From dacfab7c6ef7da1986a987a857acf81afda07e61 Mon Sep 17 00:00:00 2001
From: Rhys Mainwaring <rhys.mainwaring@me.com>
Date: Wed, 22 Dec 2021 11:33:27 +0000
Subject: [PATCH] [OmniCopter] Correct motor inertials

- Adjust motor inertials so they are centred on the joint positions (and are symmetrically arranged)

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
---
 Ignition/models/omnicopter/model.sdf | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/Ignition/models/omnicopter/model.sdf b/Ignition/models/omnicopter/model.sdf
index ec88362d..8da0b91c 100644
--- a/Ignition/models/omnicopter/model.sdf
+++ b/Ignition/models/omnicopter/model.sdf
@@ -190,7 +190,7 @@
     <link name='motor_1_link'>
       <pose relative_to='motor_1_joint'>0 0 0.018 0 0 0</pose>
       <inertial>
-        <pose>0 0 0 0 0 0</pose>
+        <pose>0 0 -0.018 0 0 0</pose>
         <mass>0.025</mass>
         <inertia>
           <ixx>9.75e-06</ixx>
@@ -300,7 +300,7 @@
     <link name='motor_2_link'>
       <pose relative_to='motor_2_joint'>0 0 0.018 0 0 0</pose>
       <inertial>
-        <pose>0 0 0 0 0 0</pose>
+        <pose>0 0 -0.018 0 0 0</pose>
         <mass>0.025</mass>
         <inertia>
           <ixx>9.75e-06</ixx>
@@ -410,7 +410,7 @@
     <link name='motor_3_link'>
       <pose relative_to='motor_3_joint'>0 0 0.018 0 0 0</pose>
       <inertial>
-        <pose>0 0 0 0 0 0</pose>
+        <pose>0 0 -0.018 0 0 0</pose>
         <mass>0.025</mass>
         <inertia>
           <ixx>9.75e-06</ixx>
@@ -520,7 +520,7 @@
     <link name='motor_4_link'>
       <pose relative_to='motor_4_joint'>0 0 0.018 0 0 0</pose>
       <inertial>
-        <pose>0 0 0 0 0 0</pose>
+        <pose>0 0 -0.018 0 0 0</pose>
         <mass>0.025</mass>
         <inertia>
           <ixx>9.75e-06</ixx>
@@ -630,7 +630,7 @@
     <link name='motor_5_link'>
       <pose relative_to='motor_5_joint'>0 0 0.018 0 0 0</pose>
       <inertial>
-        <pose>0 0 0 0 0 0</pose>
+        <pose>0 0 -0.018 0 0 0</pose>
         <mass>0.025</mass>
         <inertia>
           <ixx>9.75e-06</ixx>
@@ -740,7 +740,7 @@
     <link name='motor_6_link'>
       <pose relative_to='motor_6_joint'>0 0 0.018 0 0 0</pose>
       <inertial>
-        <pose>0 0 0 0 0 0</pose>
+        <pose>0 0 -0.018 0 0 0</pose>
         <mass>0.025</mass>
         <inertia>
           <ixx>9.75e-06</ixx>