From e72792eb27d53a021098ef4d4346b5f1b7f19113 Mon Sep 17 00:00:00 2001
From: Ivane Kotanov <147241054+rainingmp3@users.noreply.github.com>
Date: Mon, 22 Jun 2026 22:07:37 +0200
Subject: [PATCH] Adding mass to inertia tensor (#6354)

Adding mass in inertia tensor, so its values are not hard-coded. That makes the example code snippet more physically accurate.

Fixes #6346

(cherry picked from commit d5fc6af8747c0aa5905ef7857d79a73a1bb2f6bf)
---
 .../URDF/Using-Xacro-to-Clean-Up-a-URDF-File.rst            | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/source/Tutorials/Intermediate/URDF/Using-Xacro-to-Clean-Up-a-URDF-File.rst b/source/Tutorials/Intermediate/URDF/Using-Xacro-to-Clean-Up-a-URDF-File.rst
index 8d22b025085..3d6b0170ee0 100644
--- a/source/Tutorials/Intermediate/URDF/Using-Xacro-to-Clean-Up-a-URDF-File.rst
+++ b/source/Tutorials/Intermediate/URDF/Using-Xacro-to-Clean-Up-a-URDF-File.rst
@@ -187,9 +187,9 @@ First, let's take an example of a simple macro used in R2D2.
     <xacro:macro name="default_inertial" params="mass">
         <inertial>
                 <mass value="${mass}" />
-                <inertia ixx="1e-3" ixy="0.0" ixz="0.0"
-                     iyy="1e-3" iyz="0.0"
-                     izz="1e-3" />
+                <inertia ixx="${(1e-3) * mass}" ixy="0.0" ixz="0.0"
+                     iyy="${(1e-3) * mass}" iyz="0.0"
+                     izz="${(1e-3) * mass}" />
         </inertial>
     </xacro:macro>