Centre of mass

ubc-subbots · Aug 3, 2024 · 5076172 · 5076172
1 parent 2ac5210
commit 5076172
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/triton_controls/config/thruster_config.yaml b/src/triton_controls/config/thruster_config.yaml
@@ -1,10 +1,10 @@
 /triton/controls/thrust_allocator:
   ros__parameters:
-  # Old values are commented, we should think about remodelling the Gazebo Sim to match  
+  # Old values are commented, we should think about remodelling the Gazebo Sim to match
     num_thrusters: 6
     bits_per_thruster: 5
-    max_fwd: 3.71 # kgf 
-    max_rev: 2.92 # kgf 
+    max_fwd: 3.71 # kgf
+    max_rev: 2.92 # kgf
     t1:
       contrib: 
         x: -0.7071

diff --git a/src/triton_gazebo/models/triton_frame/model.sdf b/src/triton_gazebo/models/triton_frame/model.sdf
@@ -14,7 +14,7 @@
           <iyz>-0.00224649356</iyz>
           <izz> 0.42575057622</izz>
         </inertia>
-        <pose>-0.14826 -0.1687 0.19368 0 -0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
       </inertial>
 
       <!-- Visual Data -->