Skip to content

Commit

Permalink
changed joint circular true to false to respect the joint limits
Browse files Browse the repository at this point in the history
  • Loading branch information
rsantos88 committed May 19, 2017
1 parent 75e1931 commit b1db549
Show file tree
Hide file tree
Showing 4 changed files with 15 additions and 15 deletions.
4 changes: 2 additions & 2 deletions openrave/teo/teo_head.kinbody.xml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@
</Mass>
</Body>

<Joint circular="true" name="q00" type="hinge">
<Joint circular="false" name="q00" type="hinge">
<Body>r31</Body>
<Body>r00</Body>
<offsetfrom>r00</offsetfrom>
Expand All @@ -40,7 +40,7 @@
</Mass>
</Body>

<Joint circular="true" name="q01" type="hinge">
<Joint circular="false" name="q01" type="hinge">
<Body>r00</Body>
<Body>r01</Body>
<offsetfrom>r01</offsetfrom>
Expand Down
12 changes: 6 additions & 6 deletions openrave/teo/teo_leftArm.kinbody.xml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@
</Mass>
</Body>

<Joint circular="true" name="q20" type="hinge">
<Joint circular="false" name="q20" type="hinge">
<Body>r31</Body>
<Body>r20</Body>
<offsetfrom>r20</offsetfrom>
Expand All @@ -41,7 +41,7 @@
</Mass>
</Body>

<Joint circular="true" name="q21" type="hinge">
<Joint circular="false" name="q21" type="hinge">
<Body>r20</Body>
<Body>r21</Body>
<offsetfrom>r21</offsetfrom>
Expand All @@ -65,7 +65,7 @@
</Mass>
</Body>

<Joint circular="true" name="q22" type="hinge">
<Joint circular="false" name="q22" type="hinge">
<Body>r21</Body>
<Body>r22</Body>
<offsetfrom>r22</offsetfrom>
Expand All @@ -89,7 +89,7 @@
</Mass>
</Body>

<Joint circular="true" name="q23" type="hinge">
<Joint circular="false" name="q23" type="hinge">
<Body>r22</Body>
<Body>r23</Body>
<offsetfrom>r23</offsetfrom>
Expand All @@ -113,7 +113,7 @@
</Mass>
</Body>

<Joint circular="true" name="q24" type="hinge">
<Joint circular="false" name="q24" type="hinge">
<Body>r23</Body>
<Body>r24</Body>
<offsetfrom>r24</offsetfrom>
Expand All @@ -137,7 +137,7 @@
</Mass>
</Body>

<Joint circular="true" name="q25" type="hinge">
<Joint circular="false" name="q25" type="hinge">
<Body>r24</Body>
<Body>r25</Body>
<offsetfrom>r25</offsetfrom>
Expand Down
10 changes: 5 additions & 5 deletions openrave/teo/teo_rightArm.kinbody.xml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@
</Mass>
</Body>

<Joint circular="true" name="q10" type="hinge">
<Joint circular="false" name="q10" type="hinge">
<Body>r31</Body>
<Body>r10</Body>
<offsetfrom>r10</offsetfrom>
Expand Down Expand Up @@ -65,7 +65,7 @@
</Mass>
</Body>

<Joint circular="true" name="q12" type="hinge">
<Joint circular="false" name="q12" type="hinge">
<Body>r11</Body>
<Body>r12</Body>
<offsetfrom>r12</offsetfrom>
Expand All @@ -89,7 +89,7 @@
</Mass>
</Body>

<Joint circular="true" name="q13" type="hinge">
<Joint circular="false" name="q13" type="hinge">
<Body>r12</Body>
<Body>r13</Body>
<offsetfrom>r13</offsetfrom>
Expand All @@ -113,7 +113,7 @@
</Mass>
</Body>

<Joint circular="true" name="q14" type="hinge">
<Joint circular="false" name="q14" type="hinge">
<Body>r13</Body>
<Body>r14</Body>
<offsetfrom>r14</offsetfrom>
Expand All @@ -137,7 +137,7 @@
</Mass>
</Body>

<Joint circular="true" name="q15" type="hinge">
<Joint circular="false" name="q15" type="hinge">
<Body>r14</Body>
<Body>r15</Body>
<offsetfrom>r15</offsetfrom>
Expand Down
4 changes: 2 additions & 2 deletions openrave/teo/teo_trunk.kinbody.xml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@
</Mass>
</Body>

<Joint circular="true" name="q30" type="hinge">
<Joint circular="false" name="q30" type="hinge">
<Body>cintura</Body>
<Body>r30</Body>
<offsetfrom>r30</offsetfrom>
Expand All @@ -39,7 +39,7 @@
</Mass>
</Body>

<Joint circular="true" name="q31" type="hinge">
<Joint circular="false" name="q31" type="hinge">
<Body>r30</Body>
<Body>r31</Body>
<offsetfrom>r30</offsetfrom>
Expand Down

0 comments on commit b1db549

Please sign in to comment.