From 148e9e5e5db40fd0998529707efe0a94a65ec6fc Mon Sep 17 00:00:00 2001
From: Shane Loretz <sloretz@osrfoundation.org>
Date: Wed, 21 Jun 2017 14:34:09 -0700
Subject: [PATCH] Added sky, removed caster angle

---
 prius_description/urdf/prius.urdf | 9 ++++-----
 prius_plugin/worlds/mcity.world   | 1 +
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/prius_description/urdf/prius.urdf b/prius_description/urdf/prius.urdf
index 18059e7..61fc3e9 100644
--- a/prius_description/urdf/prius.urdf
+++ b/prius_description/urdf/prius.urdf
@@ -120,14 +120,14 @@
     <inertial>
       <mass value="1"/>
       <origin xyz="0 0 0"/>
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+      <inertia ixx="0.004" ixy="0.0" ixz="0.0" iyy="0.004" iyz="0.0" izz="0.004"/>
     </inertial>
   </link>
   <link name="fr_axle">
     <inertial>
       <mass value="1"/>
       <origin xyz="0 0 0"/>
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+      <inertia ixx="0.004" ixy="0.0" ixz="0.0" iyy="0.004" iyz="0.0" izz="0.004"/>
     </inertial>
   </link>
   <link name="front_left_wheel">
@@ -202,14 +202,14 @@
   <joint name="front_left_steer_joint" type="continuous">
     <parent link="chassis"/>
     <child link="fl_axle"/>
-    <origin xyz="0.767 -1.41 0.3" rpy="-0.089 0 0"/>
+    <origin xyz="0.767 -1.41 0.3" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
     <limit lower="-0.8727" upper="0.8727" effort="10000000" velocity="1000000"/>
   </joint>
   <joint name="front_right_steer_joint" type="continuous">
     <parent link="chassis"/>
     <child link="fr_axle"/>
-    <origin xyz="-0.767 -1.41 0.3" rpy="-0.089 0 0"/>
+    <origin xyz="-0.767 -1.41 0.3" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
     <limit lower="-0.8727" upper="0.8727" effort="10000000" velocity="1000000"/>
   </joint>
@@ -444,7 +444,6 @@
       <gas_efficiency>0.371</gas_efficiency>
       <battery_charge_watt_hours>291</battery_charge_watt_hours>
       <battery_discharge_watt_hours>214</battery_discharge_watt_hours>
-      <!-- 37 deg ~= 0.6458 rad -->
       <max_steer>0.6458</max_steer>
       <flwheel_steering_p_gain>1e4</flwheel_steering_p_gain>
       <frwheel_steering_p_gain>1e4</frwheel_steering_p_gain>
diff --git a/prius_plugin/worlds/mcity.world b/prius_plugin/worlds/mcity.world
index 3612884..14ccdf1 100644
--- a/prius_plugin/worlds/mcity.world
+++ b/prius_plugin/worlds/mcity.world
@@ -69,6 +69,7 @@
     <scene>
       <ambient>0.4 0.4 0.4 1</ambient>
       <background>0.7 0.7 0.7 1</background>
+      <sky/>
       <shadows>1</shadows>
     </scene>
     <audio>