translation 0.0155 -0.01 -0.004 + translation 0.005 0.0 0.005 children [ Shape { geometry Box { - size 0.23 0.13 0.038 + size 0.23 0.14 0.036 } appearance Appearance { material Material {