From 195b482dcbcf0fdaaf577c92d6dc2b6cdde1cf7d Mon Sep 17 00:00:00 2001
From: Mohamed Fazil <mfazil@hello-robot.com>
Date: Tue, 6 Sep 2022 13:53:20 -0700
Subject: [PATCH] Adding Inertia value changes to mitski batch xacro file

---
 .../batch/mitski/urdf/stretch_main.xacro      | 120 +++++++++---------
 1 file changed, 60 insertions(+), 60 deletions(-)

diff --git a/stretch_description/batch/mitski/urdf/stretch_main.xacro b/stretch_description/batch/mitski/urdf/stretch_main.xacro
index 6eb071f..97cd61f 100644
--- a/stretch_description/batch/mitski/urdf/stretch_main.xacro
+++ b/stretch_description/batch/mitski/urdf/stretch_main.xacro
@@ -56,12 +56,12 @@
       <mass
         value="0.0042721" />
       <inertia
-        ixx="0"
+        ixx="0.001"
         ixy="0"
         ixz="0"
-        iyy="0"
+        iyy="0.001"
         iyz="0"
-        izz="0" />
+        izz="0.001" />
     </inertial>
     <visual>
       <origin
@@ -112,12 +112,12 @@
       <mass
         value="0.0042721" />
       <inertia
-        ixx="0"
+        ixx="0.001"
         ixy="0"
         ixz="0"
-        iyy="0"
+        iyy="0.001"
         iyz="0"
-        izz="0" />
+        izz="0.001" />
     </inertial>
     <visual>
       <origin
@@ -219,12 +219,12 @@
       <mass
         value="1.8285" />
       <inertia
-        ixx="0"
-        ixy="0"
-        ixz="0"
-        iyy="0"
-        iyz="0"
-        izz="0" />
+        ixx="0.0709854511954588"
+        ixy="-0.00433428742758457"
+        ixz="-0.000186110788697573"
+        iyy="0.000437922053342648"
+        iyz="-0.00288788257713431"
+        izz="0.071104808501661" />
     </inertial>
     <visual>
       <origin
@@ -388,12 +388,12 @@
       <mass
         value="0.0628927381893134" />
       <inertia
-        ixx="0.000116972687184809"
-        ixy="-2.81979926511074E-12"
-        ixz="2.91222027599461E-09"
-        iyy="0.000116972577591313"
-        iyz="1.13260384471775E-07"
-        izz="1.09738504441915E-10" />
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
     </inertial>
     <visual>
       <origin
@@ -445,12 +445,12 @@
       <mass
         value="0.0571386353275368" />
       <inertia
-        ixx="0.000107176369887422"
-        ixy="-2.57283392153217E-12"
-        ixz="2.65737742559071E-09"
-        iyy="0.000107176269488109"
-        iyz="1.0376649507793E-07"
-        izz="1.0053108970507E-10" />
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
     </inertial>
     <visual>
       <origin
@@ -502,12 +502,12 @@
       <mass
         value="0.051382" />
       <inertia
-        ixx="9.7585E-05"
-        ixy="-2.3365E-12"
-        ixz="2.4191E-09"
-        iyy="9.7585E-05"
-        iyz="9.4252E-08"
-        izz="9.1094E-11" />
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
     </inertial>
     <visual>
       <origin
@@ -559,12 +559,12 @@
       <mass
         value="0.085003260946398" />
       <inertia
-        ixx="0.000207559662463324"
-        ixy="7.32310021353946E-06"
-        ixz="-8.77838232968467E-05"
-        iyy="0.000270258467719226"
-        iyz="6.1781873091689E-06"
-        izz="8.15211614844496E-05" />
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
     </inertial>
     <visual>
       <origin
@@ -616,12 +616,12 @@
       <mass
         value="0.0404746907425003" />
       <inertia
-        ixx="2.25219236648594E-09"
-        ixy="-4.79073130840543E-19"
-        ixz="2.84594420739213E-17"
-        iyy="2.25155434794669E-09"
-        iyz="3.79016281460022E-11"
-        izz="6.3801853924987E-13" />
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
     </inertial>
     <visual>
       <origin
@@ -678,12 +678,12 @@
       <mass
         value="0.133027236718691" />
       <inertia
-        ixx="5.12726410844311E-05"
-        ixy="-1.28409095844797E-05"
-        ixz="-8.63651073052237E-06"
-        iyy="5.06358489467333E-05"
-        iyz="-4.02909801959325E-06"
-        izz="2.71795471864185E-05" />
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
     </inertial>
     <visual>
       <origin
@@ -733,12 +733,12 @@
       <mass
         value="0.0273764496535409" />
       <inertia
-        ixx="1.78931787015902E-05"
-        ixy="1.09301758992101E-07"
-        ixz="-2.39230585375427E-07"
-        iyy="1.4743405056612E-05"
-        iyz="6.73888414083794E-06"
-        izz="3.15753948501286E-06" />
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
     </inertial>
     <visual>
       <origin
@@ -790,12 +790,12 @@
       <mass
         value="0.090217113313934" />
       <inertia
-        ixx="3.00855252262414E-05"
-        ixy="4.02701944747726E-06"
-        ixz="-9.82945288189658E-07"
-        iyy="4.33262186405403E-05"
-        iyz="2.27705774750325E-06"
-        izz="3.69710351876137E-05" />
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
     </inertial>
     <visual>
       <origin