Modified COM and position of body in URDF to match SDF.
Modified COM and position of body in URDF to match SDF.

sheim/drake,billhoffman/drake,sheim/drake,sheim/drake,sheim/drake,sheim/drake,billhoffman/drake,sheim/drake,billhoffman/drake,billhoffman/drake,sheim/drake,sheim/drake,billhoffman/drake,billhoffman/drake,billhoffman/drake,billhoffman/drake