Update the URDF file for Aloha ws250s again

Interbotix · Sep 4, 2024 · 765e9e0 · 765e9e0
1 parent a0feb11
commit 765e9e0
Showing 1 changed file with 26 additions and 26 deletions.
diff --git a/interbotix_ros_xsarms/interbotix_xsarm_descriptions/urdf/aloha_wx250s.urdf.xacro b/interbotix_ros_xsarms/interbotix_xsarm_descriptions/urdf/aloha_wx250s.urdf.xacro
@@ -211,16 +211,16 @@
     </collision>
     <inertial>
       <origin
-        rpy="0 0 ${pi/2}"
-        xyz="0.0171605000 0.0000002725 0.1913230000"/>
-      <mass value="0.430811"/>
+        rpy="0 0 0"
+        xyz="0.0153860000 0.0000000000 0.1851100000"/>
+      <mass value="0.4897150000"/>
       <inertia
-        ixx="0.0034630000"
-        iyy="0.0035870000"
-        izz="0.0004566000"
-        ixy="-0.0000000001"
-        ixz="-0.0000000002"
-        iyz="0.0004272000"/>
+        ixx="0.0043745412"
+        iyy="0.0042527386"
+        izz="0.0004827537"
+        ixy="0.0000000002"
+        ixz="-0.0004799594"
+        iyz="-0.0000000015"/>
     </inertial>
   </link>
 
@@ -268,15 +268,15 @@
     <inertial>
       <origin
         rpy="0 0 0"
-        xyz="0.1079630000 0.0001158760 0"/>
-      <mass value="0.234589"/>
+        xyz="0.0835970000 0.0000000000 0.0000000000"/>
+      <mass value="0.2072900000"/>
       <inertia
-        ixx="0.0000397100"
-        iyy="0.0008878000"
-        izz="0.0008880000"
-        ixy="0.0000023528"
-        ixz="0"
-        iyz="0"/>
+        ixx="0.0000279716"
+        iyy="0.0007756088"
+        izz="0.0007799547"
+        ixy="-0.0000000002"
+        ixz="0.0000000002"
+        iyz="-0.0000000008"/>
     </inertial>
   </link>
 
@@ -323,16 +323,16 @@
     </collision>
     <inertial>
       <origin
-        rpy="${pi} 0 0"
-        xyz="0.0374395000 0.0052225200 0"/>
-      <mass value="0.220991"/>
+        rpy="0 0 0"
+        xyz="0.0335820000 0.0047260000 0.0000000000"/>
+      <mass value="0.2529240000"/>
       <inertia
-        ixx="0.0000636900"
-        iyy="0.0001677000"
-        izz="0.0001834000"
-        ixy="-0.0000229200"
-        ixz="0"
-        iyz="0"/>
+        ixx="0.0000741889"
+        iyy="0.0002100083"
+        izz="0.0002256883"
+        ixy="0.0000194025"
+        ixz="0.0000000000"
+        iyz="0.0000000004"/>
     </inertial>
   </link>