URDF: Moment of Inertia

[YuenFuiLau]

Hi, could you please explain how to create a URDF file, particularly for calculating the moment of inertia? I'm using SolidWorks' extension to export my URDF, but the moment of inertia appears to be incorrect, causing my robot to slip on the ground. When I replace the value with the one from Xbot-L's URDF file, my robot ends up flying away. I believe the issue lies with the moment of inertia in my URDF file.