adipu/guadaloop_lev_control
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Loaded new mass and inertial characteristics into sim, ported sim arch into arduino code

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pulipakaa24
2026-02-26 12:45:27 -06:00
parent 725f227943
commit 010d997eef
16 changed files with 450 additions and 473 deletions
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12
RL Testing/pod.xml
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@@ -2,8 +2,8 @@
<robot name="lev_pod">
<link name="base_link">
<inertial>
<mass value="5.8"/>
<inertia ixx="0.0192942414" ixy="0.0" ixz="0.0" iyy="0.130582305" iyz="0.0" izz="0.13760599326"/>
<mass value="9.4"/>
<inertia ixx="0.03162537654" ixy="0.0" ixz="0.0" iyy="0.21929017831" iyz="0.0" izz="0.21430205089"/>
</inertial>
<collision>
@@ -13,19 +13,19 @@
Bolts
<collision>
<origin rpy="0 0 0" xyz="0.285 0.03 0.09585"/>
<origin rpy="0 0 0" xyz="0.285 0.03 0.09085"/>
<geometry><box size="0.01 0.01 0.01"/></geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.285 -0.03 0.09585"/>
<origin rpy="0 0 0" xyz="0.285 -0.03 0.09085"/>
<geometry><box size="0.01 0.01 0.01"/></geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.285 0.03 0.09585"/>
<origin rpy="0 0 0" xyz="-0.285 0.03 0.09085"/>
<geometry><box size="0.01 0.01 0.01"/></geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.285 -0.03 0.09585"/>
<origin rpy="0 0 0" xyz="-0.285 -0.03 0.09085"/>
<geometry><box size="0.01 0.01 0.01"/></geometry>
</collision>