From 371b6e5d3475ca3bdb04af5da827bd8f0a49d624 Mon Sep 17 00:00:00 2001
From: Derek Witcpalek <dwitcpa@umich.edu>
Date: Sun, 26 Apr 2020 23:06:02 -0400
Subject: [PATCH] Updated COM for pop can gazebo model

---
 src/rrrobot_ws/src/gazebo_models/pop_can/model.sdf | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/rrrobot_ws/src/gazebo_models/pop_can/model.sdf b/src/rrrobot_ws/src/gazebo_models/pop_can/model.sdf
index 79b7e3f..ff67a2d 100644
--- a/src/rrrobot_ws/src/gazebo_models/pop_can/model.sdf
+++ b/src/rrrobot_ws/src/gazebo_models/pop_can/model.sdf
@@ -12,9 +12,9 @@
           <iyz>0</iyz>
           <izz>0.166667</izz>
         </inertia>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose frame=''>0.02 -0.05 0.023 0 -0 0</pose>
       </inertial>
-      <pose frame=''>0 0 0 1.5708 -0 0</pose>
+      <pose frame=''>-0 0 0.08 1.5708 -0 0</pose>
       <gravity>1</gravity>
       <self_collide>0</self_collide>
       <kinematic>0</kinematic>