Jared I'm coming for you

ubc-subbots · Aug 9, 2024 · 75c5b84 · 75c5b84
1 parent 140eda4
commit 75c5b84
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Showing 2 changed files with 12 additions and 20 deletions.
diff --git a/src/triton_controls/config/thruster_config.yaml b/src/triton_controls/config/thruster_config.yaml
@@ -20,23 +20,15 @@
     bits_per_thruster: 5
     max_fwd: 3.71 # kgf
     max_rev: 2.92 # kgf
-    t1:
-      contrib: 
-        y: 1.0
-      lx: 0.01
-      ly: 0.36
-    t2:
-      contrib: 
-        z: 1.0
-      ly: 0.22
-      lz: -0.07
     t5:
       contrib:
-        y: 1.0
-      lx: 0.325
-      ly: 0.075
+        y: -1.0
+      lx: -0.3284
+      ly: -0.075
+      lz: 0.0
     t6:
       contrib:
-        y: 1.0
-      lx: -0.325
-      ly: 0.075
+        y: -1.0
+      lx: 0.3284
+      ly: -0.075
+      lz: 0.0
diff --git a/src/triton_gazebo/models/triton_auv/model.sdf b/src/triton_gazebo/models/triton_auv/model.sdf
@@ -31,13 +31,13 @@
     <!-- Thrusters -->
     <include>
       <uri>model://triton_thruster</uri>
-      <pose>0.01 0.36 0 0 1.57 0</pose>
+      <pose>0.0 -0.36 0 0 1.57 0</pose>
       <name>thruster1</name>
     </include>
 
     <include>
       <uri>model://triton_thruster</uri>
-      <pose>0 0.22 -0.07 0 0 0</pose>
+      <pose>0 -0.22 0.0045 0 0 0</pose>
       <name>thruster2</name>
     </include>
 
@@ -58,7 +58,7 @@
       <!--
       <pose>-0.14965425999999998 0.05152644 0.33146492 3.1415 3.1415 3.1415</pose>
       -->
-      <pose>0.325 0.075 0 -1.57 0 0</pose>
+      <pose>-0.325 -0.075 0 -1.57 0 0</pose>
       <name>thruster5</name>
     </include>
 
@@ -67,7 +67,7 @@
       <!--
       <pose>-0.14965425999999998 -0.38172644 0.33146492 3.1415 3.1415 0</pose>
       -->
-      <pose>-0.325 0.075 0 -1.57 0 0</pose>
+      <pose>0.325 -0.075 0 -1.57 0 0</pose>
       <name>thruster6</name>
     </include>