Commit 3ba6216e authored by Ricardo Rico Uribe's avatar Ricardo Rico Uribe
Browse files

corrected for inertias

parent 49a7ebda

aquanaute_description/urdf/aquanaute.urdf

+35 −27
Original line number Diff line number Diff line
@@ -31,13 +31,21 @@ 


   	<!-- * * * Link Definitions * * * -->

    <link name="base_link">

        <!--

        <visual>

            <origin rpy="0.0 0 0" xyz="0 0 0"/>

            <geometry>

                <sphere radius="0.001"/>

            </geometry>

            <material name="blue"/>

        </visual>

    </link>



    <link name="platform_link">

        <inertial>

            <origin xyz="0 0 0" rpy="0 0 0"/>

            <mass value="10.5"/>

            <inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>

            <origin xyz="-0.024 0 -0007" rpy="0 0 0"/>

            <mass value="16"/>

            <inertia ixx="4.206" ixy="0.0" ixz="-0.031" iyy="4.588" iyz="0.0" izz="8.785"/>

        </inertial>

        -->



        <collision>

            <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -56,13 +64,12 @@ 
    </link>



    <link name="right_hull_link">

        <!--

        <inertial>

            <origin xyz="0 0 0" rpy="0 0 0"/>

            <mass value="10.5"/>

            <inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>

            <origin xyz="-0.124 0 -0.168" rpy="0 0 0"/>

            <mass value="10.45"/>

            <inertia ixx="0.244" ixy="3.346" ixz="0.009" iyy="4.974" iyz="-8.274" izz="4.965"/>

        </inertial>

        -->



        <collision>

            <origin xyz="0 0 0" rpy="0 0 0"/>

            <geometry>
@@ -80,13 +87,11 @@ 
    </link>



    <link name="left_hull_link">

        <!--

        <inertial>

            <origin xyz="0 0 0" rpy="0 0 0"/>

            <mass value="10.5"/>

            <inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>

            <origin xyz="-0.124 0 -0.168" rpy="0 0 0"/>

            <mass value="10.45"/>

            <inertia ixx="0.244" ixy="3.346" ixz="0.009" iyy="4.974" iyz="-8.274" izz="4.965"/>

        </inertial>

        -->



        <collision>

            <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -105,13 +110,11 @@ 
    </link>



    <link name="motor_link">

        <!--

        <inertial>

            <origin xyz="0 0 0" rpy="0 0 0"/>

            <mass value="10.5"/>

            <inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>

            <origin xyz="-0.133 0 -0.391" rpy="0 0 0"/>

            <mass value="6.6"/>

            <inertia ixx="0.072" ixy="3.604" ixz="-0.011" iyy="0.111" iyz="5.484" izz="0.042"/>

        </inertial>

        -->



        <collision>

            <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -130,13 +133,12 @@ 
    </link>



    <link name="sensor_frame_link">

        <!--

        <inertial>

            <origin xyz="0 0 0" rpy="0 0 0"/>

            <mass value="10.5"/>

            <inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>

            <origin xyz="-0.007 0 0.379" rpy="0 0 0"/>

            <mass value="1.8"/>

            <inertia ixx="0.308" ixy="0.00" ixz="0.007" iyy="0.297"	iyz="0.00" izz="0.022"/>

        </inertial>

        -->

        

        <collision>

            <origin xyz="0 0 0" rpy="0 0 0"/>

            <geometry>
@@ -154,14 +156,20 @@ 
    </link>



    <!-- * * * Joint Definitions * * * -->

    <joint name="right_hull_platform_joint" type="fixed">

    <joint name="platform_base_joint" type="fixed">

    	<parent link="base_link"/>

    	<child link="platform_link"/>

    	<origin xyz="0 0 0" rpy="0 0 0"/>

	</joint>



    <joint name="right_hull_platform_joint" type="fixed">

    	<parent link="platform_link"/>

    	<child link="right_hull_link"/>

    	<origin xyz="-0.05 -0.7 -0.036" rpy="0 0 0"/>

	</joint>



    <joint name="left_hull_platform_joint" type="fixed">

    	<parent link="base_link"/>

    	<parent link="platform_link"/>

    	<child link="left_hull_link"/>

    	<origin xyz="-0.05 0.7 -0.036" rpy="0 0 0"/>

	</joint>