Changing values for steelhead

ubc-subbots · Aug 9, 2024 · db0b88a · db0b88a
1 parent 3041e49
commit db0b88a
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Showing 4 changed files with 28 additions and 15 deletions.
diff --git a/src/triton_controls/config/thruster_config.yaml b/src/triton_controls/config/thruster_config.yaml
@@ -20,6 +20,13 @@
     bits_per_thruster: 5
     max_fwd: 3.71 # kgf
     max_rev: 2.92 # kgf
+    t3:
+      contrib:
+        z: 1.0
+      lx: -0.219431
+      ly: -0.055
+      lz: 0.09
+
     t5:
       contrib:
         x: -1.0

diff --git a/src/triton_gazebo/models/triton_auv/model.sdf b/src/triton_gazebo/models/triton_auv/model.sdf
@@ -29,27 +29,32 @@
     </include>
 
     <!-- Thrusters -->
+
+    <!-- Back Horizontal-->
     <include>
       <uri>model://triton_thruster</uri>
-      <pose>-0.325 0 0 1.57 0</pose>
+      <pose>-0.325 0 0 0 0</pose>
       <name>thruster1</name>
     </include>
 
+    <!-- Angled Front Left-->
     <include>
       <uri>model://triton_thruster</uri>
-      <pose>0 -0.22 0.0045 0 0 0</pose>
+      <pose>-0.062 -0.22 0.0045 0.785 0 0</pose>
       <name>thruster2</name>
     </include>
 
+    <!-- Angled Front Right-->
     <include>
       <uri>model://triton_thruster</uri>
-      <pose>-0.21 -0.33 0.0075 0 -0.785 0</pose>
+      <pose>0.21 -0.33 0.0075 0 -0.785 0</pose>
       <name>thruster4</name>
     </include>
-
+
+    <!-- Vertical-->
     <include>
       <uri>model://triton_thruster</uri>
-      <pose>0.21 -0.33 0.0075 0 0.785 0</pose>
+      <pose>-0.219431 -0.055 0.09 0 3.14 0</pose>
       <name>thruster3</name>
     </include>
 
@@ -83,8 +88,8 @@
 
     <base_link>frame::frame</base_link>
     <neutrally_buoyant>1</neutrally_buoyant>
-    <volume>0.0209673336007</volume>
-    <center_of_buoyancy>-0.14826	-0.1687	0.2339</center_of_buoyancy>
+    <volume>0.00340702866633</volume>
+    <center_of_buoyancy>0.1 -0.062 -0.00878</center_of_buoyancy>
         <!-- <pose>-0.14826 -0.1687 0.19368 0 -0 0</pose> -->
     <hydrodynamic_model>
         <!-- Useful params for controls simplifications-->

diff --git a/src/triton_gazebo/models/triton_frame/model. b/src/triton_gazebo/models/triton_frame/model.
diff --git a/src/triton_gazebo/models/triton_frame/model.sdf b/src/triton_gazebo/models/triton_frame/model.sdf
@@ -4,17 +4,18 @@
     <link name='frame'>
 
       <!-- pose relaive to STL file origin, was moved to AUV center using Blender -->
+      <!-- Edited for Steelhead Mini Aug 9 2024-->
       <inertial>
-        <mass>17.43388</mass>
+        <mass>29.4835</mass>
         <inertia>
-          <ixx> 0.42659179587</ixx>
-          <ixy> 0.00091257391</ixy>
-          <ixz>-0.00613671114</ixz>
-          <iyy> 0.47862692534</iyy>
-          <iyz>-0.00224649356</iyz>
-          <izz> 0.42575057622</izz>
+          <ixx> 0.548853532</ixx>
+          <ixy> 0.000990367</ixy>
+          <ixz> 0.007434770</ixz>
+          <iyy> 0.725638212</iyy>
+          <iyz> 0.045963196</iyz>
+          <izz> 1.077000000</izz>
         </inertia>
-        <pose>-0.14826 -0.1687 0.19368 0 -0 0</pose>
+        <pose>0.1 -0.062 -0.00878 0 -0 0</pose>
       </inertial>
 
       <!-- Visual Data -->