updating robot model masses for gazebo

robotican · Nov 7, 2018 · adba5ec · adba5ec
1 parent 0695d02
commit adba5ec
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Showing 2 changed files with 10 additions and 10 deletions.
diff --git a/armadillo2/setup.sh b/armadillo2/setup.sh
@@ -193,7 +193,7 @@ fi
 # compiling armadillo2 #
 printf "${WHITE_TXT}Compiling armadillo2 package...\n${NO_COLOR}"
 cd ~/catkin_ws
-catkin_make -DCMAKE_BUILD_TYPE="Release"
+catkin_make
 printf "${GREEN_TXT}Done.\n\n${NO_COLOR}"
 
 printf "${GREEN_TXT}Installation process finished.\n\n"  ${NO_COLOR}

diff --git a/armadillo2_description/urdf/armadillo2.xacro b/armadillo2_description/urdf/armadillo2.xacro
@@ -21,7 +21,7 @@
       <origin
         xyz="-0.012353 0.000122 0.17716"
         rpy="0 0 0" />
-       <mass value="100.65"/>
+       <mass value="100.0"/>
        <inertia
         ixx="0.31639"
         ixy="-9.1727E-05"
@@ -632,7 +632,7 @@
         xyz="-3.5316E-10 0.0073117 0.032399"
         rpy="0 0 0" />
       <mass
-        value="0.0000017" />
+        value="0.5" />
       <inertia
         ixx="0.00055596"
         ixy="9.2522E-12"
@@ -692,7 +692,7 @@
         xyz="0.01628 -0.03243 0.20044"
         rpy="0 0 0" />
       <mass
-        value="0.0000017" />
+        value="0.5" />
       <inertia
         ixx="0.0043595"
         ixy="-3.1405E-06"
@@ -751,7 +751,7 @@
         xyz="0.068154 -0.020691 0.11032"
         rpy="0 0 0" />
       <mass
-        value="0.0000017" />
+        value="0.5" />
       <inertia
         ixx="0.00093237"
         ixy="-1.0052E-05"
@@ -810,7 +810,7 @@
         xyz="5.0638E-06 -0.0012262 0.056857"
         rpy="0 0 0" />
       <mass
-        value="0.0000017" />
+        value="0.3" />
       <inertia
         ixx="0.00014092"
         ixy="1.0984E-09"
@@ -869,7 +869,7 @@
         xyz="3.9875E-11 -0.044252 0.069689"
         rpy="0 0 0" />
       <mass
-        value="0.0000017" />
+        value="0.3" />
       <inertia
         ixx="0.00018198"
         ixy="2.1351E-13"
@@ -928,7 +928,7 @@
         xyz="-8.1889E-11 0.02077 -0.0027746"
         rpy="0 0 0" />
       <mass
-        value="0.0000017" />
+        value="0.3" />
       <inertia
         ixx="4.4099E-05"
         ixy="-1.2434E-13"
@@ -997,7 +997,7 @@
         xyz="5.5511E-17 0.015598 0.034754"
         rpy="0 0 0" />
       <mass
-        value="0.0000017" />
+        value="0.1" />
       <inertia
         ixx="1.4683E-05"
         ixy="-1.0482E-21"
@@ -1056,7 +1056,7 @@
         xyz="-1.1102E-16 -0.015598 0.034754"
         rpy="0 0 0" />
       <mass
-        value="0.0000017" />
+        value="0.1" />
       <inertia
         ixx="1.4683E-05"
         ixy="2.0869E-20"