[Beetle][urdf] modified inertia info of base link.

sugihara-16 · Dec 22, 2023 · 0f40b20 · 0f40b20
1 parent fcf5451
commit 0f40b20
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/robots/beetle/urdf/beetle.urdf.xacro b/robots/beetle/urdf/beetle.urdf.xacro
@@ -24,12 +24,12 @@
     ## link
     <link name="base_link">
       <inertial>
-        <origin xyz="-0.0071144 -0.0004661 0.1372857" rpy="0 0 0"/>
+        <origin xyz="0.0071144 0.0004661 0.1372857" rpy="0 0 0"/>
         <mass value="2.7703823"/>
         <inertia
             ixx="0.0527268" iyy="0.0895178" izz="0.1192811"
-            ixy="-0.0001722" ixz="-0.0008599" iyz="0.0000395"/>
-      </inertial>   
+            ixy="-0.0001722" ixz="0.0008599" iyz="0.0000395"/>
+      </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 3.141592"/>
         <geometry>