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added small cg to nautilus so it is restorative in roll and pitch #24

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Merged
jorgenfj merged 1 commit into from
Mar 26, 2026
Merged

added small cg to nautilus so it is restorative in roll and pitch #24

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30 changes: 21 additions & 9 deletions stonefish_sim/drones/nautilus.scn
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Original file line number Diff line number Diff line change
Expand Up @@ -19,22 +19,25 @@
<mass value="53.7"/>
<inertia xyz="11.06 23.11 26.24"/>
<hydrodynamics viscous_drag="0.15 0.4 0.4" quadratic_drag="0.2 0.2 0.2"/>
<cg xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<cg xyz="0.0 0.0 0.01" rpy="0.0 0.0 0.0"/>
</base_link>

<!-- Gripper -->
<link name="shoulder" type="model" physics="submerged">
<link name="shoulder" type="model" physics="surface" buoyancy="false">
<physical>
<mesh filename="nautilus/gripper_shoulder_collision.obj" scale="1.0"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<inertia xyz="0.0 0.0 0.0"/>
<cg xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<hydrodynamics viscous_drag="0.0 0.0 0.0" quadratic_drag="0.0 0.0 0.0"/>
</physical>
<visual>
<mesh filename="nautilus/gripper_shoulder_collision.obj" scale="1.0"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</visual>
<material name="Neutral"/>
<look name="Grey"/>
<mass value="2.8"/>
<mass value="0.000001"/>
</link>

<joint name="shoulder_joint" type="fixed">
Expand All @@ -43,18 +46,21 @@
<origin rpy="0.0 0.0 0.0" xyz="0.282589 0.07822 0.115803"/>
</joint>

<link name="arm" type="model" physics="submerged">
<link name="arm" type="model" physics="surface" buoyancy="false">
<physical>
<mesh filename="nautilus/gripper_arm_collision.obj" scale="1.0"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<inertia xyz="0.0 0.0 0.0"/>
<cg xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<hydrodynamics viscous_drag="0.0 0.0 0.0" quadratic_drag="0.0 0.0 0.0"/>
</physical>
<visual>
<mesh filename="nautilus/gripper_arm_collision.obj" scale="1.0"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</visual>
<material name="Neutral"/>
<look name="Grey"/>
<mass value="0.6"/>
<mass value="0.000001"/>
</link>

<joint name="arm_joint" type="revolute">
Expand All @@ -69,18 +75,21 @@
<joint name="arm_joint"/>
</actuator>

<link name="finger1" type="model" physics="submerged">
<link name="finger1" type="model" physics="surface" buoyancy="false">
<physical>
<mesh filename="nautilus/gripper_finger_left_collision.obj" scale="1.0"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<inertia xyz="0.0 0.0 0.0"/>
<cg xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<hydrodynamics viscous_drag="0.0 0.0 0.0" quadratic_drag="0.0 0.0 0.0"/>
</physical>
<visual>
<mesh filename="nautilus/gripper_finger_left_collision.obj" scale="1.0"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</visual>
<material name="Neutral"/>
<look name="White"/>
<mass value="0.1"/>
<mass value="0.000001"/>
</link>

<joint name="finger_joint1" type="prismatic">
Expand All @@ -96,18 +105,21 @@
<joint name="finger_joint1"/>
</actuator>

<link name="finger2" type="model" physics="submerged">
<link name="finger2" type="model" physics="surface" buoyancy="false">
<physical>
<mesh filename="nautilus/gripper_finger_right_collision.obj" scale="1.0"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<inertia xyz="0.0 0.0 0.0"/>
<cg xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<hydrodynamics viscous_drag="0.0 0.0 0.0" quadratic_drag="0.0 0.0 0.0"/>
</physical>
<visual>
<mesh filename="nautilus/gripper_finger_right_collision.obj" scale="1.0"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</visual>
<material name="Neutral"/>
<look name="White"/>
<mass value="0.1"/>
<mass value="0.000001"/>
</link>

<joint name="finger_joint2" type="prismatic">
Expand Down
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