From b0346ccd1f5566f3134ed47fd28f8330d7d2d76b Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Mon, 26 Oct 2020 22:05:51 +0100
Subject: [PATCH] fix some urdf inertias

---
 urdf/wild_thumper.urdf.xacro | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

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>
-- 
2.39.2