diff --git a/VirtualRobot/SceneObject.cpp b/VirtualRobot/SceneObject.cpp
index b8389c3f8582403fbf651f024cfb4f7bf88a2816..b0a70ad6347b8187492fa385e3d0b3a651671ae1 100644
--- a/VirtualRobot/SceneObject.cpp
+++ b/VirtualRobot/SceneObject.cpp
@@ -581,6 +581,8 @@ bool SceneObject::initializePhysics()
 			{
 				// standard box
 				physics.intertiaMatrix.setIdentity();
+				physics.intertiaMatrix *= 0.01f; // 10 cm bbox
+				physics.intertiaMatrix *= physics.massKg;
 			} else
 			{
 				Eigen::Vector3f minS,maxS;