Merge pull request #370 from cmastalli/topic/fully-physical-consistent-talos

nim65s · web-flow · commit 8201b3eccea7 · 2026-04-01T15:37:22.000+02:00
Fully-physical consistency for all robots
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,6 +6,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+- Unit testing inertia validity and projected rotation inertial to the fully-physical consistent set in https://github.com/Gepetto/example-robot-data/pull/370
 - Installing example-robot-data without hppfcl in https://github.com/Gepetto/example-robot-data/pull/338
 - ROS: jrl_cmakemodules dependency ([#330](https://github.com/Gepetto/example-robot-data/pull/330))
 - Added Centauro ([#346](https://github.com/Gepetto/example-robot-data/pull/346))
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -54,7 +54,7 @@ include("${JRL_CMAKE_MODULES}/python.cmake")
 
 # Print initial message
 message(STATUS "${PROJECT_DESCRIPTION}, version ${PROJECT_VERSION}")
-message(STATUS "Copyright (C) 2018-2023 LAAS-CNRS, University of Edinburgh")
+message(STATUS "Copyright (C) 2018-2026 LAAS-CNRS, University of Edinburgh")
 message(STATUS "                        Heriot-Watt University, INRIA")
 message(STATUS "All rights reserved.")
 message(STATUS "Released under the BSD 3-Clause License.")
diff --git a/robots/allegro_hand_description/urdf/allegro_left_hand.urdf b/robots/allegro_hand_description/urdf/allegro_left_hand.urdf
@@ -84,7 +84,7 @@
     <inertial>
       <mass value="0.065"/>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+      <inertia ixx="8.08728875979549e-05" ixy="1.48386162019941e-05" ixz="4.2343545689576e-06" iyy="2.85700490570738e-05" iyz="2.14347646011766e-05" izz="7.96647061621031e-05"/>
     </inertial>
   </link>
   <joint name="joint_9.0" type="revolute">
@@ -112,7 +112,7 @@
     <inertial>
       <mass value="0.0355"/>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+      <inertia ixx="2.7108908376807e-05" ixy="5.4115225794551e-06" ixz="2.85079817622615e-06" iyy="1.49716294427206e-05" iyz="7.93657186922407e-06" izz="2.66287347075153e-05"/>
     </inertial>
   </link>
   <joint name="joint_10.0" type="revolute">
@@ -222,7 +222,7 @@
     <inertial>
       <mass value="0.065"/>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+      <inertia ixx="8.08728875979549e-05" ixy="1.48386162019941e-05" ixz="4.2343545689576e-06" iyy="2.85700490570738e-05" iyz="2.14347646011766e-05" izz="7.96647061621031e-05"/>
     </inertial>
   </link>
   <joint name="joint_5.0" type="revolute">
@@ -250,7 +250,7 @@
     <inertial>
       <mass value="0.0355"/>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+      <inertia ixx="2.7108908376807e-05" ixy="5.4115225794551e-06" ixz="2.85079817622615e-06" iyy="1.49716294427206e-05" iyz="7.93657186922407e-06" izz="2.66287347075153e-05"/>
     </inertial>
   </link>
   <joint name="joint_6.0" type="revolute">
@@ -360,7 +360,7 @@
     <inertial>
       <mass value="0.065"/>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+      <inertia ixx="8.08728875979549e-05" ixy="1.48386162019941e-05" ixz="4.2343545689576e-06" iyy="2.85700490570738e-05" iyz="2.14347646011766e-05" izz="7.96647061621031e-05"/>
     </inertial>
   </link>
   <joint name="joint_1.0" type="revolute">
@@ -388,7 +388,7 @@
     <inertial>
       <mass value="0.0355"/>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+      <inertia ixx="2.7108908376807e-05" ixy="5.4115225794551e-06" ixz="2.85079817622615e-06" iyy="1.49716294427206e-05" iyz="7.93657186922407e-06" izz="2.66287347075153e-05"/>
     </inertial>
   </link>
   <joint name="joint_2.0" type="revolute">
@@ -474,7 +474,7 @@
     <inertial>
       <mass value="0.0176"/>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
+      <inertia ixx="1.96731938544998e-05" ixy="5.34714941558415e-06" ixz="3.28371818678657e-06" iyy="1.55885860593306e-05" iyz="5.0204641842028e-06" izz="1.97505895464656e-05"/>
     </inertial>
   </link>
   <joint name="joint_12.0" type="revolute">
@@ -504,7 +504,7 @@
     <inertial>
       <mass value="0.0119"/>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
+      <inertia ixx="4.3875110939419e-06" ixy="7.95929506936549e-07" ixz="1.35226331844583e-06" iyy="4.65422984297958e-06" iyz="1.18904291699917e-06" izz="4.34097290977866e-06"/>
     </inertial>
   </link>
   <joint name="joint_13.0" type="revolute">
@@ -533,7 +533,7 @@
     <inertial>
       <mass value="0.038"/>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
+      <inertia ixx="4.3811817294825e-05" ixy="8.18299639785789e-06" ixz="2.55404234759754e-06" iyy="1.66059448592103e-05" iyz="1.1844769255572e-05" izz="4.31323573125218e-05"/>
     </inertial>
   </link>
   <joint name="joint_14.0" type="revolute">
diff --git a/robots/allegro_hand_description/urdf/allegro_right_hand.urdf b/robots/allegro_hand_description/urdf/allegro_right_hand.urdf
@@ -84,7 +84,7 @@
     <inertial>
       <mass value="0.065"/>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+      <inertia ixx="8.08728875979549e-05" ixy="1.48386162019941e-05" ixz="4.2343545689576e-06" iyy="2.85700490570738e-05" iyz="2.14347646011766e-05" izz="7.96647061621031e-05"/>
     </inertial>
   </link>
   <joint name="joint_1.0" type="revolute">
@@ -112,7 +112,7 @@
     <inertial>
       <mass value="0.0355"/>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+      <inertia ixx="2.7108908376807e-05" ixy="5.4115225794551e-06" ixz="2.85079817622615e-06" iyy="1.49716294427206e-05" iyz="7.93657186922407e-06" izz="2.66287347075153e-05"/>
     </inertial>
   </link>
   <joint name="joint_2.0" type="revolute">
@@ -222,7 +222,7 @@
     <inertial>
       <mass value="0.065"/>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+      <inertia ixx="8.08728875979549e-05" ixy="1.48386162019941e-05" ixz="4.2343545689576e-06" iyy="2.85700490570738e-05" iyz="2.14347646011766e-05" izz="7.96647061621031e-05"/>
     </inertial>
   </link>
   <joint name="joint_5.0" type="revolute">
@@ -250,7 +250,7 @@
     <inertial>
       <mass value="0.0355"/>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+      <inertia ixx="2.7108908376807e-05" ixy="5.4115225794551e-06" ixz="2.85079817622615e-06" iyy="1.49716294427206e-05" iyz="7.93657186922407e-06" izz="2.66287347075153e-05"/>
     </inertial>
   </link>
   <joint name="joint_6.0" type="revolute">
@@ -360,7 +360,7 @@
     <inertial>
       <mass value="0.065"/>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+      <inertia ixx="8.08728875979549e-05" ixy="1.48386162019941e-05" ixz="4.2343545689576e-06" iyy="2.85700490570738e-05" iyz="2.14347646011766e-05" izz="7.96647061621031e-05"/>
     </inertial>
   </link>
   <joint name="joint_9.0" type="revolute">
@@ -388,7 +388,7 @@
     <inertial>
       <mass value="0.0355"/>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+      <inertia ixx="2.7108908376807e-05" ixy="5.4115225794551e-06" ixz="2.85079817622615e-06" iyy="1.49716294427206e-05" iyz="7.93657186922407e-06" izz="2.66287347075153e-05"/>
     </inertial>
   </link>
   <joint name="joint_10.0" type="revolute">
@@ -474,7 +474,7 @@
     <inertial>
       <mass value="0.0176"/>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
+      <inertia ixx="1.96731938544998e-05" ixy="5.34714941558415e-06" ixz="3.28371818678657e-06" iyy="1.55885860593306e-05" iyz="5.0204641842028e-06" izz="1.97505895464656e-05"/>
     </inertial>
   </link>
   <joint name="joint_12.0" type="revolute">
@@ -504,7 +504,7 @@
     <inertial>
       <mass value="0.0119"/>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
+      <inertia ixx="4.3875110939419e-06" ixy="7.95929506936549e-07" ixz="1.35226331844583e-06" iyy="4.65422984297958e-06" iyz="1.18904291699917e-06" izz="4.34097290977866e-06"/>
     </inertial>
   </link>
   <joint name="joint_13.0" type="revolute">
@@ -533,7 +533,7 @@
     <inertial>
       <mass value="0.038"/>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
+      <inertia ixx="4.3811817294825e-05" ixy="8.18299639785789e-06" ixz="2.55404234759754e-06" iyy="1.66059448592103e-05" iyz="1.1844769255572e-05" izz="4.31323573125218e-05"/>
     </inertial>
   </link>
   <joint name="joint_14.0" type="revolute">
diff --git a/robots/human_description/robots/human.urdf b/robots/human_description/robots/human.urdf
@@ -240,7 +240,7 @@
         <inertial>
             <mass value="0.15600" />
             <origin xyz="-0.011096 0.00637 0.05417" rpy="0 -0 0" />
-            <inertia ixx="0.00024" ixy="-0.00002" ixz="-0.00007" iyy="0.00026" iyz="0.00005" izz="0.00004" />
+            <inertia ixx="0.000244475910987392" ixy="-3.13116477521894e-06" ixz="-6.28348311160782e-05" iyy="0.000259091764354603" iyz="4.16006826280581e-05" izz="5.52984590300221e-05" />
         </inertial>
     </link>
     <joint name="left_shoulder_Z" type="revolute">
@@ -364,7 +364,7 @@
         <inertial>
             <mass value="0.15600" />
             <origin xyz="-0.011096 0.00637 0.05417" rpy="0 -0 0" />
-            <inertia ixx="0.00024" ixy="-0.00002" ixz="-0.00007" iyy="0.00026" iyz="0.00005" izz="0.00004" />
+            <inertia ixx="0.000244475910987392" ixy="-3.13116477521894e-06" ixz="-6.28348311160782e-05" iyy="0.000259091764354603" iyz="4.16006826280581e-05" izz="5.52984590300221e-05" />
         </inertial>
     </link>
     <joint name="right_shoulder_Z" type="revolute">
diff --git a/robots/icub_description/robots/icub.urdf b/robots/icub_description/robots/icub.urdf
@@ -3,7 +3,7 @@
     <link name="base_link">
         <inertial>
             <mass value="1e-6"/>
-            <inertia ixx="1e-6" ixy="1e-6" ixz="1e-6" iyy="1e-6" iyz="1e-6" izz="1e-6"/>
+            <inertia ixx="1.33333344444444e-06" ixy="3.33333111111111e-07" ixz="3.33333111111111e-07" iyy="1.33333344444444e-06" iyz="3.3333311111111e-07" izz="1.33333344444444e-06"/>
         </inertial>
     </link>
     <link name="chest">
diff --git a/robots/icub_description/robots/icub_reduced.urdf b/robots/icub_description/robots/icub_reduced.urdf
@@ -3,7 +3,7 @@
     <link name="base_link">
         <inertial>
             <mass value="1e-6"/>
-            <inertia ixx="1e-6" ixy="1e-6" ixz="1e-6" iyy="1e-6" iyz="1e-6" izz="1e-6"/>
+            <inertia ixx="1.33333344444444e-06" ixy="3.33333111111111e-07" ixz="3.33333111111111e-07" iyy="1.33333344444444e-06" iyz="3.3333311111111e-07" izz="1.33333344444444e-06"/>
         </inertial>
     </link>
     <link name="chest">
diff --git a/robots/romeo_description/urdf/romeo.urdf b/robots/romeo_description/urdf/romeo.urdf
@@ -575,7 +575,7 @@
   <link name="RShoulderYawLink">
     <inertial>
       <mass value="0.57151"/>
-      <inertia ixx="0.000742356" ixy="0.000617202" ixz="5.98521e-06" iyy="0.00649989" iyz="-1.07417e-06" izz="0.000664209"/>
+      <inertia ixx="0.00244505067267085" ixy="0.000252147874830745" ixz="6.0124150798151e-06" iyy="0.00479719534645669" iyz="-8.17505169469512e-07" izz="0.00240559741065627"/>
       <origin rpy="0 0 0" xyz="0.09367 -0.01373 0.00103"/>
     </inertial>
     <visual>
@@ -613,7 +613,7 @@
   <link name="RElbowYawLink">
     <inertial>
       <mass value="0.31265"/>
-      <inertia ixx="0.000366728" ixy="0.000185631" ixz="-5.37905e-07" iyy="0.00211104" iyz="3.1932e-07" izz="0.000211493"/>
+      <inertia ixx="0.000879212241382748" ixy="7.65531287641469e-05" ixz="-5.52837039020476e-07" iyy="0.00159855577804008" iyz="1.77437119799966e-07" izz="0.000735456796009079"/>
       <origin rpy="0 0 0" xyz="0.06738 -0.01043 -0.00031"/>
     </inertial>
     <visual>
diff --git a/robots/talos_data/robots/talos_left_arm.urdf b/robots/talos_data/robots/talos_left_arm.urdf
@@ -598,7 +598,7 @@
     <inertial>
       <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
       <mass value="0.14765"/>
-      <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
+      <inertia ixx="0.00011500000" ixy="0.00002500000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
     </inertial>
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
diff --git a/robots/talos_data/robots/talos_reduced.urdf b/robots/talos_data/robots/talos_reduced.urdf
@@ -1445,7 +1445,7 @@
     <inertial>
       <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
       <mass value="0.14765"/>
-      <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
+      <inertia ixx="0.00011500000" ixy="0.00002500000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
     </inertial>
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -1800,7 +1800,7 @@
     <inertial>
       <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
       <mass value="0.14765"/>
-      <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
+      <inertia ixx="0.00011500000" ixy="0.00002500000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
     </inertial>
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
diff --git a/robots/talos_data/robots/talos_reduced_box.urdf b/robots/talos_data/robots/talos_reduced_box.urdf
@@ -1486,7 +1486,7 @@
     <inertial>
       <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
       <mass value="0.14765"/>
-      <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
+      <inertia ixx="0.00011500000" ixy="0.00002500000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
     </inertial>
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -1841,7 +1841,7 @@
     <inertial>
       <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
       <mass value="0.14765"/>
-      <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
+      <inertia ixx="0.00011500000" ixy="0.00002500000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
     </inertial>
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
diff --git a/robots/talos_data/robots/talos_reduced_corrected.urdf b/robots/talos_data/robots/talos_reduced_corrected.urdf
@@ -1442,7 +1442,7 @@
     <inertial>
       <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
       <mass value="0.14765"/>
-      <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
+      <inertia ixx="0.00011500000" ixy="0.00002500000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
     </inertial>
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -1797,7 +1797,7 @@
     <inertial>
       <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
       <mass value="0.14765"/>
-      <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
+      <inertia ixx="0.00011500000" ixy="0.00002500000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
     </inertial>
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
diff --git a/robots/tiago_description/robots/tiago.urdf b/robots/tiago_description/robots/tiago.urdf
@@ -994,7 +994,7 @@
     <inertial>
       <origin rpy="0.00000 0.00000 0.00000" xyz="0.063989 0.022546 -0.014608"/>
       <mass value="2.083078"/>
-      <inertia ixx="0.003003" ixy="0.002396" ixz="0.001531" iyy="0.008613" iyz="0.000588" izz="0.009348"/>
+      <inertia ixx="0.003060504572445" ixy="0.002364723186022" ixz="0.001495245689439" iyy="0.008630326004235" iyz="0.000522540423519" izz="0.009347757530069"/>
     </inertial>
     <!-- M90 module -->
     <visual>
diff --git a/robots/tiago_description/robots/tiago_dual.urdf b/robots/tiago_description/robots/tiago_dual.urdf
@@ -1076,7 +1076,7 @@
       <!--<origin xyz="0.061191 ${reflect * -0.022397} -0.012835" rpy="0.00000 0.00000 0.00000"/>-->
       <origin rpy="0.00000 0.00000 0.00000" xyz="0.061191 -0.022397 0.012835"/>
       <mass value="1.563428"/>
-      <inertia ixx="0.002471" ixy="0.001809" ixz="-0.001202" iyy="0.006132" iyz="-0.000494" izz="0.006704"/>
+      <inertia ixx="0.002529557200534" ixy="0.001772658202902" ixz="-0.001160802456787" iyy="0.006151528952273" iyz="-0.000425117467205" izz="0.006706206496406"/>
     </inertial>
     <!-- M90 module -->
     <visual>
@@ -3278,7 +3278,7 @@
       <!--<origin xyz="0.061191 ${reflect * -0.022397} -0.012835" rpy="0.00000 0.00000 0.00000"/>-->
       <origin rpy="0.00000 0.00000 0.00000" xyz="0.061191 -0.022397 -0.012835"/>
       <mass value="1.563428"/>
-      <inertia ixx="0.002471" ixy="-0.001809" ixz="-0.001202" iyy="0.006132" iyz="0.000494" izz="0.006704"/>
+      <inertia ixx="0.002529557200534" ixy="-0.001772658202902" ixz="-0.001160802456787" iyy="0.006151528952273" iyz="0.000425117467205" izz="0.006706206496406"/>
     </inertial>
     <!-- M90 module -->
     <visual>
diff --git a/robots/tiago_description/robots/tiago_no_hand.urdf b/robots/tiago_description/robots/tiago_no_hand.urdf
@@ -995,7 +995,7 @@
     <inertial>
       <origin rpy="0.00000 0.00000 0.00000" xyz="0.063989 0.022546 -0.014608"/>
       <mass value="2.083078"/>
-      <inertia ixx="0.003003" ixy="0.002396" ixz="0.001531" iyy="0.008613" iyz="0.000588" izz="0.009348"/>
+      <inertia ixx="0.003060504572445" ixy="0.002364723186022" ixz="0.001495245689439" iyy="0.008630326004235" iyz="0.000522540423519" izz="0.009347757530069"/>
     </inertial>
     <!-- M90 module -->
     <visual>
diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
@@ -1,4 +1,4 @@
-set(${PROJECT_NAME}_PYTHON_TESTS load)
+set(${PROJECT_NAME}_PYTHON_TESTS load inertia_validation)
 
 foreach(TEST ${${PROJECT_NAME}_PYTHON_TESTS})
   add_python_unit_test("${PROJECT_NAME}-py-${TEST}" "unittest/test_${TEST}.py"
diff --git a/unittest/test_inertia_validation.py b/unittest/test_inertia_validation.py
