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InvPendulumAizu.body
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InvPendulumAizu.body
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format: ChoreonoidBody
formatVersion: 1.0
angleUnit: degree
name: InvPendulumAizu
rootLink: BODY
definitions:
WHEEL_APPEARANCE_: &WHEEL_APPEARANCE
material:
ambientColor: [ 0.8, 0.1, 0.1 ]
diffuseColor: [ 0.8, 0.1, 0.1 ]
specularColor: [ 0.6, 0.6, 0.6 ]
shinines: 0.3
BODY_APPEARANCE_: &BODY_APPEARANCE
material:
ambientColor: [ 0.4, 0.4, 0.7 ]
diffuseColor: [ 0.4, 0.4, 0.7 ]
specularColor: [ 0.6, 0.6, 0.6 ]
shinines: 0.3
BODY_TICKNESS_: &BODY_TICKNESS 0.66
WHEEL_RADIUS_ : &WHEEL_RADIUS 0.1
## (setq M 4 R 0.1 L 0.66)
## (* 0.5 M R R)
## (* 0.25 (+ (* M R R) (/ (* M L L) 3.0)))
## (setq M 40 A 0.5)
## (/ (* M A A) 6.0)
links:
-
type: SubBody
uri: "/choreonoid_ws/devel/share/choreonoid-1.7/model/AizuSpider/AizuSpiderSS.body"
translation: [0.024, 0, 0]
parent: BUSH_Z
jointType: fixed
jointIdOffset: 0
-
name: BODY
jointType: free
translation: [ 0, 0, 0 ]
centerOfMass: [ 0, 0, 0.9 ]
#mass: 40
#inertia: [ ## M*A*A/6
# 1.666, 0, 0,
# 0, 1.666, 0,
# 0, 0, 1.666
#]
mass: 0.1
inertia: [ ## M*A*A/6
0.001, 0, 0,
0, 0.001, 0,
0, 0, 0.001
]
elements:
-
type: Visual
elements:
-
type: Shape
translation: [0, 0, 0.2] ## 0, 0, WHEEL_RADIUS*2
geometry: { type: Box, size: [0.1, 0.76, 0.1]}
appearance: *BODY_APPEARANCE
-
type: Shape
translation: [0, 0.355, 0.1] ## 0, (BODY_TICKNESS + 0.1/2)/2, 0.1
geometry: { type: Box, size: [0.1, 0.05, 0.2]} ## [0.1, 0.1/2, WHEEL_RADIUS*2)
appearance: *BODY_APPEARANCE
-
type: Shape
translation: [0, -0.355, 0.1]
geometry: { type: Box, size: [0.1, 0.05, 0.2]}
appearance: *BODY_APPEARANCE
-
type: Shape
translation: [ 0, 0, 0.45 ]
rotation: [ 1, 0, 0, 90 ]
geometry: { type: Cylinder, height: 0.5, radius: 0.04 }
appearance: *BODY_APPEARANCE
-
type: Collision
elements:
-
type: Shape
translation: [ 0, 0, 0.7 ]
rotation: [ 1, 0, 0, 90 ]
geometry: { type: Cylinder, height: 1.0, radius: 0.04 }
##Box(size[3])、Sphere(radius)、Cyinder(height, radius)、Capsule(height,radius)、
## Cone、Extrusion、ElevationGrid、IndexedFaceSet
-
name: WHEEL_L
parent: BODY
translation: [ 0, 0.27, 0 ]
jointType: revolute
jointId: -1
jointAxis: [ 0, 1, 0 ]
jointRange: [ -180, 180 ]
jointVelocityRange: [ -42.0, 42.0 ]
rotorInertia: 0.6
#jointMotorForceRange: [ -40.0, 40.0 ]
#jointLockForceRange: [ -40.0, 40.0 ]
centerOfMass: [ 0, 0, 0 ]
mass: 4
inertia: [ ### 0.25( M*R^2 + L^2/3), 0.5*M*R^2, 0.25( M*R^2 + L^2/3)
0.1552, 0, 0,
0, 0.02, 0,
0, 0, 0.1552
]
elements:
-
type: Visual
elements:
-
type: Shape
translation: [ 0, 0, 0 ]
geometry: { type: Cylinder, height: 0.1, radius: *WHEEL_RADIUS }
appearance: *WHEEL_APPEARANCE
-
type: Shape
translation: [ 0, 0, -0.08 ]
geometry: { type: Cylinder, height: 0.11, radius: 0.01 }
appearance:
material:
ambientColor: [ 0.8, 0.8, 0.8 ]
diffuseColor: [ 0.8, 0.8, 0.8 ]
specularColor: [ 0.6, 0.6, 0.6 ]
shinines: 0.3
-
type: Collision
elements:
-
type: Shape
translation: [ 0, 0, 0 ]
geometry: { type: Cylinder, height: 0.1, radius: *WHEEL_RADIUS }
-
name: WHEEL_R
parent: BODY
translation: [ 0, -0.27, 0 ]
jointType: revolute
jointId: -1
jointAxis: [ 0, 1, 0 ]
jointRange: [ -180, 180 ]
jointVelocityRange: [ -42.0, 42.0 ]
rotorInertia: 0.6
#jointMotorForceRange: [ -40.0, 40.0 ]
#jointLockForceRange: [ -40.0, 40.0 ]
centerOfMass: [ 0, 0, 0 ]
mass: 4
inertia: [ ### 0.25( M*R^2 + L^2/3), 0.5*M*R^2, 0.25( M*R^2 + L^2/3)
0.1552, 0, 0,
0, 0.02, 0,
0, 0, 0.1552
]
elements:
-
type: Visual
elements:
-
type: Shape
translation: [ 0, 0, 0 ]
geometry: { type: Cylinder, height: 0.1, radius: *WHEEL_RADIUS }
appearance: *WHEEL_APPEARANCE
-
type: Shape
translation: [ 0, 0, -0.08 ]
geometry: { type: Cylinder, height: 0.11, radius: 0.01 }
appearance:
material:
ambientColor: [ 0.8, 0.8, 0.8 ]
diffuseColor: [ 0.8, 0.8, 0.8 ]
specularColor: [ 0.6, 0.6, 0.6 ]
shinines: 0.3
-
type: Collision
elements:
-
type: Shape
translation: [ 0, 0, 0 ]
geometry: { type: Cylinder, height: 0.1, radius: *WHEEL_RADIUS }
-
name: BUSH_Y
parent: BODY
translation: [ 0, 0, 0.2 ]
jointType: revolute
jointId: -1
jointAxis: [ 0, 1, 0 ]
jointRange: [ -180, 180 ]
jointVelocityRange: [ -42.0, 42.0 ]
centerOfMass: [ 0, 0, 0 ]
mass: 0.1
inertia: [ ## M*A*A/6
0.001, 0, 0,
0, 0.001, 0,
0, 0, 0.001
]
rotorInertia: 0.6
-
name: BUSH_Z
parent: BUSH_Y
translation: [ 0, 0, 0.25 ]
jointType: prismatic
jointId: -1
jointAxis: [ 0, 0, 1 ]
jointRange: [ -180, 180 ]
jointVelocityRange: [ -42.0, 42.0 ]
centerOfMass: [ 0, 0, 0 ]
mass: 0.1
inertia: [ ## M*A*A/6
0.001, 0, 0,
0, 0.001, 0,
0, 0, 0.001
]
#mass: 40
#inertia: [ ## M*A*A/6
# 1.666, 0, 0,
# 0, 1.666, 0,
# 0, 0, 1.666
#]
rotorInertia: 0.6
elements:
-
type: Visual
elements:
- ## Main Mass
type: Shape
translation: [0, 0, 0] ## center of Mass
#geometry: { type: Box, size: [0.5, 0.5, 0.5]}
geometry: { type: Box, size: [0.05, 0.05, 0.05]}
appearance: *BODY_APPEARANCE
-
type: Collision
elements:
- ## Main Mass
type: Shape
translation: [0, 0, 0.0] ## center of Mass
#geometry: { type: Box, size: [0.5, 0.5, 0.5]}
geometry: { type: Box, size: [0.05, 0.05, 0.05]}
-
type: AccelerationSensor
name: ACCELERATION_SENSOR
translation: [ 0, 0, 0.0 ]
rotation: [ 0.267261, 0.534522, 0.801784, 90 ]
id: 0
-
type: RateGyroSensor
name: RATE_GYRO_SENSOR
translation: [ 0, 0, 0.0 ]
rotation: [ 0.267261, 0.534522, 0.801784, 90 ]
id: 0
## -
## type: Camera
## #format: COLOR, DEPTH, COLOR_DEPTH,
## #lensType: NORMAL, FISHEYE
## format: COLOR_DEPTH
## fieldOfView: 90
## width: 1280
## height: 720
## frameRate: 30
## name: MAIN_CAMERA
## translation: [ 0.1, 0, 0.5 ]
## rotation: [ 0, 1, 0, -90 ]
## on: true
standardPose: [
# Flippers
0, 0, 0, 0,
# Arm 1
-90, 151, 27, -93, 6, 100, 0, 0, 0 ]
# collisionDetection:
# excludeTreeDepth: 1
# excludeLinkGroups:
# -
# name: ShoulderGroup
# links: [ BASE, SHOULDER, ARM ]
# -
# name: ForeArmGroup
# links: [ FOREARM, WRIST1, WRIST2, HAND ]
# -
# name: FingerGroup
# links: [ FINGER1, FINGER2, FINGER3 ]
# excludeLinksWireCollision: [ FINGER1, FINGER1_TIP, FINGER2, FINGER2_TIP, FINGER3, FINGER3_TIP ]