Update model for correct wheel orientation

little-red-rover · Oct 22, 2024 · c6d4eb1 · c6d4eb1
1 parent cae5bb9
commit c6d4eb1
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Showing 13 changed files with 19 additions and 19 deletions.
diff --git a/little_red_rover/description/rover/lidar_motor.part b/little_red_rover/description/rover/lidar_motor.part
@@ -1,7 +1,7 @@
 {
     "configuration": "default",
     "documentId": "3c9bcb798eb55dc89c3300c0",
-    "documentMicroversion": "d2c58c110908aad55702ad96",
+    "documentMicroversion": "8550ae129f5f8778517a7b3b",
     "elementId": "372d27b8e90a75028e0b67d5",
     "fullConfiguration": "default",
     "id": "MUDrKisOoPQfEXi+b",

diff --git a/little_red_rover/description/rover/lidar_top.part b/little_red_rover/description/rover/lidar_top.part
@@ -1,7 +1,7 @@
 {
     "configuration": "default",
     "documentId": "3c9bcb798eb55dc89c3300c0",
-    "documentMicroversion": "d2c58c110908aad55702ad96",
+    "documentMicroversion": "8550ae129f5f8778517a7b3b",
     "elementId": "372d27b8e90a75028e0b67d5",
     "fullConfiguration": "default",
     "id": "Moj8wtOFubzorHJfF",

diff --git a/little_red_rover/description/rover/motor_attachment_shim.part b/little_red_rover/description/rover/motor_attachment_shim.part
@@ -1,7 +1,7 @@
 {
     "configuration": "default",
     "documentId": "3c9bcb798eb55dc89c3300c0",
-    "documentMicroversion": "d2c58c110908aad55702ad96",
+    "documentMicroversion": "8550ae129f5f8778517a7b3b",
     "elementId": "372d27b8e90a75028e0b67d5",
     "fullConfiguration": "default",
     "id": "Mv/wXNLd48yLQM5KP",

diff --git a/little_red_rover/description/rover/motor_mount_shim.part b/little_red_rover/description/rover/motor_mount_shim.part
@@ -1,7 +1,7 @@
 {
     "configuration": "default",
     "documentId": "3c9bcb798eb55dc89c3300c0",
-    "documentMicroversion": "d2c58c110908aad55702ad96",
+    "documentMicroversion": "8550ae129f5f8778517a7b3b",
     "elementId": "392193b9fa08a6df87ce3e96",
     "fullConfiguration": "default",
     "id": "MtHkEGOReIhbOBhml",

diff --git a/little_red_rover/description/rover/pcb.part b/little_red_rover/description/rover/pcb.part
@@ -1,7 +1,7 @@
 {
     "configuration": "default",
     "documentId": "3c9bcb798eb55dc89c3300c0",
-    "documentMicroversion": "d2c58c110908aad55702ad96",
+    "documentMicroversion": "8550ae129f5f8778517a7b3b",
     "elementId": "372d27b8e90a75028e0b67d5",
     "fullConfiguration": "default",
     "id": "MeSp1Zp5+HN+6mCU8",

diff --git a/little_red_rover/description/rover/robot.urdf b/little_red_rover/description/rover/robot.urdf
@@ -168,13 +168,13 @@
 <mesh filename="package://little_red_rover/description/rover/robot_body_visual.stl"/>
 </geometry>
 <material name="robot_body_material">
-<color rgba="0.54600512915027976657 0.54055055757933434535 0.45074002316652145295 1.0"/>
+<color rgba="0.54600512915027987759 0.54055055757933434535 0.45074002316652145295 1.0"/>
 </material>
 </visual>
 <inertial>
-<origin xyz="0.060471831748332982581 7.7454997493527447951e-07 0.00096954825740216531854" rpy="0 0 0"/>
-<mass value="0.2009726460542947124" />
-<inertia ixx="0.00013869360392620598207" ixy="8.9644321589152596802e-09"  ixz="-4.8027734112456350207e-05" iyy="0.00028503969796307346545" iyz="1.8759790497015855734e-09" izz="0.00031681588396518487209" />
+<origin xyz="0.060471831748332996459 7.7454997493554404775e-07 0.0009695482574021656438" rpy="0 0 0"/>
+<mass value="0.20097264605429468465" />
+<inertia ixx="0.00013869360392620600918" ixy="8.9644321589141975803e-09"  ixz="-4.8027734112456350207e-05" iyy="0.00028503969796307351966" iyz="1.8759790497024326063e-09" izz="0.00031681588396518487209" />
 </inertial>
 </link>
 
@@ -223,9 +223,9 @@
 </material>
 </visual>
 <inertial>
-<origin xyz="2.2758078713237790522e-17 5.2846679174213358489e-17 0.016300136674048160829" rpy="0 0 0"/>
+<origin xyz="2.2765159289608229839e-17 5.2833453191936506478e-17 0.016300136674048160829" rpy="0 0 0"/>
 <mass value="0.060465499993623508801" />
-<inertia ixx="2.3167276380112820092e-05" ixy="-3.9569895874683503507e-41"  ixz="2.8342828437142326122e-50" iyy="2.3166562982068070122e-05" iyz="5.7109987015281717128e-37" izz="3.8318422821940757413e-05" />
+<inertia ixx="2.3167276380112809928e-05" ixy="-3.9569895874516455712e-41"  ixz="2.8342828437142311879e-50" iyy="2.3166562982068063345e-05" iyz="5.7109987015281700423e-37" izz="3.8318422821940750637e-05" />
 </inertial>
 </link>
 
@@ -240,7 +240,7 @@
 
 <link name="wheel_2">
 <collision>
-<origin xyz="0 3.4694469519536141888e-18 -0.029940000000000022151" rpy="-1.3137173103045198934e-46 1.0760550723461240521e-47 -1.313717310304516004e-45" />
+<origin xyz="0 -3.4694469519536141888e-18 0.029940000000000022151" rpy="-3.141592653589793116 -1.6140826085177594519e-46 8.21073318939905366e-48" />
 <geometry>
 <mesh filename="package://little_red_rover/description/rover/wheel.stl"/>
 </geometry>
@@ -255,14 +255,14 @@
 </material>
 </visual>
 <inertial>
-<origin xyz="-2.2758078713237790522e-17 5.2846679174213358489e-17 -0.016300136674048167768" rpy="0 0 0"/>
+<origin xyz="-2.2765159289608229839e-17 -5.2833453191936506478e-17 0.016300136674048167768" rpy="0 0 0"/>
 <mass value="0.060465499993623508801" />
-<inertia ixx="2.3167276380112820092e-05" ixy="-6.0869566822965798449e-50"  ixz="-6.6161998503117786977e-52" iyy="2.3166562982068070122e-05" iyz="-8.0773890174553915328e-51" izz="3.8318422821940757413e-05" />
+<inertia ixx="2.3167276380112809928e-05" ixy="3.8043479264354048364e-52"  ixz="9.9242997754595015616e-51" iyy="2.3166562982068063345e-05" iyz="4.5771871098917510286e-50" izz="3.8318422821940750637e-05" />
 </inertial>
 </link>
 
 <joint name="wheel_right" type="continuous">
-<origin xyz="0.011199999999999583553 -0.040800000000000023748 -0.013200000000000263606" rpy="-1.570796326794896558 -1.9327092177914794838e-29 4.4289166483876419747e-31" />
+<origin xyz="0.011199999999999583553 -0.040800000000000023748 -0.013200000000000263606" rpy="1.570796326794896558 -1.8488927466117512359e-31 7.0378054251947066516e-30" />
 <parent link="robot_body" />
 <child link="wheel_2" />
 <axis xyz="0 0 1"/>

diff --git a/little_red_rover/description/rover/robot_body_visual.stl b/little_red_rover/description/rover/robot_body_visual.stl
diff --git a/little_red_rover/description/rover/skid.part b/little_red_rover/description/rover/skid.part
@@ -1,7 +1,7 @@
 {
     "configuration": "default",
     "documentId": "3c9bcb798eb55dc89c3300c0",
-    "documentMicroversion": "d2c58c110908aad55702ad96",
+    "documentMicroversion": "8550ae129f5f8778517a7b3b",
     "elementId": "372d27b8e90a75028e0b67d5",
     "fullConfiguration": "default",
     "id": "M+c7aY//R5Kpg9W/f",

diff --git a/little_red_rover/description/rover/tt_motor_3777_v10.part b/little_red_rover/description/rover/tt_motor_3777_v10.part
@@ -1,7 +1,7 @@
 {
     "configuration": "default",
     "documentId": "3c9bcb798eb55dc89c3300c0",
-    "documentMicroversion": "d2c58c110908aad55702ad96",
+    "documentMicroversion": "8550ae129f5f8778517a7b3b",
     "elementId": "23f8f9052d19959c7fc95d94",
     "fullConfiguration": "default",
     "id": "MwEnVp5PK8xebnuZe",

diff --git a/little_red_rover/description/rover/tt_motor_mount.part b/little_red_rover/description/rover/tt_motor_mount.part
@@ -1,7 +1,7 @@
 {
     "configuration": "default",
     "documentId": "3c9bcb798eb55dc89c3300c0",
-    "documentMicroversion": "d2c58c110908aad55702ad96",
+    "documentMicroversion": "8550ae129f5f8778517a7b3b",
     "elementId": "392193b9fa08a6df87ce3e96",
     "fullConfiguration": "default",
     "id": "MvH3T3ryU2+u0iaBE",

diff --git a/little_red_rover/description/rover/wheel.part b/little_red_rover/description/rover/wheel.part
@@ -1,7 +1,7 @@
 {
     "configuration": "default",
     "documentId": "3c9bcb798eb55dc89c3300c0",
-    "documentMicroversion": "d2c58c110908aad55702ad96",
+    "documentMicroversion": "8550ae129f5f8778517a7b3b",
     "elementId": "94afc5155719ed50597af393",
     "fullConfiguration": "default",
     "id": "MpEd3sIbJLsHdbojP",

diff --git a/little_red_rover/description/rover/wheel_2_visual.stl b/little_red_rover/description/rover/wheel_2_visual.stl
diff --git a/little_red_rover/description/rover/wheel_visual.stl b/little_red_rover/description/rover/wheel_visual.stl