From 285ed27592f62d41f86b802f6a4d30b8e3a4d314 Mon Sep 17 00:00:00 2001
From: John Hsu <hsu@osrfoundation.org>
Date: Wed, 30 Jan 2013 12:13:05 -0800
Subject: [PATCH] updates per suggestion from Thomas
 http://www.seas.upenn.edu/~thomasko/model-1_3.sdf for cordless drill model

---
 cordless_drill/model-1_3.sdf | 17 ++++++++++-------
 cordless_drill/model.sdf     | 17 ++++++++++-------
 2 files changed, 20 insertions(+), 14 deletions(-)

diff --git a/cordless_drill/model-1_3.sdf b/cordless_drill/model-1_3.sdf
index e31e16a..54c3d77 100644
--- a/cordless_drill/model-1_3.sdf
+++ b/cordless_drill/model-1_3.sdf
@@ -3,17 +3,19 @@
   <model name="drill">
     <link name="link">
       <inertial>
+        <pose>-0.00637 -0.008 0.13254 0 0 0</pose>        
         <inertia>
-          <ixx>0.01</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.01</iyy>
-          <iyz>0</iyz>
-          <izz>0.01</izz>
+          <ixx>0.01331127</ixx>
+          <ixy>-0.00030365</ixy>
+          <ixz>-0.00034148</ixz>
+          <iyy>0.01157659</iyy>
+          <iyz>0.00088073</iyz>
+          <izz>0.00378028</izz>
         </inertia>
-        <mass>1.0</mass>
+        <mass>1.50251902</mass>
       </inertial>
       <collision name="collision">
+        <pose>0 0 -0.09 0 0 0</pose>
         <geometry>
           <mesh>
             <uri>model://cordless_drill/meshes/cordless_drill.stl</uri>
@@ -21,6 +23,7 @@
         </geometry>
       </collision>
       <visual name="visual">
+        <pose>0 0 -0.09 0 0 0</pose>
         <geometry>
           <mesh>
             <uri>model://cordless_drill/meshes/cordless_drill.dae</uri>
diff --git a/cordless_drill/model.sdf b/cordless_drill/model.sdf
index 9a07f57..5f450cc 100644
--- a/cordless_drill/model.sdf
+++ b/cordless_drill/model.sdf
@@ -3,17 +3,19 @@
   <model name="drill">
     <link name="link">
       <inertial>
+        <pose>-0.00637 -0.008 0.13254 0 0 0</pose>        
         <inertia>
-          <ixx>0.01</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.01</iyy>
-          <iyz>0</iyz>
-          <izz>0.01</izz>
+          <ixx>0.01331127</ixx>
+          <ixy>-0.00030365</ixy>
+          <ixz>-0.00034148</ixz>
+          <iyy>0.01157659</iyy>
+          <iyz>0.00088073</iyz>
+          <izz>0.00378028</izz>
         </inertia>
-        <mass>1.0</mass>
+        <mass>1.50251902</mass>
       </inertial>
       <collision name="collision">
+        <pose>0 0 -0.09 0 0 0</pose>
         <geometry>
           <mesh>
             <uri>model://cordless_drill/meshes/cordless_drill.stl</uri>
@@ -21,6 +23,7 @@
         </geometry>
       </collision>
       <visual name="visual">
+        <pose>0 0 -0.09 0 0 0</pose>
         <geometry>
           <mesh>
             <uri>model://cordless_drill/meshes/cordless_drill.dae</uri>