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kindseniorkindsenior
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[JAXON_JVRCmain/_hrpsys/_bush.wrl] reduce whel weight to 1 kg
1 parent 88090fb commit 5a29cfd

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3 files changed

+12
-18
lines changed

3 files changed

+12
-18
lines changed

‎jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl‎

Lines changed: 4 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -1561,8 +1561,7 @@ DEF JAXON_JVRC Humanoid {
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children [
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DEF LLEG_LINK6 Segment {
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centerOfMass 0.0 -0.0455 0.0
1564-
#mass 1.6718
1565-
mass 2.4689 # 1.6718 + 0.5072 + 0.2899
1564+
mass 1.0
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momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
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children [
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DEF WHEEL_FRONT_L WheelFront {}
@@ -1593,7 +1592,7 @@ DEF JAXON_JVRC Humanoid {
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children [
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DEF LLEG_LINK7 Segment {
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centerOfMass 0.0 -0.0387 0.0
1596-
mass 0.5072
1595+
mass 1.0
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momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
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children [
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DEF WHEEL_REAR_L WheelFront {}
@@ -1818,8 +1817,7 @@ DEF JAXON_JVRC Humanoid {
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children [
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DEF RLEG_LINK6 Segment {
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centerOfMass 0.0 0.0455 0.0
1821-
#mass 1.6718
1822-
mass 2.4689 # 1.6718 + 0.5072 + 0.2899
1820+
mass 1.0
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momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
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children [
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DEF WHEEL_FRONT_R WheelFront {}
@@ -1850,7 +1848,7 @@ DEF JAXON_JVRC Humanoid {
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children [
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DEF RLEG_LINK7 Segment {
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centerOfMass 0.0 -0.0387 0.0
1853-
mass 0.5072
1851+
mass 1.0
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momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
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children [
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DEF WHEEL_REAR_R WheelFront {}

‎jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl‎

Lines changed: 4 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -1562,8 +1562,7 @@ DEF JAXON_JVRC Humanoid {
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children [
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DEF LLEG_LINK6 Segment {
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centerOfMass 0.0 -0.0455 0.0
1565-
#mass 1.6718
1566-
mass 2.4689 # 1.6718 + 0.5072 + 0.2899
1565+
mass 1.0
15671566
momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
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children [
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DEF WHEEL_FRONT_L WheelFront {}
@@ -1594,7 +1593,7 @@ DEF JAXON_JVRC Humanoid {
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children [
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DEF LLEG_LINK7 Segment {
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centerOfMass 0.0 -0.0387 0.0
1597-
mass 0.5072
1596+
mass 1.0
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momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
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children [
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DEF WHEEL_REAR_L WheelFront {}
@@ -1819,8 +1818,7 @@ DEF JAXON_JVRC Humanoid {
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children [
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DEF RLEG_LINK6 Segment {
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centerOfMass 0.0 0.0455 0.0
1822-
#mass 1.6718
1823-
mass 2.4689 # 1.6718 + 0.5072 + 0.2899
1821+
mass 1.0
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momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
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children [
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DEF WHEEL_FRONT_R WheelFront {}
@@ -1851,7 +1849,7 @@ DEF JAXON_JVRC Humanoid {
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children [
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DEF RLEG_LINK7 Segment {
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centerOfMass 0.0 -0.0387 0.0
1854-
mass 0.5072
1852+
mass 1.0
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momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
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children [
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DEF WHEEL_REAR_R WheelFront {}

‎jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl‎

Lines changed: 4 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -1734,8 +1734,7 @@ DEF JAXON_JVRC Humanoid {
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children [
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DEF LLEG_LINK6 Segment {
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centerOfMass 0.0 -0.0455 0.0
1737-
#mass 1.6718
1738-
mass 2.4689 # 1.6718 + 0.5072 + 0.2899
1737+
mass 1.0
17391738
momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
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children [
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DEF WHEEL_FRONT_L WheelFront {}
@@ -1766,7 +1765,7 @@ DEF JAXON_JVRC Humanoid {
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children [
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DEF LLEG_LINK7 Segment {
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centerOfMass 0.0 -0.0387 0.0
1769-
mass 0.5072
1768+
mass 1.0
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momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
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children [
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DEF WHEEL_REAR_L WheelFront {}
@@ -2048,8 +2047,7 @@ DEF JAXON_JVRC Humanoid {
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children [
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DEF RLEG_LINK6 Segment {
20502049
centerOfMass 0.0 0.0455 0.0
2051-
#mass 1.6718
2052-
mass 2.4689 # 1.6718 + 0.5072 + 0.2899
2050+
mass 1.0
20532051
momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
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children [
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DEF WHEEL_FRONT_R WheelFront {}
@@ -2080,7 +2078,7 @@ DEF JAXON_JVRC Humanoid {
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children [
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DEF RLEG_LINK7 Segment {
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centerOfMass 0.0 -0.0387 0.0
2083-
mass 0.5072
2081+
mass 1.0
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momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
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children [
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DEF WHEEL_REAR_R WheelFront {}

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