From a96f68c425c5077b7374ccb402f24023a7889849 Mon Sep 17 00:00:00 2001
From: Nate Koenig <natekoenig@gmail.com>
Date: Tue, 14 May 2013 14:07:27 -0700
Subject: [PATCH] Reduce cinderblock mass

---
 cinder_block/model.sdf | 48 ++++++++++++++++++++++++++++++++++++++----
 1 file changed, 44 insertions(+), 4 deletions(-)

diff --git a/cinder_block/model.sdf b/cinder_block/model.sdf
index 1038eb8..dc70050 100644
--- a/cinder_block/model.sdf
+++ b/cinder_block/model.sdf
@@ -5,12 +5,12 @@
       <inertial>
         <pose>0 0 0.1016  0 0 0</pose>
         <!-- volume about 0.0085 m^3, density 2000 kg/m^3 -->
-        <mass>17</mass>
+        <mass>5</mass>
         <!-- approximate as uniform box 0.37 x 0.17 x 0.20 m -->
         <inertia>
-          <ixx>0.0976</ixx>
-          <ixy>0.0000</ixy><iyy>0.2508</iyy>
-          <ixz>0.0000</ixz><iyz>0.0000</iyz><izz>0.2348</izz>
+          <ixx>0.028705</ixx>
+          <ixy>0.0000</ixy><iyy>0.073708</iyy>
+          <ixz>0.0000</ixz><iyz>0.0000</iyz><izz>0.06908</izz>
         </inertia>
       </inertial>
       <visual name="visual">
@@ -28,6 +28,14 @@
             <size>0.43495 0.0339 0.2032</size>
           </box>
         </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>0.1</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
       </collision>
 
       <collision name="right">
@@ -37,6 +45,14 @@
             <size>0.43495 0.0339 0.2032</size>
           </box>
         </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>0.1</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
       </collision>
 
       <collision name="front">
@@ -46,6 +62,14 @@
             <size>0.0339 0.1354  0.203</size>
           </box>
         </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>0.1</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
       </collision>
 
       <collision name="middle">
@@ -55,6 +79,14 @@
             <size>0.0339 0.1354  0.203</size>
           </box>
         </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>0.1</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
       </collision>
 
       <collision name="back">
@@ -64,6 +96,14 @@
             <size>0.0339 0.1354  0.203</size>
           </box>
         </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>0.1</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
       </collision>
 
     </link>