From 5a29cfd8395c274579eb9204d6befaf9ee2376fc Mon Sep 17 00:00:00 2001 From: kindsenior Date: Wed, 30 Mar 2022 03:36:52 +0900 Subject: [PATCH] [JAXON_JVRCmain/_hrpsys/_bush.wrl] reduce whel weight to 1 kg --- jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl | 10 ++++------ jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl | 10 ++++------ jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl | 10 ++++------ 3 files changed, 12 insertions(+), 18 deletions(-) diff --git a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl index 995f706d..a843d23e 100644 --- a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl +++ b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl @@ -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 {} @@ -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 {} @@ -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 {} @@ -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 {} diff --git a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl index 16c041c7..1454b477 100644 --- a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl +++ b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl @@ -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 {} @@ -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 {} @@ -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 {} @@ -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 {} diff --git a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl index d9491348..a9d6d664 100644 --- a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl +++ b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl @@ -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 {} @@ -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 {} @@ -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 {} @@ -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 {}