From ad6c9acf17390f502edd24037f1d2834d856dae2 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Tue, 13 Oct 2026 23:22:09 +0200
Subject: [PATCH] recomputed mass/intertia for XM540

---
 urdf/open_manipulator.urdf.xacro | 15 ++++++++++-----
 1 file changed, 10 insertions(+), 5 deletions(-)

diff --git a/urdf/open_manipulator.urdf.xacro b/urdf/open_manipulator.urdf.xacro
index bbc923d..c4ee103 100644
--- a/urdf/open_manipulator.urdf.xacro
+++ b/urdf/open_manipulator.urdf.xacro
@@ -101,11 +101,16 @@
     </inertial>-->
 
      <inertial>
-	     <origin xyz="-3.0184870e-04 5.4043684e-04 ${0.018 + 2.9433464e-02}" />
-	     <mass value="9.8406837e-02" />
-	     <inertia ixx="3.4543422e-05" ixy="-1.6031095e-08" ixz="-3.8375155e-07"
-		     iyy="3.2689329e-05" iyz="2.8511935e-08"
-		     izz="1.8850320e-05" />
+     <!-- Recomputed 2026-10-13 for the XM540-scaled mesh (scale 33.5/28.5, 44/34,
+          58.5/46.5): voxelized upstream link2.stl (ROBOTIS-GIT/open_manipulator),
+          mass = stock 98.4 g + servo delta (XM430 82 g -> XM540 165 g).
+          Previous block carried upstream values ~6000x too large for this
+          geometry (unit-conversion artifact). -->
+     <origin xyz="-3.7178e-03 4.8543e-03 4.4325e-02" />
+     <mass value="1.8140684e-01" />
+     <inertia ixx="2.501807e-04" ixy="7.010480e-07" ixz="2.573347e-06"
+	     iyy="2.251956e-04" iyz="-4.220947e-06"
+	     izz="3.011414e-04" />
      </inertial>
   </link>
 
-- 
2.39.5