From 48fc905eaddd2995bf639eca26b77e7be2d8ff28 Mon Sep 17 00:00:00 2001 From: Masaki Murooka Date: Thu, 15 Dec 2022 09:57:58 +0900 Subject: [PATCH] [JVRC1] Widen the width of the grippers. --- projects/JVRC1/model/JVRC1/main.in.wrl | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/projects/JVRC1/model/JVRC1/main.in.wrl b/projects/JVRC1/model/JVRC1/main.in.wrl index 141f350..67eeab7 100644 --- a/projects/JVRC1/model/JVRC1/main.in.wrl +++ b/projects/JVRC1/model/JVRC1/main.in.wrl @@ -765,7 +765,7 @@ DEF JVRC-1 Humanoid { jointType "rotate" jointAxis "X" jointId 25 - translation 0 0.023 -0.084 + translation 0 0.033 -0.084 ulimit [0] #+0 llimit [-0.7853981633974483] #-45 uvlimit [ 6.80678] @@ -807,7 +807,7 @@ DEF JVRC-1 Humanoid { jointType "rotate" jointAxis "X" jointId 27 - translation 0.025 -0.006 -0.102 + translation 0.025 -0.016 -0.084 ulimit [1.5707963267948966] #+90 llimit [0] #-0 uvlimit [ 9.42477] @@ -849,10 +849,9 @@ DEF JVRC-1 Humanoid { jointType "rotate" jointAxis "X" jointId 29 - translation -0.025 -0.006 -0.102 + translation -0.025 -0.016 -0.084 ulimit [1.5707963267948966] #+90 llimit [0] #-0 - uvlimit [ 9.42477] lvlimit [-9.42477] rotorInertia 0.0073 @@ -1028,7 +1027,7 @@ DEF JVRC-1 Humanoid { jointType "rotate" jointAxis "X" jointId 38 - translation 0 -0.023 -0.084 + translation 0 -0.033 -0.084 ulimit [0.7853981633974483] #+45 llimit [-0] #-0 uvlimit [ 6.80678] @@ -1070,7 +1069,7 @@ DEF JVRC-1 Humanoid { jointType "rotate" jointAxis "X" jointId 40 - translation 0.025 0.006 -0.102 + translation 0.025 0.016 -0.084 ulimit [0] #+0 llimit [-1.5707963267948966] #-90 uvlimit [ 9.42477] @@ -1112,7 +1111,7 @@ DEF JVRC-1 Humanoid { jointType "rotate" jointAxis "X" jointId 42 - translation -0.025 0.006 -0.102 + translation -0.025 0.016 -0.084 ulimit [0] #+0 llimit [-1.5707963267948966] #-90 uvlimit [ 9.42477]