From 4e783e541ee42410a8aa2940414d26926e8cd267 Mon Sep 17 00:00:00 2001
From: Riccardo <33910448+ricbaori@users.noreply.github.com>
Date: Tue, 11 Jun 2024 15:52:56 +0200
Subject: [PATCH] fix: updated cylinder inertial macro

---
 myactuator_rmd_description/urdf/myactuator_rmd.xacro | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/myactuator_rmd_description/urdf/myactuator_rmd.xacro b/myactuator_rmd_description/urdf/myactuator_rmd.xacro
index 7b4d8ab..23c17df 100644
--- a/myactuator_rmd_description/urdf/myactuator_rmd.xacro
+++ b/myactuator_rmd_description/urdf/myactuator_rmd.xacro
@@ -9,8 +9,8 @@
     <inertial>
       <mass value="${m}"/>
       <origin xyz="${x} ${y} ${z}" rpy="0 0 0"/>
-      <inertia ixx="${1/12*m*height*height}" ixy="0.0" ixz="0.0"
-               iyy="${1/12*m*height*height}" iyz="0.0"
+      <inertia ixx="${1/12*m*(3*radius*radius+height*height)}" ixy="0.0" ixz="0.0"
+               iyy="${1/12*m*(3*radius*radius+height*height)}" iyz="0.0"
                izz="${1/2*m*radius*radius}"/>
     </inertial>
   </xacro:macro>
@@ -112,4 +112,4 @@
                                        torque_constant="${torque_constant}"/>
   </xacro:macro>
 
-</robot>
\ No newline at end of file
+</robot>