adjust COM

husarion · Feb 6, 2025 · 421af92 · 421af92
1 parent 6296619
commit 421af92
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Showing 2 changed files with 2 additions and 3 deletions.
diff --git a/husarion_ugv_description/urdf/lynx/base.urdf.xacro b/husarion_ugv_description/urdf/lynx/base.urdf.xacro
@@ -20,7 +20,7 @@
       </collision>
 
       <inertial>
-        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+        <origin xyz="-0.052 0.001 0.038" rpy="0.0 0.0 0.0" />
         <mass value="30.656" />
         <inertia ixx="0.6572" ixy="0.0334"  ixz="0.1739"
                               iyy="1.443"   iyz="0.0082"

diff --git a/husarion_ugv_description/urdf/panther/base.urdf.xacro b/husarion_ugv_description/urdf/panther/base.urdf.xacro
@@ -22,8 +22,7 @@
       </collision>
 
       <inertial>
-        <!-- TODO Fix oringin -->
-        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+        <origin xyz="-0.008 0.01 0.029" rpy="0.0 0.0 0.0" />
         <mass value="43.0" />
         <inertia ixx="2.630036" ixy="-0.023480" ixz="0.052320"
                                 iyy="2.463509"  iyz="0.009337"