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Merge pull request #72 from snozawa/add_vlimit
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Add vlimit for sample1 and sample1_bush
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@fkanehiro
fkanehiro committed Aug 29, 2015
2 parents d826323 + 6883f10 commit 322d9af
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Showing 2 changed files with 112 additions and 0 deletions.
56 changes: 56 additions & 0 deletions sample/model/sample1.wrl
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Original file line number Diff line number Diff line change
Expand Up @@ -340,6 +340,8 @@ DEF SampleRobot Humanoid {
jointId 26
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF WAIST_LINK1 Segment {
centerOfMass 0 0 0
Expand All @@ -363,6 +365,8 @@ DEF SampleRobot Humanoid {
jointId 27
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF WAIST_LINK2 Segment {
centerOfMass 0 0 0.16
Expand Down Expand Up @@ -396,6 +400,8 @@ DEF SampleRobot Humanoid {
translation 0 0 0.35
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF gsensor AccelerationSensor {
sensorId 0
Expand Down Expand Up @@ -497,6 +503,8 @@ DEF SampleRobot Humanoid {
translation 0 0.21 0
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF LARM_LINK1 Segment {
centerOfMass 0 -0.05 0.0
Expand All @@ -522,6 +530,8 @@ DEF SampleRobot Humanoid {
llimit -0.261799
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF LARM_LINK2 Segment {
centerOfMass 0 0 -0.1
Expand Down Expand Up @@ -559,6 +569,8 @@ DEF SampleRobot Humanoid {
translation 0 0 -0.263
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF LARM_LINK3 Segment {
centerOfMass 0 0 0.05
Expand All @@ -585,6 +597,8 @@ DEF SampleRobot Humanoid {
llimit -2.61799
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF LARM_LINK4 Segment {
centerOfMass 0 0 -0.1
Expand Down Expand Up @@ -620,6 +634,8 @@ DEF SampleRobot Humanoid {
translation 0 0 -0.247
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF LARM_LINK5 Segment {
centerOfMass 0 0 0.05
Expand All @@ -646,6 +662,8 @@ DEF SampleRobot Humanoid {
llimit -2.0944
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF LARM_LINK6 Segment {
centerOfMass 0 0.01 -0.09
Expand Down Expand Up @@ -693,6 +711,8 @@ DEF SampleRobot Humanoid {
llimit -1.309
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF LARM_LINK7 Segment {
# centerOfMass 0 0 -0.1
Expand Down Expand Up @@ -738,6 +758,8 @@ DEF SampleRobot Humanoid {
translation 0 -0.21 0
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF RARM_LINK1 Segment {
centerOfMass 0 0.05 0
Expand All @@ -757,6 +779,8 @@ DEF SampleRobot Humanoid {
llimit -2.0944
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF RARM_LINK2 Segment {
centerOfMass 0 0 -0.1
Expand All @@ -775,6 +799,8 @@ DEF SampleRobot Humanoid {
translation 0 0 -0.263
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF RARM_LINK3 Segment {
centerOfMass 0 0 0.05
Expand All @@ -791,6 +817,8 @@ DEF SampleRobot Humanoid {
llimit -2.61799
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF RARM_LINK4 Segment {
centerOfMass 0 0 -0.1
Expand All @@ -808,6 +836,8 @@ DEF SampleRobot Humanoid {
translation 0 0 -0.247
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF RARM_LINK5 Segment {
centerOfMass 0 0 0.05
Expand All @@ -824,6 +854,8 @@ DEF SampleRobot Humanoid {
llimit -2.0944
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF RARM_LINK6 Segment {
centerOfMass 0 -0.01 -0.09
Expand Down Expand Up @@ -871,6 +903,8 @@ DEF SampleRobot Humanoid {
llimit -0.122173
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF RARM_LINK7 Segment {
centerOfMass 0 0.03 -0.1
Expand Down Expand Up @@ -925,6 +959,8 @@ DEF SampleRobot Humanoid {
translation 0 0.09 0
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF LLEG_LINK1 Segment {
centerOfMass 0 0 0
Expand All @@ -948,6 +984,8 @@ DEF SampleRobot Humanoid {
jointId 14
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF LLEG_LINK2 Segment {
centerOfMass 0 0 0
Expand All @@ -968,6 +1006,8 @@ DEF SampleRobot Humanoid {
translation 0 0 -0.3535
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF LLEG_LINK3 Segment {
centerOfMass 0 0 0.18
Expand Down Expand Up @@ -1004,6 +1044,8 @@ DEF SampleRobot Humanoid {
jointId 16
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [

DEF LLEG_LINK4 Segment {
Expand Down Expand Up @@ -1038,6 +1080,8 @@ DEF SampleRobot Humanoid {
translation 0 0 -0.3
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF LLEG_LINK5 Segment {
centerOfMass 0 0 0
Expand All @@ -1057,6 +1101,8 @@ DEF SampleRobot Humanoid {
jointId 18
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF LLEG_LINK6 Segment {
centerOfMass 0.080 0 -0.03
Expand Down Expand Up @@ -1115,6 +1161,8 @@ DEF SampleRobot Humanoid {
translation 0 -0.09 0
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF RLEG_LINK1 Segment {
centerOfMass 0 0 0
Expand All @@ -1129,6 +1177,8 @@ DEF SampleRobot Humanoid {
jointId 1
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF RLEG_LINK2 Segment {
centerOfMass 0 0 0
Expand Down Expand Up @@ -1158,6 +1208,8 @@ DEF SampleRobot Humanoid {
jointId 3
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF RLEG_LINK4 Segment {
centerOfMass 0 0 -0.12
Expand All @@ -1175,6 +1227,8 @@ DEF SampleRobot Humanoid {
translation 0 0 -0.3
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF RLEG_LINK5 Segment {
centerOfMass 0 0 0
Expand All @@ -1189,6 +1243,8 @@ DEF SampleRobot Humanoid {
jointId 5
rotorInertia 3.0E-4
gearRatio 200
lvlimit -40.0
uvlimit 40.0
children [
DEF RLEG_LINK6 Segment {
centerOfMass 0.080 0 -0.03
Expand Down
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