From 421af923fee561df4f978c698db153d7a7b03d28 Mon Sep 17 00:00:00 2001
From: kmakd <kmakd197@gmail.com>
Date: Thu, 6 Feb 2025 07:23:14 +0000
Subject: [PATCH] adjust COM

---
 husarion_ugv_description/urdf/lynx/base.urdf.xacro    | 2 +-
 husarion_ugv_description/urdf/panther/base.urdf.xacro | 3 +--
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/husarion_ugv_description/urdf/lynx/base.urdf.xacro b/husarion_ugv_description/urdf/lynx/base.urdf.xacro
index c743d08a..9ad69f02 100644
--- 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
index 0077bce3..d256426b 100644
--- 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"