[tetris_description] update model parameters, not sure if this is cor…

…rect
130s · Mar 3, 2015 · a6702d7 · a6702d7
1 parent 8fc036b
commit a6702d7
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/tetris_description/urdf/tetris.gazebo.xacro b/tetris_description/urdf/tetris.gazebo.xacro
@@ -16,7 +16,7 @@
       <rightJoint>left_wheel_joint</rightJoint>
       <wheelSeparation>${wheel_separation}</wheelSeparation>
       <wheelDiameter>${wheel_diameter}</wheelDiameter>
-      <torque>20</torque>
+      <torque>5</torque>
       <commandTopic>/${ns}/cmd_vel</commandTopic>
       <odometryTopic>/${ns}/odom</odometryTopic>
       <odometryFrame>odom</odometryFrame>

diff --git a/tetris_description/urdf/tetris.urdf.xacro b/tetris_description/urdf/tetris.urdf.xacro
@@ -38,7 +38,7 @@
       </geometry>
     </collision>
     <inertial>
-      <mass value="1.0" />
+      <mass value="10.0" />
       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
     </inertial>
   </link>
@@ -51,8 +51,8 @@
     </collision>
     <inertial>
       <origin xyz="-0.45 0 0" />
-      <mass value="0.1" />
-      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+      <mass value="5" />
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1" />
     </inertial>
   </link>
   <joint name="base_to_tail" type="fixed">