From 6883f10630225d637fb04802a4e9feb0c6521966 Mon Sep 17 00:00:00 2001 From: Shunichi Nozawa Date: Sat, 29 Aug 2015 11:13:26 +0900 Subject: [PATCH] [sample/model/sample1_bush.wrl,sample1.wrl] Add vlimit for sample1 and sample1_bush --- sample/model/sample1.wrl | 56 +++++++++++++++++++++++++++++++++++ sample/model/sample1_bush.wrl | 56 +++++++++++++++++++++++++++++++++++ 2 files changed, 112 insertions(+) diff --git a/sample/model/sample1.wrl b/sample/model/sample1.wrl index a611858df..0ef9a4c59 100644 --- a/sample/model/sample1.wrl +++ b/sample/model/sample1.wrl @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 { @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 diff --git a/sample/model/sample1_bush.wrl b/sample/model/sample1_bush.wrl index 1f871ee2e..7b227f1c9 100644 --- a/sample/model/sample1_bush.wrl +++ b/sample/model/sample1_bush.wrl @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 { @@ -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 @@ -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_UPPER Segment { centerOfMass 0 0 0 @@ -1149,6 +1195,8 @@ 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 @@ -1163,6 +1211,8 @@ 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 @@ -1192,6 +1242,8 @@ 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 @@ -1209,6 +1261,8 @@ 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 @@ -1223,6 +1277,8 @@ DEF SampleRobot Humanoid { jointId 5 rotorInertia 3.0E-4 gearRatio 200 + lvlimit -40.0 + uvlimit 40.0 children [ DEF RLEG_LINK6_UPPER Segment { centerOfMass 0 0 0