fix(urdf): correct inertia values in dexhand URDFs

Update the inertia values in both left and right dexhand URDF files
to correct scientific notation errors. This ensures accurate
simulation and physical representation of the dexhand models.

Author: yiwenlu66

urdf/dexhand021_left_simplified.urdf

@@ -215,12 +215,12 @@
       <mass
         value="0.00511359728172243" />
       <inertia
-        ixx="0.00173095008951806"
-        ixy="-0.000202313478926414"
-        ixz="-7.05472104546055E-05"
-        iyy="0.000694149825004719"
-        iyz="-0.000270292828807616"
-        izz="0.00211927243947017" />
+        ixx="0.000000173095008951806"
+        ixy="-0.0000000202313478926414"
+        ixz="-7.05472104546055E-09"
+        iyy="0.0000000694149825004719"
+        iyz="-0.0000000270292828807616"
+        izz="0.000000211927243947017" />
     </inertial>
     <visual>
       <origin
@@ -435,12 +435,12 @@
       <mass
         value="0.00511359728172243" />
       <inertia
-        ixx="0.00061680506465688"
-        ixy="-0.000135176421458247"
-        ixz="9.49130763997119E-06"
-        iyy="0.00214948104653407"
-        iyz="6.42111861959019E-05"
-        izz="0.001778086242802" />
+        ixx="0.000000061680506465688"
+        ixy="-0.0000000135176421458247"
+        ixz="9.49130763997119E-10"
+        iyy="0.000000214948104653407"
+        iyz="6.42111861959019E-09"
+        izz="0.0000001778086242802" />
     </inertial>
     <visual>
       <origin
@@ -655,12 +655,12 @@
       <mass
         value="0.00511359728172243" />
       <inertia
-        ixx="0.000616805064659985"
-        ixy="-0.000135176421475851"
-        ixz="9.49130763923698E-06"
-        iyy="0.00214948104653096"
-        iyz="6.42111861960076E-05"
-        izz="0.001778086242802" />
+        ixx="0.0000000616805064659985"
+        ixy="-0.0000000135176421475851"
+        ixz="9.49130763923698E-10"
+        iyy="0.000000214948104653096"
+        iyz="6.42111861960076E-09"
+        izz="0.0000001778086242802" />
     </inertial>
     <visual>
       <origin
@@ -875,12 +875,12 @@
       <mass
         value="0.00511359728172243" />
       <inertia
-        ixx="0.00061680506465688"
-        ixy="-0.000135176421458247"
-        ixz="9.49130763997118E-06"
-        iyy="0.00214948104653407"
-        iyz="6.42111861959019E-05"
-        izz="0.001778086242802" />
+        ixx="0.000000061680506465688"
+        ixy="-0.0000000135176421458247"
+        ixz="9.49130763997118E-10"
+        iyy="0.000000214948104653407"
+        iyz="6.42111861959019E-09"
+        izz="0.0000001778086242802" />
     </inertial>
     <visual>
       <origin
@@ -1095,12 +1095,12 @@
       <mass
         value="0.00511359728172243" />
       <inertia
-        ixx="0.00061680506465688"
-        ixy="-0.000135176421458248"
-        ixz="9.49130763997079E-06"
-        iyy="0.00214948104653407"
-        iyz="6.42111861958955E-05"
-        izz="0.001778086242802" />
+        ixx="0.000000061680506465688"
+        ixy="-0.0000000135176421458248"
+        ixz="9.49130763997079E-10"
+        iyy="0.000000214948104653407"
+        iyz="6.42111861958955E-09"
+        izz="0.0000001778086242802" />
     </inertial>
     <visual>
       <origin

urdf/dexhand021_right_simplified.urdf

@@ -221,12 +221,12 @@
       <mass
         value="0.0051136" />
       <inertia
-        ixx="0.001731"
-        ixy="-0.00020231"
-        ixz="7.0546E-05"
-        iyy="0.00069416"
-        iyz="0.00027029"
-        izz="0.0021193" />
+        ixx="0.0000001731"
+        ixy="-0.000000020231"
+        ixz="7.0546E-09"
+        iyy="0.000000069416"
+        iyz="0.000000027029"
+        izz="0.00000021193" />
     </inertial>
     <visual>
       <origin
@@ -441,12 +441,12 @@
       <mass
         value="0.0051136" />
       <inertia
-        ixx="0.00061681"
-        ixy="-0.00013518"
-        ixz="-9.4865E-06"
-        iyy="0.0021495"
-        iyz="-6.4212E-05"
-        izz="0.0017781" />
+        ixx="0.000000061681"
+        ixy="-0.000000013518"
+        ixz="-9.4865E-10"
+        iyy="0.00000021495"
+        iyz="-6.4212E-09"
+        izz="0.00000017781" />
     </inertial>
     <visual>
       <origin
@@ -664,12 +664,12 @@
       <mass
         value="0.0051136" />
       <inertia
-        ixx="0.00061681"
-        ixy="-0.00013518"
-        ixz="-9.4865E-06"
-        iyy="0.0021495"
-        iyz="-6.4212E-05"
-        izz="0.0017781" />
+        ixx="0.000000061681"
+        ixy="-0.000000013518"
+        ixz="-9.4865E-10"
+        iyy="0.00000021495"
+        iyz="-6.4212E-09"
+        izz="0.00000017781" />
     </inertial>
     <visual>
       <origin
@@ -884,12 +884,12 @@
       <mass
         value="0.0051136" />
       <inertia
-        ixx="0.00061681"
-        ixy="-0.00013518"
-        ixz="-9.4865E-06"
-        iyy="0.0021495"
-        iyz="-6.4212E-05"
-        izz="0.0017781" />
+        ixx="0.000000061681"
+        ixy="-0.000000013518"
+        ixz="-9.4865E-10"
+        iyy="0.00000021495"
+        iyz="-6.4212E-09"
+        izz="0.00000017781" />
     </inertial>
     <visual>
       <origin
@@ -1096,12 +1096,12 @@
       <mass
         value="0.0051136" />
       <inertia
-        ixx="0.00061681"
-        ixy="-0.00013518"
-        ixz="-9.4865E-06"
-        iyy="0.0021495"
-        iyz="-6.4212E-05"
-        izz="0.0017781" />
+        ixx="0.000000061681"
+        ixy="-0.000000013518"
+        ixz="-9.4865E-10"
+        iyy="0.00000021495"
+        iyz="-6.4212E-09"
+        izz="0.00000017781" />
     </inertial>
     <visual>
       <origin