[Ninja][URDF] update dock mech inertia.

sugihara-16 · Dec 18, 2024 · 255e7f7 · 255e7f7
1 parent af2b409
commit 255e7f7
Showing 1 changed file with 10 additions and 10 deletions.
diff --git a/robots/ninja/urdf/ninja.urdf.xacro b/robots/ninja/urdf/ninja.urdf.xacro
@@ -123,12 +123,12 @@
     <!-- yaw -->
     <link name="yaw_dock_link">
       <inertial>
-        <origin xyz="0.07864928 0.00031794 -0.02812152" rpy="0 0 0"/>
-        <mass value="0.37142798"/>
+        <origin xyz="0.07707992 0.00034225 -0.02807178" rpy="0 0 0"/>
+        <mass value="0.33699537"/>
         <inertia
-           ixx ="0.00056278" ixy ="-0.00000715" ixz ="-0.00002624"
-          iyx ="-0.00000715" iyy ="0.00095271" iyz ="0.00000729"
-          izx ="-0.00002624" izy ="0.00000729" izz ="0.00089334"/>
+            ixx = "0.00047120" ixy = "-0.00000696" ixz = "-0.00002605"
+            iyx = "-0.00000696" iyy = "0.00089048" iyz = "0.00000963"
+            izx = "-0.00002605" izy = "0.00000963" izz = "0.00082655"/>
       </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/> 
@@ -326,12 +326,12 @@
     <!-- pitch -->
     <link name="pitch_dock_link">
       <inertial>
-        <origin xyz="-0.05087327 0.02329154 0.00017464" rpy="0 0 0"/>
-        <mass value="0.19583088"/>
+        <origin xyz="-0.04795875 0.02306659 0.00003088" rpy="0 0 0"/>
+        <mass value="0.17183088"/>
         <inertia
-            ixx ="0.00044711" ixy ="-0.00001684" ixz ="-0.00000107"
-            iyx ="-0.00001684" iyy ="0.00047285" iyz ="-0.00007906"
-            izx ="-0.00000107" izy ="-0.00007906" izz = "0.00038353"/>
+            ixx = "0.00035938" ixy = "-0.00001594" ixz = "0.00000012"
+            iyx = "-0.00001594" iyy = "0.00038919" iyz = "0.00006568"
+            izx = "0.00000012" izy = "0.00006568" izz = "0.00032884"/>
       </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="${pi} ${pi} 0"/>