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Add rotor inertia and gear ratio for PD control according to fkanehiro#1
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@snozawa
snozawa committed Aug 12, 2014
1 parent 825d5d0 commit a23fe22
Showing 1 changed file with 58 additions and 0 deletions.
58 changes: 58 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 {
jointType "rotate"
jointAxis 0 1 0
jointId 26
rotorInertia 3.0E-4
gearRatio 200
children [
DEF WAIST_LINK1 Segment {
centerOfMass 0 0 0
Expand All @@ -361,6 +363,8 @@ DEF SampleRobot Humanoid {
jointType "rotate"
jointAxis 1 0 0
jointId 27
rotorInertia 3.0E-4
gearRatio 200
children [
DEF WAIST_LINK2 Segment {
centerOfMass 0 0 0.16
Expand Down Expand Up @@ -392,6 +396,8 @@ DEF SampleRobot Humanoid {
jointType "rotate"
jointId 28
translation 0 0 0.35
rotorInertia 3.0E-4
gearRatio 200
children [
DEF WAIST_LINK3 Segment {
centerOfMass 0 0 0.08
Expand Down Expand Up @@ -483,6 +489,8 @@ DEF SampleRobot Humanoid {
ulimit 1.5708
llimit -3.14159
translation 0 0.21 0
rotorInertia 3.0E-4
gearRatio 200
children [
DEF LARM_LINK1 Segment {
centerOfMass 0 -0.05 0.0
Expand All @@ -506,6 +514,8 @@ DEF SampleRobot Humanoid {
jointId 20
ulimit 2.0944
llimit -0.261799
rotorInertia 3.0E-4
gearRatio 200
children [
DEF LARM_LINK2 Segment {
centerOfMass 0 0 -0.1
Expand Down Expand Up @@ -541,6 +551,8 @@ DEF SampleRobot Humanoid {
ulimit 2.0944
llimit -2.0944
translation 0 0 -0.263
rotorInertia 3.0E-4
gearRatio 200
children [
DEF LARM_LINK3 Segment {
centerOfMass 0 0 0.05
Expand All @@ -565,6 +577,8 @@ DEF SampleRobot Humanoid {
jointId 22
ulimit 0.174533
llimit -2.61799
rotorInertia 3.0E-4
gearRatio 200
children [
DEF LARM_LINK4 Segment {
centerOfMass 0 0 -0.1
Expand Down Expand Up @@ -598,6 +612,8 @@ DEF SampleRobot Humanoid {
ulimit 2.0944
llimit -2.0944
translation 0 0 -0.247
rotorInertia 3.0E-4
gearRatio 200
children [
DEF LARM_LINK5 Segment {
centerOfMass 0 0 0.05
Expand All @@ -622,6 +638,8 @@ DEF SampleRobot Humanoid {
jointId 24
ulimit 2.0944
llimit -2.0944
rotorInertia 3.0E-4
gearRatio 200
children [
DEF LARM_LINK6 Segment {
centerOfMass 0 0.01 -0.09
Expand Down Expand Up @@ -667,6 +685,8 @@ DEF SampleRobot Humanoid {
jointId 25
ulimit 0.122173
llimit -1.309
rotorInertia 3.0E-4
gearRatio 200
children [
DEF LARM_LINK7 Segment {
# centerOfMass 0 0 -0.1
Expand Down Expand Up @@ -710,6 +730,8 @@ DEF SampleRobot Humanoid {
ulimit 1.5708
llimit -3.14159
translation 0 -0.21 0
rotorInertia 3.0E-4
gearRatio 200
children [
DEF RARM_LINK1 Segment {
centerOfMass 0 0.05 0
Expand All @@ -727,6 +749,8 @@ DEF SampleRobot Humanoid {
jointId 7
ulimit 0.261799
llimit -2.0944
rotorInertia 3.0E-4
gearRatio 200
children [
DEF RARM_LINK2 Segment {
centerOfMass 0 0 -0.1
Expand All @@ -743,6 +767,8 @@ DEF SampleRobot Humanoid {
ulimit 2.0944
llimit -2.0944
translation 0 0 -0.263
rotorInertia 3.0E-4
gearRatio 200
children [
DEF RARM_LINK3 Segment {
centerOfMass 0 0 0.05
Expand All @@ -757,6 +783,8 @@ DEF SampleRobot Humanoid {
jointId 9
ulimit 0.174533
llimit -2.61799
rotorInertia 3.0E-4
gearRatio 200
children [
DEF RARM_LINK4 Segment {
centerOfMass 0 0 -0.1
Expand All @@ -772,6 +800,8 @@ DEF SampleRobot Humanoid {
ulimit 2.0944
llimit -2.0944
translation 0 0 -0.247
rotorInertia 3.0E-4
gearRatio 200
children [
DEF RARM_LINK5 Segment {
centerOfMass 0 0 0.05
Expand All @@ -786,6 +816,8 @@ DEF SampleRobot Humanoid {
jointId 11
ulimit 2.0944
llimit -2.0944
rotorInertia 3.0E-4
gearRatio 200
children [
DEF RARM_LINK6 Segment {
centerOfMass 0 -0.01 -0.09
Expand Down Expand Up @@ -831,6 +863,8 @@ DEF SampleRobot Humanoid {
jointId 12
ulimit 1.309
llimit -0.122173
rotorInertia 3.0E-4
gearRatio 200
children [
DEF RARM_LINK7 Segment {
centerOfMass 0 0.03 -0.1
Expand Down Expand Up @@ -883,6 +917,8 @@ DEF SampleRobot Humanoid {
jointAxis 1 0 0
jointId 13
translation 0 0.09 0
rotorInertia 3.0E-4
gearRatio 200
children [
DEF LLEG_LINK1 Segment {
centerOfMass 0 0 0
Expand All @@ -904,6 +940,8 @@ DEF SampleRobot Humanoid {
jointType "rotate"
jointAxis 0 1 0
jointId 14
rotorInertia 3.0E-4
gearRatio 200
children [
DEF LLEG_LINK2 Segment {
centerOfMass 0 0 0
Expand All @@ -922,6 +960,8 @@ DEF SampleRobot Humanoid {
jointType "rotate"
jointId 15
translation 0 0 -0.3535
rotorInertia 3.0E-4
gearRatio 200
children [
DEF LLEG_LINK3 Segment {
centerOfMass 0 0 0.18
Expand Down Expand Up @@ -956,6 +996,8 @@ DEF SampleRobot Humanoid {
jointType "rotate"
jointAxis 0 1 0
jointId 16
rotorInertia 3.0E-4
gearRatio 200
children [

DEF LLEG_LINK4 Segment {
Expand Down Expand Up @@ -988,6 +1030,8 @@ DEF SampleRobot Humanoid {
jointAxis 0 1 0
jointId 17
translation 0 0 -0.3
rotorInertia 3.0E-4
gearRatio 200
children [
DEF LLEG_LINK5 Segment {
centerOfMass 0 0 0
Expand All @@ -1005,6 +1049,8 @@ DEF SampleRobot Humanoid {
jointType "rotate"
jointAxis 1 0 0
jointId 18
rotorInertia 3.0E-4
gearRatio 200
children [
DEF LLEG_LINK6 Segment {
centerOfMass 0.080 0 -0.03
Expand Down Expand Up @@ -1061,6 +1107,8 @@ DEF SampleRobot Humanoid {
jointAxis 1 0 0
jointId 0
translation 0 -0.09 0
rotorInertia 3.0E-4
gearRatio 200
children [
DEF RLEG_LINK1 Segment {
centerOfMass 0 0 0
Expand All @@ -1073,6 +1121,8 @@ DEF SampleRobot Humanoid {
jointType "rotate"
jointAxis 0 1 0
jointId 1
rotorInertia 3.0E-4
gearRatio 200
children [
DEF RLEG_LINK2 Segment {
centerOfMass 0 0 0
Expand All @@ -1084,6 +1134,8 @@ DEF SampleRobot Humanoid {
jointType "rotate"
jointId 2
translation 0 0 -0.3535
rotorInertia 3.0E-4
gearRatio 200
children [
DEF RLEG_LINK3 Segment {
centerOfMass 0 0 0.18
Expand All @@ -1098,6 +1150,8 @@ DEF SampleRobot Humanoid {
jointType "rotate"
jointAxis 0 1 0
jointId 3
rotorInertia 3.0E-4
gearRatio 200
children [
DEF RLEG_LINK4 Segment {
centerOfMass 0 0 -0.12
Expand All @@ -1113,6 +1167,8 @@ DEF SampleRobot Humanoid {
jointAxis 0 1 0
jointId 4
translation 0 0 -0.3
rotorInertia 3.0E-4
gearRatio 200
children [
DEF RLEG_LINK5 Segment {
centerOfMass 0 0 0
Expand All @@ -1125,6 +1181,8 @@ DEF SampleRobot Humanoid {
jointType "rotate"
jointAxis 1 0 0
jointId 5
rotorInertia 3.0E-4
gearRatio 200
children [
DEF RLEG_LINK6 Segment {
centerOfMass 0.080 0 -0.03
Expand Down

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