Commit 3ba6216ed9833a27c9a4d763da296524f285a7d6

Authored by Ricardo Rico Uribe
1 parent 49a7ebda

corrected for inertias

Showing 1 changed file with 35 additions and 27 deletions   Show diff stats
aquanaute_description/urdf/aquanaute.urdf
... ... @@ -31,13 +31,21 @@
31 31  
32 32 <!-- * * * Link Definitions * * * -->
33 33 <link name="base_link">
34   - <!--
  34 + <visual>
  35 + <origin rpy="0.0 0 0" xyz="0 0 0"/>
  36 + <geometry>
  37 + <sphere radius="0.001"/>
  38 + </geometry>
  39 + <material name="blue"/>
  40 + </visual>
  41 + </link>
  42 +
  43 + <link name="platform_link">
35 44 <inertial>
36   - <origin xyz="0 0 0" rpy="0 0 0"/>
37   - <mass value="10.5"/>
38   - <inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>
  45 + <origin xyz="-0.024 0 -0007" rpy="0 0 0"/>
  46 + <mass value="16"/>
  47 + <inertia ixx="4.206" ixy="0.0" ixz="-0.031" iyy="4.588" iyz="0.0" izz="8.785"/>
39 48 </inertial>
40   - -->
41 49  
42 50 <collision>
43 51 <origin xyz="0 0 0" rpy="0 0 0"/>
... ... @@ -56,13 +64,12 @@
56 64 </link>
57 65  
58 66 <link name="right_hull_link">
59   - <!--
60 67 <inertial>
61   - <origin xyz="0 0 0" rpy="0 0 0"/>
62   - <mass value="10.5"/>
63   - <inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>
  68 + <origin xyz="-0.124 0 -0.168" rpy="0 0 0"/>
  69 + <mass value="10.45"/>
  70 + <inertia ixx="0.244" ixy="3.346" ixz="0.009" iyy="4.974" iyz="-8.274" izz="4.965"/>
64 71 </inertial>
65   - -->
  72 +
66 73 <collision>
67 74 <origin xyz="0 0 0" rpy="0 0 0"/>
68 75 <geometry>
... ... @@ -80,13 +87,11 @@
80 87 </link>
81 88  
82 89 <link name="left_hull_link">
83   - <!--
84 90 <inertial>
85   - <origin xyz="0 0 0" rpy="0 0 0"/>
86   - <mass value="10.5"/>
87   - <inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>
  91 + <origin xyz="-0.124 0 -0.168" rpy="0 0 0"/>
  92 + <mass value="10.45"/>
  93 + <inertia ixx="0.244" ixy="3.346" ixz="0.009" iyy="4.974" iyz="-8.274" izz="4.965"/>
88 94 </inertial>
89   - -->
90 95  
91 96 <collision>
92 97 <origin xyz="0 0 0" rpy="0 0 0"/>
... ... @@ -105,13 +110,11 @@
105 110 </link>
106 111  
107 112 <link name="motor_link">
108   - <!--
109 113 <inertial>
110   - <origin xyz="0 0 0" rpy="0 0 0"/>
111   - <mass value="10.5"/>
112   - <inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>
  114 + <origin xyz="-0.133 0 -0.391" rpy="0 0 0"/>
  115 + <mass value="6.6"/>
  116 + <inertia ixx="0.072" ixy="3.604" ixz="-0.011" iyy="0.111" iyz="5.484" izz="0.042"/>
113 117 </inertial>
114   - -->
115 118  
116 119 <collision>
117 120 <origin xyz="0 0 0" rpy="0 0 0"/>
... ... @@ -130,13 +133,12 @@
130 133 </link>
131 134  
132 135 <link name="sensor_frame_link">
133   - <!--
134 136 <inertial>
135   - <origin xyz="0 0 0" rpy="0 0 0"/>
136   - <mass value="10.5"/>
137   - <inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>
  137 + <origin xyz="-0.007 0 0.379" rpy="0 0 0"/>
  138 + <mass value="1.8"/>
  139 + <inertia ixx="0.308" ixy="0.00" ixz="0.007" iyy="0.297" iyz="0.00" izz="0.022"/>
138 140 </inertial>
139   - -->
  141 +
140 142 <collision>
141 143 <origin xyz="0 0 0" rpy="0 0 0"/>
142 144 <geometry>
... ... @@ -154,14 +156,20 @@
154 156 </link>
155 157  
156 158 <!-- * * * Joint Definitions * * * -->
157   - <joint name="right_hull_platform_joint" type="fixed">
  159 + <joint name="platform_base_joint" type="fixed">
158 160 <parent link="base_link"/>
  161 + <child link="platform_link"/>
  162 + <origin xyz="0 0 0" rpy="0 0 0"/>
  163 + </joint>
  164 +
  165 + <joint name="right_hull_platform_joint" type="fixed">
  166 + <parent link="platform_link"/>
159 167 <child link="right_hull_link"/>
160 168 <origin xyz="-0.05 -0.7 -0.036" rpy="0 0 0"/>
161 169 </joint>
162 170  
163 171 <joint name="left_hull_platform_joint" type="fixed">
164   - <parent link="base_link"/>
  172 + <parent link="platform_link"/>
165 173 <child link="left_hull_link"/>
166 174 <origin xyz="-0.05 0.7 -0.036" rpy="0 0 0"/>
167 175 </joint>
... ...