[Ninja][URDF] modified inertial parameters of real-machine

sugihara-16 · Oct 23, 2024 · 6d1c4f0 · 6d1c4f0
1 parent 0880cff
commit 6d1c4f0
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
@@ -29,9 +29,9 @@
         <inertia
             ixx = "0.00565938" ixy = "0.00127382" ixz = "0.00065740"
             iyx = "0.00127382" iyy = "0.04578657" iyz = "-0.00004725"
-            izx = "0.00065q740" izy = "-0.00004725" izz = "0.04949468"/>
+            izx = "0.00065740" izy = "-0.00004725" izz = "0.04949468"/>
       </inertial>
-        <visual>
+      <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
           <mesh filename="package://ninja/urdf/mesh/mainbody.dae" scale="1 1 1"/>
@@ -311,9 +311,9 @@
         <origin xyz="-0.06961517 0.02389743 -0.00688546" rpy="0 0 0"/>
         <mass value="0.30174800"/>
         <inertia
-            ixx = "0.00119253" ixy = "0.00015756" ixz = "-0.00000029"
-            iyx = "0.00015756" iyy = "0.00043864" iyz = "-0.00000018"
-            izx = "-0.00000029" izy = "-0.00000018" izz = "0.00156562"/>
+            ixx = "0.00053278" ixy = "-0.00002216" ixz = "0.00003995"
+            iyx = "-0.00002216" iyy = "0.00065740" iyz = "-0.00000804"
+            izx = "0.00003995" izy = "-0.00000804" izz = "0.00073599"/>
       </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="${pi} ${pi} 0"/>