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Update inertias #35

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merged 2 commits into from
May 11, 2022
Merged

Update inertias #35

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52fe22c
Update inertias
chapulina May 6, 2022
3e60666
Merge branch 'main' into chapulina/inertias
quarkytale May 11, 2022
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65 changes: 38 additions & 27 deletions buoy_description/models/mbari_wec/model.sdf.em
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,10 @@ tether_top_length = 2.0

num_tether_bottom_links = 10

# Heave cone
heave_total_mass = 817
trefoil_mass = 10

###################
# Computed values #
###################
Expand All @@ -48,14 +52,15 @@ tether_bottom_link_cylinder.mass_matrix(tether_bottom_link_mm)
<link name="Buoy">
<pose relative_to="__model__">0 0 0 0 0 0</pose>
<inertial>
<mass>1080</mass>
<pose>0 0 2.13 0 0 0</pose>
<mass>1400</mass>
<inertia>
<ixx>10000</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>10000</iyy>
<iyz>0</iyz>
<izz>1000</izz>
<ixx>1429</ixx>
<ixy>6.77</ixy>
<ixz>4.69</ixz>
<iyy>670.31</iyy>
<iyz>30.5</iyz>
<izz>1476</izz>
</inertia>
</inertial>
<visual name="visual">
Expand All @@ -76,14 +81,15 @@ tether_bottom_link_cylinder.mass_matrix(tether_bottom_link_mm)
<link name="PTO">
<pose relative_to="Buoy">0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 -3.67 0 0 0</pose>
<mass>605</mass>
<inertia>
<ixx>10000</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>10000</iyy>
<iyz>0</iyz>
<izz>1000</izz>
<ixx>3219</ixx>
<ixy>-0.43</ixy>
<ixz>-2.56</ixz>
<iyy>3219</iyy>
<iyz>3.37</iyz>
<izz>7.28</izz>
</inertia>
</inertial>
<visual name="visual">
Expand Down Expand Up @@ -112,13 +118,15 @@ tether_bottom_link_cylinder.mass_matrix(tether_bottom_link_mm)
<pose relative_to="PTO">0 0 @(piston_z_offset) 0 0 0</pose>
<inertial>
<mass>48</mass>
<pose>0 0 -2.57934 0 0 0</pose>
<inertia>
<ixx>10000</ixx>
<!-- TODO(chapulina) Get real values -->
<ixx>128</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>10000</iyy>
<iyy>128</iyy>
<iyz>0</iyz>
<izz>1000</izz>
<izz>0.0216</izz>
</inertia>
</inertial>
<visual name="visual">
Expand Down Expand Up @@ -241,14 +249,15 @@ tether_bottom_link_cylinder.mass_matrix(tether_bottom_link_mm)
<link name="HeaveCone">
<pose relative_to="PistonBottom">0 0 -@(tether_length) 0 0 0</pose>
<inertial>
<mass>1000</mass>
<pose>0 0 -1.25 0 0 0</pose>
<mass>@(heave_total_mass - trefoil_mass)</mass>
<inertia>
<ixx>10000</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>10000</iyy>
<iyz>0</iyz>
<izz>1000</izz>
<ixx>339.8</ixx>
<ixy>0.16</ixy>
<ixz>-0.29</ixz>
<iyy>343.73</iyy>
<iyz>0.33</iyz>
<izz>613.52</izz>
</inertia>
</inertial>
<visual name="visual">
Expand All @@ -269,14 +278,16 @@ tether_bottom_link_cylinder.mass_matrix(tether_bottom_link_mm)
<link name="Trefoil">
<pose relative_to="HeaveCone">0 0 0 0 0 0</pose>
<inertial>
<mass>10</mass>
<pose>0 0 -1.25 0 0 0</pose>
<!-- TODO(chapulina) Get real values -->
<mass>@(trefoil_mass)</mass>
<inertia>
<ixx>10000</ixx>
<ixx>10</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>10000</iyy>
<iyy>10</iyy>
<iyz>0</iyz>
<izz>1000</izz>
<izz>19.9</izz>
</inertia>
</inertial>
<visual name="visual">
Expand Down