Update Inertial values

cambel · Jan 29, 2024 · b723a23 · b723a23
1 parent 800ec16
commit b723a23
Showing 1 changed file with 18 additions and 18 deletions.
diff --git a/robotiq_description/urdf/robotiq_85_gripper.urdf.xacro b/robotiq_description/urdf/robotiq_85_gripper.urdf.xacro
@@ -27,8 +27,8 @@
         <mass value="0.636951" />
         <origin xyz="0.0 0.0 0.0" />
         <inertia ixx = "0.000380" ixy = "0.000000" ixz = "0.000000"
-             iyx = "0.000000" iyy = "0.001110" iyz = "0.000000"
-             izx = "0.000000" izy = "0.000000" izz = "0.001171" />
+             iyy = "0.001110" iyz = "0.000000"
+             izz = "0.001171" />
       </inertial>
     </link>
 
@@ -64,8 +64,8 @@
         <mass value="0.018491" />
         <origin xyz="0.0 0.0 0.0" />
         <inertia ixx = "0.000009" ixy = "-0.000001" ixz = "0.000000"
-             iyx = "-0.000001" iyy = "0.000001" iyz = "0.000000"
-             izx = "0.000000" izy = "0.000000" izz = "0.000010" />
+             iyy = "0.000001" iyz = "0.000000"
+             izz = "0.000010" />
       </inertial>
     </link> 
 
@@ -84,8 +84,8 @@
         <mass value="0.018491" />
         <origin xyz="0.0 0.0 0.0" />
         <inertia ixx = "0.000009" ixy = "-0.000001" ixz = "0.000000"
-             iyx = "-0.000001" iyy = "0.000001" iyz = "0.000000"
-             izx = "0.000000" izy = "0.000000" izz = "0.000010" />
+             iyy = "0.000001" iyz = "0.000000"
+             izz = "0.000010" />
       </inertial>
     </link>
 
@@ -116,8 +116,8 @@
         <mass value="0.027309" />
         <origin xyz="0.0 0.0 0.0" />
         <inertia ixx = "0.000003" ixy = "-0.000002" ixz = "0.000000"
-             iyx = "-0.000002" iyy = "0.000021" iyz = "0.000000"
-             izx = "0.000000" izy = "0.000000" izz = "0.000020" />
+             iyy = "0.000021" iyz = "0.000000"
+             izz = "0.000020" />
       </inertial>
     </link> 
 
@@ -136,8 +136,8 @@
         <mass value="0.027309" />
         <origin xyz="0.0 0.0 0.0" />
         <inertia ixx = "0.000003" ixy = "-0.000002" ixz = "0.000000"
-             iyx = "-0.000002" iyy = "0.000021" iyz = "0.000000"
-             izx = "0.000000" izy = "0.000000" izz = "0.000020" />
+             iyy = "0.000021" iyz = "0.000000"
+             izz = "0.000020" />
       </inertial>
     </link> 
 
@@ -174,8 +174,8 @@
         <mass value="0.029951" />
         <origin xyz="0.0 0.0 0.0" />
         <inertia ixx = "0.000039" ixy = "0.000000" ixz = "0.000000"
-             iyx = "0.000000" iyy = "0.000005" iyz = "0.000000"
-             izx = "0.000000" izy = "0.000000" izz = "0.000035" />
+             iyy = "0.000005" iyz = "0.000000"
+             izz = "0.000035" />
       </inertial>
     </link>
     <link name="${prefix}robotiq_85_right_inner_knuckle_link">
@@ -193,8 +193,8 @@
         <mass value="0.029951" />
         <origin xyz="0.0 0.0 0.0" />
         <inertia ixx = "0.000039" ixy = "0.000000" ixz = "0.000000"
-             iyx = "0.000000" iyy = "0.000005" iyz = "0.000000"
-             izx = "0.000000" izy = "0.000000" izz = "0.000035" />
+             iyy = "0.000005" iyz = "0.000000"
+             izz = "0.000035" />
       </inertial>
     </link>
 
@@ -232,8 +232,8 @@
         <mass value="0.019555" />
         <origin xyz="0.0 0.0 0.0" />
         <inertia ixx = "0.000002" ixy = "0.000000" ixz = "0.000000"
-             iyx = "0.000000" iyy = "0.000005" iyz = "0.000000"
-             izx = "0.000000" izy = "0.000000" izz = "0.000006" />
+             iyy = "0.000005" iyz = "0.000000"
+             izz = "0.000006" />
       </inertial>
     </link> 
 
@@ -252,8 +252,8 @@
         <mass value="0.019555" />
         <origin xyz="0.0 0.0 0.0" />
         <inertia ixx = "0.000002" ixy = "0.000000" ixz = "0.000000"
-             iyx = "0.000000" iyy = "0.000005" iyz = "0.000000"
-             izx = "0.000000" izy = "0.000000" izz = "0.000006" />
+             iyy = "0.000005" iyz = "0.000000"
+             izz = "0.000006" />
       </inertial>
     </link>