From 185812f465d1e7d2a3e8ff4dd6dfd7ba5bb27756 Mon Sep 17 00:00:00 2001
From: Sourav Hawaldar <101963423+Sourav0607@users.noreply.github.com>
Date: Fri, 29 May 2026 21:03:38 +0200
Subject: [PATCH] Fix inertia values to match documentation recommendation

---
 urdf/07-physics.urdf | 32 ++++++++++++++++----------------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/urdf/07-physics.urdf b/urdf/07-physics.urdf
index a424784..ebb7b74 100644
--- a/urdf/07-physics.urdf
+++ b/urdf/07-physics.urdf
@@ -25,7 +25,7 @@
     </collision>
     <inertial>
       <mass value="10"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+      <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/>
     </inertial>
   </link>
 
@@ -45,7 +45,7 @@
     </collision>
     <inertial>
       <mass value="10"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+      <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/>
     </inertial>
   </link>
   <joint name="base_to_right_leg" type="fixed">
@@ -68,7 +68,7 @@
     </collision>
     <inertial>
       <mass value="10"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+      <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/>
     </inertial>
   </link>
 
@@ -94,7 +94,7 @@
     </collision>
     <inertial>
       <mass value="1"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+      <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/>
     </inertial>
   </link>
 
@@ -121,7 +121,7 @@
     </collision>
     <inertial>
       <mass value="1"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+      <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/>
     </inertial>
   </link>
 
@@ -148,7 +148,7 @@
     </collision>
     <inertial>
       <mass value="10"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+      <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/>
     </inertial>
   </link>
 
@@ -172,7 +172,7 @@
     </collision>
     <inertial>
       <mass value="10"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+      <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/>
     </inertial>
   </link>
 
@@ -198,7 +198,7 @@
     </collision>
     <inertial>
       <mass value="1"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+      <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/>
     </inertial>
   </link>
 
@@ -225,7 +225,7 @@
     </collision>
     <inertial>
       <mass value="1"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+      <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/>
     </inertial>
   </link>
 
@@ -258,7 +258,7 @@
     </collision>
     <inertial>
       <mass value="0.05"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+      <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/>
     </inertial>
   </link>
 
@@ -285,7 +285,7 @@
     </collision>
     <inertial>
       <mass value="0.05"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+      <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/>
     </inertial>
   </link>
 
@@ -309,7 +309,7 @@
     </collision>
     <inertial>
       <mass value="0.05"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+      <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/>
     </inertial>
   </link>
 
@@ -336,7 +336,7 @@
     </collision>
     <inertial>
       <mass value="0.05"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+      <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/>
     </inertial>
   </link>
 
@@ -360,7 +360,7 @@
     </collision>
     <inertial>
       <mass value="0.05"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+      <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/>
     </inertial>
   </link>
 
@@ -378,7 +378,7 @@
     </collision>
     <inertial>
       <mass value="2"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+      <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/>
     </inertial>
   </link>
 
@@ -404,7 +404,7 @@
     </collision>
     <inertial>
       <mass value="1"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+      <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/>
     </inertial>
   </link>