diff --git a/rrrobot_ws/src/gazebo_models/square_trash_can/model.sdf b/rrrobot_ws/src/gazebo_models/square_trash_can/model.sdf
index d91a0b5..2f4ebc7 100644
--- a/rrrobot_ws/src/gazebo_models/square_trash_can/model.sdf
+++ b/rrrobot_ws/src/gazebo_models/square_trash_can/model.sdf
@@ -14,7 +14,7 @@
         </inertia>
         <pose frame=''>0 0 0 0 -0 0</pose>
       </inertial>
-      <pose frame=''>0 0.25 0.082 0 -0 0</pose>
+      <pose frame=''>-0 0.25 0.082 0 -0 0</pose>
       <gravity>1</gravity>
       <self_collide>0</self_collide>
       <kinematic>0</kinematic>
@@ -112,7 +112,7 @@
         </inertia>
         <pose frame=''>0 0 0 0 -0 0</pose>
       </inertial>
-      <pose frame=''>0 -0.25 0.082 0 -0 0</pose>
+      <pose frame=''>-0 -0.25 0.082 0 -0 0</pose>
       <gravity>1</gravity>
       <self_collide>0</self_collide>
       <kinematic>0</kinematic>
@@ -395,18 +395,18 @@
     </link>
     <link name='link_1_clone_0_clone_0'>
       <inertial>
-        <mass>1</mass>
+        <mass>5000</mass>
         <inertia>
-          <ixx>0.166667</ixx>
+          <ixx>104.333</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.166667</iyy>
+          <iyy>104.333</iyy>
           <iyz>0</iyz>
-          <izz>0.166667</izz>
+          <izz>208.333</izz>
         </inertia>
         <pose frame=''>0 0 0 0 -0 0</pose>
       </inertial>
-      <pose frame=''>0 0 -0.328 0 -0 0</pose>
+      <pose frame=''>-0 -0 -0.328 0 -0 0</pose>
       <gravity>1</gravity>
       <self_collide>0</self_collide>
       <kinematic>0</kinematic>