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Fixed inertial calculations in pegs and erb'd files for tube and cup

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This commit is contained in:
Jackie Kay jacquelinekay1 2014-09-30 15:34:34 -07:00
parent aa54581221
commit dd98e9557b
6 changed files with 12 additions and 13 deletions
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4
metal_peg/model.rsdf
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@ -11,8 +11,8 @@
# Inertia
mass = 0.0121
ixx = mass/12.0 * 3*(r**2 + h**2 )
iyy = mass/12.0 * 3*(r**2 + h**2 )
ixx = mass/12.0 * (3*r**2 + h**2 )
iyy = mass/12.0 * (3*r**2 + h**2 )
izz = mass/2.0 * r**2
%>
<sdf version="1.5">

4
metal_peg/model.sdf
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@ -6,10 +6,10 @@
<inertial>
<mass>0.0121</mass>
<inertia>
<ixx>1.166104225e-05</ixx>
<ixx>3.908975583333333e-06</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1.166104225e-05</iyy>
<iyy>3.908975583333333e-06</iyy>
<iyz>0</iyz>
<izz>6.58845e-08</izz>
</inertia>

4
plastic_cup/model.sdf
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@ -19,7 +19,7 @@
<geometry>
<cylinder>
<radius> 0.007 </radius>
<height> 0.13 </height>
<length> 0.13 </length>
</cylinder>
</geometry>
</collision>
@ -28,7 +28,7 @@
<geometry>
<cylinder>
<radius> 0.007 </radius>
<height> 0.13 </height>
<length> 0.13 </length>
</cylinder>
</geometry>
<material>

5
tube_9_5mm/model.sdf
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@ -17,10 +17,9 @@
<collision name="collision">
<geometry>
#TODO: replace with mesh of a tube
<cylinder>
<radius> 0.00475 </radius>
<height> 0.16 </height>
<length> 0.16 </length>
</cylinder>
</geometry>
</collision>
@ -29,7 +28,7 @@
<geometry>
<cylinder>
<radius> 0.00475 </radius>
<height> 0.16 </height>
<length> 0.16 </length>
</cylinder>
</geometry>
<material>

4
wooden_peg/model.rsdf
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@ -11,8 +11,8 @@
# Inertia
mass = 0.0175
ixx = mass/12.0 * 3*(r**2 + h**2 )
iyy = mass/12.0 * 3*(r**2 + h**2 )
ixx = mass/12.0 * (3*r**2 + h**2 )
iyy = mass/12.0 * (3*r**2 + h**2 )
izz = mass/2.0 * r**2
%>
<sdf version="1.5">

4
wooden_peg/model.sdf
View File

@ -6,10 +6,10 @@
<inertial>
<mass>0.0175</mass>
<inertia>
<ixx>2.8415898437500003e-05</ixx>
<ixx>9.749231770833334e-06</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>2.8415898437500003e-05</iyy>
<iyy>9.749231770833334e-06</iyy>
<iyz>0</iyz>
<izz>8.317968750000001e-07</izz>
</inertia>