It would appear that the inertia tensor of the Bolt base is the one of the Solo base (see figure). The URDF should be rebuilt from the following repo: https://github.com/open-dynamic-robot-initiative/robot_properties_bolt <img width="501" alt="Screenshot 2024-08-19 at 20 02 35" src="https://github.com/user-attachments/assets/748df9c5-5cef-428d-a701-1f70148bd526">
It would appear that the inertia tensor of the Bolt base is the one of the Solo base (see figure). The URDF should be rebuilt from the following repo: https://github.com/open-dynamic-robot-initiative/robot_properties_bolt