fix some urdf inertias

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 9c929e55f18da1db3dbd13aae9da7d2b9bc78d0d..fd005afa5d7308fe564d8ab3d91d2489abc88414 100644 (file)
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -37,9 +37,9 @@
                        </geometry>
                </visual>
                <inertial>
-                       <origin xyz="-0.00275 0 -0.02" rpy="0 0 0"/>
+                       <origin xyz="-0.00275 0 0" rpy="0 0 0"/>
                        <mass value="2.5"/>
-                       <inertia ixx="0.012708" ixy="0.0" ixz="0.0" iyy="0.0084375" iyz="0.0" izz="0.017771"/>
+                       <inertia izz="0.014021" ixy="0.0" ixz="0.0" iyy="0.012708" iyz="0.0" ixx="0.0046875"/>
                </inertial>
        </link>
 
@@ -189,7 +189,7 @@
                        <mu1 value="1.0"/>
                        <mu2 value="0.2"/>
                        <kp value="1000000000000.0" />
-                       <kd value="0.0" />
+                       <kd value="1.0" />
                        <fdir1 value="0 1 0"/>
                        <minDepth>0.005</minDepth>
                </gazebo>