From 0d4265a6c81a24e2bbfe6378b4060e94f50066a9 Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Wed, 6 Oct 2021 18:57:51 -0700
Subject: [PATCH] Improve CleanerBotA's wheel inertias (#91)

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 rmf_demos_assets/models/CleanerBotA/model.sdf | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/rmf_demos_assets/models/CleanerBotA/model.sdf b/rmf_demos_assets/models/CleanerBotA/model.sdf
index 67a646f5..829d8a5e 100755
--- a/rmf_demos_assets/models/CleanerBotA/model.sdf
+++ b/rmf_demos_assets/models/CleanerBotA/model.sdf
@@ -109,7 +109,7 @@
     <!-- ====================================================== -->
     <!-- Left wheel link and revolute joint -->
     <!-- ====================================================== -->
-    
+
     <link name="tire_left">
       <pose>0 0.26 0.08 0 0 0</pose>
 
@@ -117,9 +117,9 @@
         <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>
 
@@ -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>