From a6702d7b311e6b5ada04e9c2f320b679ba66c0f1 Mon Sep 17 00:00:00 2001
From: Tokyo Opensource Robotics Programmer 534o
 <534o@opensource-robotics.tokyo.jp>
Date: Tue, 3 Mar 2015 23:00:15 +0900
Subject: [PATCH] [tetris_description] update model parameters, not sure if
 this is correct

---
 tetris_description/urdf/tetris.gazebo.xacro | 2 +-
 tetris_description/urdf/tetris.urdf.xacro   | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/tetris_description/urdf/tetris.gazebo.xacro b/tetris_description/urdf/tetris.gazebo.xacro
index 22e4fa9..96bc3b8 100644
--- 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
index 88370f2..cc7f4b2 100644
--- 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">