From de11d71246246f755f828a45c3a3b2db576c319d Mon Sep 17 00:00:00 2001
From: Jie <jietan@google.com>
Date: Tue, 2 Jan 2018 18:53:38 -0800
Subject: [PATCH] use the right mass for the rotational part of motors.

---
 data/quadruped/minitaur_rainbow_dash.urdf | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/data/quadruped/minitaur_rainbow_dash.urdf b/data/quadruped/minitaur_rainbow_dash.urdf
index 4bc3e2683..744f086a0 100644
--- a/data/quadruped/minitaur_rainbow_dash.urdf
+++ b/data/quadruped/minitaur_rainbow_dash.urdf
@@ -97,7 +97,7 @@
 			</geometry>
 		</collision>
 		<inertial>
-			<mass value="0.644"/>
+			<mass value="1.32"/>
 			<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
 		</inertial>
 	</link>
@@ -171,7 +171,7 @@
 			</geometry>
 		</collision>
 		<inertial>
-			<mass value="0.644"/>
+			<mass value="1.32"/>
 			<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
 		</inertial>
 	</link>
@@ -198,7 +198,7 @@
 			</geometry>
 		</collision>
 		<inertial>
-			<mass value=".241"/>
+			<mass value=".072"/>
 			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
 		</inertial>
 	</link>
@@ -225,7 +225,7 @@
 			</geometry>
 		</collision>
 		<inertial>
-			<mass value=".241"/>
+			<mass value=".072"/>
 			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
 		</inertial>
 	</link>
@@ -252,7 +252,7 @@
 			</geometry>
 		</collision>
 		<inertial>
-			<mass value=".241"/>
+			<mass value=".072"/>
 			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
 		</inertial>
 	</link>
@@ -279,7 +279,7 @@
 			</geometry>
 		</collision>
 		<inertial>
-			<mass value=".241"/>
+			<mass value=".072"/>
 			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
 		</inertial>
 	</link>
@@ -306,7 +306,7 @@
 			</geometry>
 		</collision>
 		<inertial>
-			<mass value=".241"/>
+			<mass value=".072"/>
 			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
 		</inertial>
 	</link>
@@ -333,7 +333,7 @@
 			</geometry>
 		</collision>
 		<inertial>
-			<mass value=".241"/>
+			<mass value=".072"/>
 			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
 		</inertial>
 	</link>
@@ -360,7 +360,7 @@
 			</geometry>
 		</collision>
 		<inertial>
-			<mass value=".241"/>
+			<mass value=".072"/>
 			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
 		</inertial>
 	</link>
@@ -387,7 +387,7 @@
 			</geometry>
 		</collision>
 		<inertial>
-			<mass value=".241"/>
+			<mass value=".072"/>
 			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
 		</inertial>
 	</link>