Improve CleanerBotA's wheel inertias (#91)

Signed-off-by: Louise Poubel <louise@openrobotics.org>
open-rmf · Oct 7, 2021 · 0d4265a · 0d4265a
1 parent 4841dae
commit 0d4265a
Showing 1 changed file with 7 additions and 7 deletions.
diff --git a/rmf_demos_assets/models/CleanerBotA/model.sdf b/rmf_demos_assets/models/CleanerBotA/model.sdf
@@ -109,17 +109,17 @@
     <!-- ====================================================== -->
     <!-- Left wheel link and revolute joint -->
     <!-- ====================================================== -->
-    
+
     <link name="tire_left">
       <pose>0 0.26 0.08 0 0 0</pose>
 
       <inertial>
         <pose>0 0 0 0 0 0</pose>
         <mass>5.0</mass>
         <inertia>
-          <ixx>0.757897446874</ixx>
-          <iyy>1.302975553365</iyy>
-          <izz>0.757897446874</izz>
+          <ixx>0.02</ixx>
+          <iyy>0.02</iyy>
+          <izz>0.02</izz>
         </inertia>
       </inertial>
 
@@ -166,9 +166,9 @@
         <pose>0 0 0 0 0 0</pose>
         <mass>5.0</mass>
         <inertia>
-          <ixx>0.757897446874</ixx>
-          <iyy>1.302975553365</iyy>
-          <izz>0.757897446874</izz>
+          <ixx>0.02</ixx>
+          <iyy>0.02</iyy>
+          <izz>0.02</izz>
         </inertia>
       </inertial>