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[JAXON_JVRCmain/_hrpsys/_bush.wrl] reduce whel weight to 1 kg
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@kindsenior
kindsenior committed Jun 10, 2022
1 parent 88090fb commit 5a29cfd
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Showing 3 changed files with 12 additions and 18 deletions.
10 changes: 4 additions & 6 deletions jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl
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Original file line number Diff line number Diff line change
Expand Up @@ -1561,8 +1561,7 @@ DEF JAXON_JVRC Humanoid {
children [
DEF LLEG_LINK6 Segment {
centerOfMass 0.0 -0.0455 0.0
#mass 1.6718
mass 2.4689 # 1.6718 + 0.5072 + 0.2899
mass 1.0
momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
children [
DEF WHEEL_FRONT_L WheelFront {}
Expand Down Expand Up @@ -1593,7 +1592,7 @@ DEF JAXON_JVRC Humanoid {
children [
DEF LLEG_LINK7 Segment {
centerOfMass 0.0 -0.0387 0.0
mass 0.5072
mass 1.0
momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
children [
DEF WHEEL_REAR_L WheelFront {}
Expand Down Expand Up @@ -1818,8 +1817,7 @@ DEF JAXON_JVRC Humanoid {
children [
DEF RLEG_LINK6 Segment {
centerOfMass 0.0 0.0455 0.0
#mass 1.6718
mass 2.4689 # 1.6718 + 0.5072 + 0.2899
mass 1.0
momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
children [
DEF WHEEL_FRONT_R WheelFront {}
Expand Down Expand Up @@ -1850,7 +1848,7 @@ DEF JAXON_JVRC Humanoid {
children [
DEF RLEG_LINK7 Segment {
centerOfMass 0.0 -0.0387 0.0
mass 0.5072
mass 1.0
momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
children [
DEF WHEEL_REAR_R WheelFront {}
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10 changes: 4 additions & 6 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 @@ -1562,8 +1562,7 @@ DEF JAXON_JVRC Humanoid {
children [
DEF LLEG_LINK6 Segment {
centerOfMass 0.0 -0.0455 0.0
#mass 1.6718
mass 2.4689 # 1.6718 + 0.5072 + 0.2899
mass 1.0
momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
children [
DEF WHEEL_FRONT_L WheelFront {}
Expand Down Expand Up @@ -1594,7 +1593,7 @@ DEF JAXON_JVRC Humanoid {
children [
DEF LLEG_LINK7 Segment {
centerOfMass 0.0 -0.0387 0.0
mass 0.5072
mass 1.0
momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
children [
DEF WHEEL_REAR_L WheelFront {}
Expand Down Expand Up @@ -1819,8 +1818,7 @@ DEF JAXON_JVRC Humanoid {
children [
DEF RLEG_LINK6 Segment {
centerOfMass 0.0 0.0455 0.0
#mass 1.6718
mass 2.4689 # 1.6718 + 0.5072 + 0.2899
mass 1.0
momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
children [
DEF WHEEL_FRONT_R WheelFront {}
Expand Down Expand Up @@ -1851,7 +1849,7 @@ DEF JAXON_JVRC Humanoid {
children [
DEF RLEG_LINK7 Segment {
centerOfMass 0.0 -0.0387 0.0
mass 0.5072
mass 1.0
momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
children [
DEF WHEEL_REAR_R WheelFront {}
Expand Down
10 changes: 4 additions & 6 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 @@ -1734,8 +1734,7 @@ DEF JAXON_JVRC Humanoid {
children [
DEF LLEG_LINK6 Segment {
centerOfMass 0.0 -0.0455 0.0
#mass 1.6718
mass 2.4689 # 1.6718 + 0.5072 + 0.2899
mass 1.0
momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
children [
DEF WHEEL_FRONT_L WheelFront {}
Expand Down Expand Up @@ -1766,7 +1765,7 @@ DEF JAXON_JVRC Humanoid {
children [
DEF LLEG_LINK7 Segment {
centerOfMass 0.0 -0.0387 0.0
mass 0.5072
mass 1.0
momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
children [
DEF WHEEL_REAR_L WheelFront {}
Expand Down Expand Up @@ -2048,8 +2047,7 @@ DEF JAXON_JVRC Humanoid {
children [
DEF RLEG_LINK6 Segment {
centerOfMass 0.0 0.0455 0.0
#mass 1.6718
mass 2.4689 # 1.6718 + 0.5072 + 0.2899
mass 1.0
momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
children [
DEF WHEEL_FRONT_R WheelFront {}
Expand Down Expand Up @@ -2080,7 +2078,7 @@ DEF JAXON_JVRC Humanoid {
children [
DEF RLEG_LINK7 Segment {
centerOfMass 0.0 -0.0387 0.0
mass 0.5072
mass 1.0
momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
children [
DEF WHEEL_REAR_R WheelFront {}
Expand Down

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