Fix pendulum collision

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>
gazebosim · Sep 25, 2023 · 8f31178 · 8f31178
1 parent 8f30e37
commit 8f31178
Showing 1 changed file with 4 additions and 5 deletions.
diff --git a/harmonic_demo/Pendulum/model.sdf b/harmonic_demo/Pendulum/model.sdf
@@ -33,7 +33,7 @@
         <pose>0 0 0.01 0 0 0</pose>
         <geometry>
           <cylinder>
-            <radius>0.2</radius>
+            <radius>0.1</radius>
             <length>0.02</length>
           </cylinder>
         </geometry>
@@ -51,7 +51,6 @@
 
     <!-- upper link, length 1, IC -90 degrees -->
     <link name="upper_link">
-      <!-- <pose>0 0 0.55 -1.5708 0 0</pose> -->
       <pose>0 0 0.35 3.1415 0 0</pose>
       <self_collide>0</self_collide>
       <inertial auto="true"/>
@@ -83,17 +82,17 @@
       </visual>
       <collision name="col_upper_joint">
         <density>1000</density>
-        <pose>-0.01 0 0 0 1.5708 0</pose>
+        <pose>0.04 0 0 0 1.5708 0</pose>
         <geometry>
           <cylinder>
             <radius>0.02</radius>
-            <length>0.15</length>
+            <length>0.2</length>
           </cylinder>
         </geometry>
       </collision>
       <collision name="col_cylinder">
         <density>1000</density>
-        <pose>0 0 0.15 0 0 0</pose>
+        <pose>0.1 0 0.15 0 0 0</pose>
         <geometry>
           <cylinder>
             <radius>0.02</radius>