Merge pull request #3 from ricbaori/main

fix: Update cylinder inertial macro
2b-t · Jun 11, 2024 · ce04275 · ce04275
2 parents b395c9d + 4e783e5
commit ce04275
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/myactuator_rmd_description/urdf/myactuator_rmd.xacro b/myactuator_rmd_description/urdf/myactuator_rmd.xacro
@@ -9,8 +9,8 @@
     <inertial>
       <mass value="${m}"/>
       <origin xyz="${x} ${y} ${z}" rpy="0 0 0"/>
-      <inertia ixx="${1/12*m*height*height}" ixy="0.0" ixz="0.0"
-               iyy="${1/12*m*height*height}" iyz="0.0"
+      <inertia ixx="${1/12*m*(3*radius*radius+height*height)}" ixy="0.0" ixz="0.0"
+               iyy="${1/12*m*(3*radius*radius+height*height)}" iyz="0.0"
                izz="${1/2*m*radius*radius}"/>
     </inertial>
   </xacro:macro>
@@ -112,4 +112,4 @@
                                        torque_constant="${torque_constant}"/>
   </xacro:macro>
 
-</robot>
+</robot>