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Aditionaly, a part of definitation codes of arm link in .wrl is following.

DEF GR001 Humanoid{
  humanoidBody [
    DEF CHEST_P Joint {
     jointType "fixed"
     translation 0.044 0.0 0.02
     rotation 0 0 1 0
     children[
       DEF CHEST_P_LINK Segment{
         mass 0.02905 
       }
       DEF R_SHOULDER_P Joint {
         jointType "rotate"
         jointAxis 0 1 0
         translation -0.01 -0.041 0.042
        rotation 0 0 1 0
         children[
           DEF R_SHOULDER_P_LINK Segment{
            mass 0.02905 
           }
           DEF R_SHOULDER_R Joint {
               jointType "rotate"
               jointAxis 1 0 0
               translation 0.00001 -0.025 -0.008
             rotation 0 0 1 0
               children[
                 DEF R_SHOULDER_R_LINK Segment{
                mass 0.02905 
                 }
                 DEF R_ELBOW_P Joint {
                   jointType "rotate"
                   jointAxis 0 1 0
                   translation 0.009 0.00001 -0.047  # by Hara
                 rotation 0 0 1 0
                   children[
                     DEF R_ELBOW_P_LINK Segment{
                     mass 0.02905 
                     }
                   ]
                 }
               ]
           }
         ]
       }
     ]
    }
  ]
  joints [
   USE CHEST_P,
   USE R_SHOULDER_P,
   USE R_SHOULDER_R,
   USE R_ELBOW_P,
  ]
  segments [
   USE CHEST_P_LINK,
   USE R_SHOULDER_P_LINK,
   USE R_SHOULDER_R_LINK,
   USE R_ELBOW_P_LINK,
  ]
}

Many thanks.