From: Erik Andresen <erik@vontaene.de>
Date: Mon, 26 Oct 2020 21:05:51 +0000 (+0100)
Subject: fix some urdf inertias
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=b0346ccd1f5566f3134ed47fd28f8330d7d2d76b;p=ros_wild_thumper.git

fix some urdf inertias
---

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 9c929e5..fd005af 100644
--- 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>