From 9c6e020c20632e35f3069b8150e7bc74141c04ce Mon Sep 17 00:00:00 2001
From: hashaam <hashaam1217@gmail.com>
Date: Mon, 5 Aug 2024 14:37:41 -0700
Subject: [PATCH] Flipped model

---
 .../config/thruster_config.yaml               | 55 ++++++++++++-------
 .../config/thruster_config_triton_mini.yaml   | 31 ++++++-----
 src/triton_gazebo/models/triton_auv/model.sdf | 31 ++++-------
 .../models/triton_frame/model.sdf             |  4 +-
 4 files changed, 67 insertions(+), 54 deletions(-)

diff --git a/src/triton_controls/config/thruster_config.yaml b/src/triton_controls/config/thruster_config.yaml
index 7a58a91c..c16127b1 100644
--- a/src/triton_controls/config/thruster_config.yaml
+++ b/src/triton_controls/config/thruster_config.yaml
@@ -1,39 +1,56 @@
 /triton/controls/thrust_allocator:
   ros__parameters:
   # Old values are commented, we should think about remodelling the Gazebo Sim to match
+  #
+  #       # Thrusters will follow the following naming convention: 
+
+      #               ___      Thruster 1
+      #    Thruster 3 ___________|__|________
+      #                 |                    |
+      #                 |        -x          |
+      #            Thruster 5 |||            |_
+      #                 |     |||___+y       |_) AUV front 
+      #                 |     +z             |
+      #                 |   (pointing up)    |
+      #               __|____________________|   
+      #    Thruster 4 ___        |  |        
+      #                        Thruster 2
+
     num_thrusters: 6
     bits_per_thruster: 5
     max_fwd: 3.71 # kgf
     max_rev: 2.92 # kgf
     t1:
       contrib: 
-        x: -0.7071
-        y: 0.7071
-      lx: -0.5
-      ly: -0.5
+        x: -1
+      lx: 0.01
+      ly: 0.36
     t2:
       contrib: 
-        x: -0.7071
-        y: -0.7071
-      lx: -0.5
-      ly: 0.5
+        z: 1
+      ly: 0.22
+      lz: -0.07
     t3:
       contrib:
         x: 0.7071
-        y: -0.7071
-      lx: 0.5
-      ly: 0.5
+        z: 0.7071
+      lx: 0.21
+      ly: -0.33
+      lz: 0.0075
     t4:
       contrib: 
-        x: 0.7071
-        y: 0.7071
-      lx: 0.5
-      ly: -0.5
+        x: -0.7071
+        z: 0.7071
+      lx: 0.21
+      ly: -0.33
+      lz: 0.0075
     t5:
       contrib:
-        z: 1.0
-      ly: -0.5
+        y: -1.0
+      lx: 0.325
+      ly: 0.075
     t6:
       contrib:
-        z: 1.0
-      ly: 0.5
+        y: -1.0
+      lx: -0.325
+      ly: 0.075
diff --git a/src/triton_controls/config/thruster_config_triton_mini.yaml b/src/triton_controls/config/thruster_config_triton_mini.yaml
index e3ab86ab..94d7b3fc 100644
--- a/src/triton_controls/config/thruster_config_triton_mini.yaml
+++ b/src/triton_controls/config/thruster_config_triton_mini.yaml
@@ -20,29 +20,32 @@
 
     num_thrusters: 5
     bits_per_thruster: 5
-    max_fwd: 3.71 # kgf 
-    max_rev: 2.92 # kgf 
-    t4: # changed
+    max_fwd: 3.71 # kgf
+    max_rev: 2.92 # kgf
+    t1: # changed
+      contrib:
+        y: -0.7071
+        z: 0.7071
+      lx: 0.0
+      ly: 0.5
+    t2: # changed
       contrib: 
-        x: 1.0
-        y: 0.0
-      lx: -0.5
+        y: 0.7071
+        z: 0.7071
       ly: -0.5
     t3: # changed
       contrib: 
         x: 1.0
-        y: 0.0
       lx: -0.5
       ly: 0.5
-    t1: # changed
-      contrib:
-        z: 1.0
-      lx: 0.0
-      ly: 0.5
-    t2: # changed
+    t4: # changed
       contrib: 
-        z: 1.0
+        x: 1.0
+      lx: -0.5
       ly: -0.5
     t5: # changed
       contrib:
+        z: 1.0
+    t6: # changed
+      contrib: 
         y: -1.0
diff --git a/src/triton_gazebo/models/triton_auv/model.sdf b/src/triton_gazebo/models/triton_auv/model.sdf
index 6b501362..1ef2f7f8 100644
--- a/src/triton_gazebo/models/triton_auv/model.sdf
+++ b/src/triton_gazebo/models/triton_auv/model.sdf
@@ -7,18 +7,10 @@
 
       Thrusters will follow the following naming convention: 
 
-                             Thruster 6
-         Thruster 2 / /________|__|________\ \ Thruster 3
-                   / /|                    |\ \
-                      |        +y          |
-                      |       |            |_
-                      |       |___+x       |_) AUV front 
-                      |     +z             |
-                      |   (pointing up)    |
-                   \ \|____________________|/ /
-         Thruster 1 \ \        |  |        / / Thruster 4
-                             Thruster 5
-
+                        1
+                        2
+                    6       5
+                       4  3
     -->
 
     <!-- Frame -->
@@ -31,30 +23,31 @@
     <!-- Thrusters -->
     <include>
       <uri>model://triton_thruster</uri>
-      <pose>0.01 0.36 0 0 1.57 0</pose>
+      <pose>-0.01 0.36 0 0 -1.57075 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 0.08 0 3.14 0</pose>
       <name>thruster2</name>
     </include>
 
+
     <include>
       <uri>model://triton_thruster</uri>
-      <pose>-0.21 -0.33 0.0075 0 -0.785 0</pose>
-      <name>thruster4</name>
+      <pose>0.21 -0.33 -0.0075 0 2.355375 0</pose>
+      <name>thruster3</name>
     </include>
 
     <include>
       <uri>model://triton_thruster</uri>
-      <pose>0.21 -0.33 0.0075 0 0.785 0</pose>
-      <name>thruster3</name>
+      <pose>-0.21 -0.33 -0.0075 0 -2.355375 0</pose>
+      <name>thruster4</name>
     </include>
 
     <include>
-      <uri>model://triton_thruster</uri>
+      <uri>model://triton_thruster</uri>-0.78775
       <!--
       <pose>-0.14965425999999998 0.05152644 0.33146492 3.1415 3.1415 3.1415</pose>
       -->
diff --git a/src/triton_gazebo/models/triton_frame/model.sdf b/src/triton_gazebo/models/triton_frame/model.sdf
index 72b27630..6b434d90 100644
--- a/src/triton_gazebo/models/triton_frame/model.sdf
+++ b/src/triton_gazebo/models/triton_frame/model.sdf
@@ -14,12 +14,12 @@
           <iyz>-0.00224649356</iyz>
           <izz> 0.42575057622</izz>
         </inertia>
-        <pose>-0.14826 -0.1687 0.19368 0 -0 0</pose>
+        <pose>-0.14826 -0.1687 0.19368 3.1415 0</pose>
       </inertial>
 
       <!-- Visual Data -->
       <visual name='visual'>
-        <pose>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 3.1415 0</pose>
         <geometry>
           <mesh>
             <uri>model://triton_frame/meshes/triton_frame.dae</uri>