[Ninja][URDF] Update female mech inertia.

sugihara-16 · Nov 28, 2024 · 50bd617 · 50bd617
1 parent 12f38a7
commit 50bd617
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/robots/ninja/urdf/ninja.urdf.xacro b/robots/ninja/urdf/ninja.urdf.xacro
@@ -326,12 +326,12 @@
     <!-- pitch -->
     <link name="pitch_dock_link">
       <inertial>
-        <origin xyz="-0.05014456 0.02319253 0.00002876" rpy="0 0 0"/>
-        <mass value="0.18383088"/>
+        <origin xyz="-0.05087327 0.02329154 0.00017464" rpy="0 0 0"/>
+        <mass value="0.19583088"/>
         <inertia
-            ixx ="0.00040471" ixy ="-0.00001666" ixz ="0.00000013"
-            iyx ="-0.00001666" iyy ="0.00042839" iyz ="-0.00005920"
-            izx ="0.00000013" izy ="-0.00005920" izz ="0.00036811"/>
+            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"/>
       </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="${pi} ${pi} 0"/>