rename nanosaur urdf extension and fix inertia error

rnanosaur · Oct 11, 2024 · 0b4cf40 · 0b4cf40
1 parent 30f7ef6
commit 0b4cf40
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/nanosaur_description/launch/description.launch.py b/nanosaur_description/launch/description.launch.py
@@ -72,7 +72,7 @@ def generate_launch_description():
     default_xacro_path = os.path.join(
         get_package_share_directory('nanosaur_description'),
         'urdf',
-        'nanosaur.urdf.xml'
+        'nanosaur.urdf.xacro'
     )
 
     declare_model_path_cmd = DeclareLaunchArgument(

diff --git a/nanosaur_description/urdf/nanosaur.urdf.xml → ...saur_description/urdf/nanosaur.urdf.xacro b/nanosaur_description/urdf/nanosaur.urdf.xml → ...saur_description/urdf/nanosaur.urdf.xacro
diff --git a/nanosaur_description/urdf/robot.urdf.xacro b/nanosaur_description/urdf/robot.urdf.xacro
@@ -21,11 +21,11 @@
 
         <link name="nanosaur_base">
             <inertial>
-                <mass value="0.412"/>
+                <mass value="0.453"/>
                 <origin rpy=" 0 0 0" xyz="0.0 0 0.0"/>
-                <inertia ixx="922734.27556" ixy="0458.391" ixz="225029.72"
-                        iyy="1.701e-06" iyz="-3998.88622"
-                        izz="1995920.29749"/>
+                <inertia ixx="982653.79909" ixy="-2069.061" ixz="193876.45537"
+                        iyy="1888714.1125" iyz="-4847.17947"
+                        izz="2199329.1679"/>
             </inertial>
             <visual>
                 <geometry><mesh filename="${path_meshes}/nanosaur_base.stl" scale="0.001 0.001 0.001"/></geometry>