From 6fcc978538e425f0f50eab9de730087d414daabd Mon Sep 17 00:00:00 2001
From: Max Hunt <mh2817@ic.ac.uk>
Date: Sat, 15 Feb 2020 02:17:28 +0000
Subject: [PATCH] Update

---
 brick/model.sdf | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/brick/model.sdf b/brick/model.sdf
index 9a083b8..de23ac9 100755
--- a/brick/model.sdf
+++ b/brick/model.sdf
@@ -7,12 +7,12 @@
         <pose frame=''> 0 0 0.0 -0 0</pose>
         <mass>0.1</mass>
         <inertia>
-          <ixx>0.7</ixx>
-          <ixy>0.7</ixy>
-          <ixz>0.7</ixz>
-          <iyy>0.7</iyy>
-          <iyz>0.7</iyz>
-          <izz>0.7</izz>
+          <ixx>0.0017</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0017</iyy>
+          <iyz>0</iyz>
+          <izz>0</izz>
         </inertia>
       </inertial>
       <collision name='Brick_collision'>
@@ -25,8 +25,8 @@
         <surface>
           <friction>
             <ode>
-              <mu>200</mu>
-              <mu2>100</mu2>
+              <mu>100</mu>
+              <mu2>50</mu2>
               <fdir1>0 0 1</fdir1>
               <slip1>0.0</slip1>
               <slip2>0.0</slip2>
@@ -36,7 +36,7 @@
             <ode>
               <kp>100000.000000</kp>
               <kd>10.00000</kd>
-              <max_vel>2.000000</max_vel>
+              <max_vel>10.000000</max_vel>
               <min_depth>0.0001</min_depth>
             </ode>
           </contact>