todo: parametrize intertia

Author: macmacal

urdf/robotiq_hande_gripper.xacro

@@ -56,7 +56,7 @@
 
       <inertial>
         <mass value="${coupler_mass}"/>
-        <!-- TODO: Parametrize intertia in terms of perpendicular axis to a solid cylinder -->
+        <!-- TODO: Parametrize inertia in terms of perpendicular axis to a solid cylinder -->
         <inertia ixx="6.17674E-5" ixy="0.0" ixz="0.0" iyy="6.17674E-5" iyz="0.0" izz="1.18125E-4"/>
       </inertial>
     </link>
@@ -67,7 +67,6 @@
       <child link="${prefix}robotiq_hande_link"/>
     </joint>
 
-    
     <link name="${prefix}robotiq_hande_link">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -85,7 +84,7 @@
 
       <inertial>
         <mass value="0.86387"/>
-        <!-- TODO: Parametrize intertia in terms of perpendicular axis to a solid cylinder -->
+        <!-- TODO: Parametrize inertia in terms of perpendicular axis to a solid cylinder -->
         <inertia ixx="1E-3" ixy="0.0" ixz="0.0" iyy="1E-3" iyz="0.0" izz="6E-4"/>
       </inertial>
     </link>