diff --git a/iai_boxy_base_2/robots/base.xacro b/iai_boxy_base_2/robots/base.xacro
index 533f9e1..b65682f 100644
--- a/iai_boxy_base_2/robots/base.xacro
+++ b/iai_boxy_base_2/robots/base.xacro
@@ -38,7 +38,7 @@
 				<inertial>
 					<origin xyz="0 0 0" rpy="0 0 0" />
 					<mass value="2.0" />
-					<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.03" />
+					<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
 				</inertial>
 				<visual>
 					<geometry>
@@ -64,7 +64,7 @@
 				<inertial>
 					<origin xyz="0 0 0" rpy="0 0 0" />
 					<mass value="2.0" />
-					<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.03" />
+					<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
 				</inertial>
 				<visual>
 					<geometry>
@@ -90,7 +90,7 @@
 				<inertial>
 					<origin xyz="0 0 0" rpy="0 0 0" />
 					<mass value="2.0" />
-					<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.03" />
+					<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
 				</inertial>
 				<visual>
 					<geometry>
@@ -116,7 +116,7 @@
 				<inertial>
 					<origin xyz="0 0 0" rpy="0 0 0" />
 					<mass value="2.0" />
-					<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.03" />
+					<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
 				</inertial>
 				<visual>
 					<geometry>