From a23fe2286d274a0b1ba626d2e7ea806bcc3e3678 Mon Sep 17 00:00:00 2001 From: Shunichi Nozawa Date: Tue, 12 Aug 2014 16:00:01 +0900 Subject: [PATCH] Add rotor inertia and gear ratio for PD control according to https://github.com/fkanehiro/openhrp3/issues/1 --- sample/model/sample1.wrl | 58 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 58 insertions(+) diff --git a/sample/model/sample1.wrl b/sample/model/sample1.wrl index 908ac85ab..62bd1b50f 100644 --- a/sample/model/sample1.wrl +++ b/sample/model/sample1.wrl @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 { @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -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