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Commit 6caf7c88 authored by Hilario Tome's avatar Hilario Tome
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Added simmetry in v2

parent 2f0a9659
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......@@ -95,7 +95,7 @@
<link name="leg_${prefix}_3_link">
<inertial>
<origin xyz="0.00658 0.06563 -0.17278" rpy="0.00000 0.00000 0.00000"/>
<origin xyz="0.00658 ${reflect*0.06563} -0.17278" rpy="0.00000 0.00000 0.00000"/>
<mass value="6.82734"/>
<inertia ixx="0.12390600000" ixy="${reflect*-0.00041200000}" ixz="-0.00205900000"
iyy="0.10844700000" iyz="${reflect*0.01672500000}"
......@@ -132,10 +132,10 @@
<link name="leg_${prefix}_4_link">
<inertial>
<origin xyz="0.01520 0.02331 -0.12063" rpy="0.00000 0.00000 0.00000"/>
<origin xyz="0.01520 ${reflect*0.02331} -0.12063" rpy="0.00000 0.00000 0.00000"/>
<mass value="3.63668"/>
<inertia ixx="0.03531500000" ixy="0.00002900000" ixz="-0.00016600000"
iyy="0.02933600000" iyz="-0.00130500000"
<inertia ixx="0.03531500000" ixy="${reflect*0.00002900000}" ixz="-0.00016600000"
iyy="0.02933600000" iyz="${reflect*-0.00130500000}"
izz="0.01174000000"/>
</inertial>
......@@ -172,8 +172,8 @@
<inertial>
<origin xyz="-0.01106 ${reflect*0.04708} 0.05271" rpy="0.00000 0.00000 0.00000"/>
<mass value="1.24433"/>
<inertia ixx="0.01148700000" ixy="-0.00068600000" ixz="-0.00052600000"
iyy="0.00952600000" iyz="0.00263300000"
<inertia ixx="0.01148700000" ixy="${reflect*-0.00068600000}" ixz="-0.00052600000"
iyy="0.00952600000" iyz="${reflect*0.00263300000}"
izz="0.00390800000"/>
</inertial>
......
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