Relative positionXYZ = “-228mm -158mm -34mm”.Relative positionXYZ = “-228mm 158mm -34mm”.Relative positionXYZ = “228mm -158mm -34mm”.The motor and the shaft are already included in the base. Note: Mass of the wheel excludes the motor and the shaft. Relative positionXYZ = “228mm 158mm -34mm”.Note: Mass of the base includes the metal frame, the plastic cover, electronics, the battery, the motors and the shafts. You can find all the files that contains this data in youbot_description github repository.
#Webots hinge joint model download#
blend model that can be found in download section.Īll the values are the same as in the KUKA youBot Gazebo Model. Note: Relative positions and orientations are set to work properly with data obtained from. The dynamics related parameters are mass, relative pose of center of mass and moment of inertia tensor.
Joint axis is specified in the joint frame. Joint axis is the axis of rotation for revolute joint or the axis of translation for prismatic joint. Joint type describes the type of a constraint, where type can be one of the following: revolute - a hinge joint that rotates along the axis and has a limited range specified by the upper and lower limits continuous - a continuous hinge joint that rotates around the axis and has no upper and lower limits prismatic - a sliding joint that slides along the axis, and has a limited range specified by the upper and lower limits. The composite rotation convention is Yaw Pitch Roll (ZYX). Orientation is described in Euler angles. In the list below each rigid body has a relative position and orientation with respect to its parent frame.
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