mirror of
https://github.com/osrf/gazebo_models.git
synced 2025-09-15 12:58:56 +08:00
Fix wheel friction, add wheel camber to have 1 contact point instead of two, use cfm damping for pedals
This commit is contained in:
Steve Peters
parent
aae4f5a94c
commit
02f0fff9c7
@ -11,6 +11,8 @@
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<ixy>0.0</ixy><iyy>550</iyy>
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<ixz>0.0</ixz><iyz>0.0</iyz><izz>550</izz>
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</inertia>
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<!-- chassis c.o.g. near lateral/longitudinal center, height of 0.4 m -->
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<pose>0.1 0 0.4 0 0 0</pose>
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</inertial>
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<visual name="visual">
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<!-- rotate mesh to get to X-forward -->
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@ -376,7 +378,7 @@
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<link_name>atlas::pelvis</link_name>
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</plugin-->
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<link name="rear_right_wheel">
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<pose>-0.85 -0.6 0.32 1.570796 0.0 0.0</pose>
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<pose>-0.85 -0.6 0.32 1.52 0.0 0.0</pose>
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<inertial>
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<mass>12</mass><!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html -->
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<inertia>
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@ -395,8 +397,8 @@
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<surface>
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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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@ -430,7 +432,7 @@
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</visual>
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</link>
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<link name="rear_left_wheel">
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<pose>-0.85 0.6 0.32 1.570796 0.0 0.0</pose>
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<pose>-0.85 0.6 0.32 -1.52 0.0 0.0</pose>
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<inertial>
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<mass>12</mass><!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html -->
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<inertia>
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@ -449,8 +451,8 @@
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<surface>
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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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@ -486,7 +488,7 @@
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</link>
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<link name="front_right_wheel">
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<pose>1.03 -0.6 0.32 1.570796 0.0 0.0</pose>
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<pose>1.03 -0.6 0.32 1.52 0.0 0.0</pose>
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<inertial>
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<mass>12</mass><!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html -->
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<inertia>
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@ -505,8 +507,8 @@
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<surface>
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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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@ -560,7 +562,7 @@
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</collision>
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</link>
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<link name="front_left_wheel">
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<pose>1.03 0.6 0.32 1.570796 0.0 0.0</pose>
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<pose>1.03 0.6 0.32 -1.52 0.0 0.0</pose>
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<inertial>
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<mass>12</mass><!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html -->
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<inertia>
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@ -579,8 +581,8 @@
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<surface>
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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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@ -593,7 +595,7 @@
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</surface>
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</collision>
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<visual name="visual">
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<pose>0 0 0 0 -1.570796 0</pose>
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<pose>0 0 0 3.14159 1.570796 0</pose>
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<geometry>
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<mesh>
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<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
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@ -728,17 +730,15 @@
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<mass>1.0</mass>
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<pose>0 0 0 0 0 0</pose>
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<inertia>
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<ixx>0.1</ixx>
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<ixx>0.012</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.1</iyy>
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<iyy>0.012</iyy>
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<iyz>0</iyz>
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<izz>1.0</izz>
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<izz>0.024</izz>
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</inertia>
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</inertial>
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<velocity_decay>0.1</velocity_decay>
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<collision name="collision">
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<!-- rotate mesh to get to X-forward -->
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<pose>0 0 0 -0.69 0 -1.570796</pose>
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@ -780,6 +780,16 @@
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</script>
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</material>
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</visual>
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<!-- visual used to measure size of mesh steering wheel -->
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<!--visual name="vis_cyl">
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.16</radius>
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<length>0.01</length>
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</cylinder>
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</geometry>
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</visual-->
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</link>
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<link name='hand_brake'>
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@ -831,22 +841,26 @@
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<lower>-1.0</lower>
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<upper>1.0</upper>
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</limit>
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<dynamics>
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<damping>50.0</damping>
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</dynamics>
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</axis>
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<physics><ode><limit>
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<cfm>0.000000</cfm>
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<erp>0.900000</erp>
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</limit></ode></physics>
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<physics>
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<ode>
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<cfm_damping>1</cfm_damping>
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<limit>
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<cfm>0.000000</cfm>
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<erp>0.900000</erp>
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</limit>
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</ode>
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</physics>
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</joint>
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<joint type="revolute" name="front_left_wheel_joint">
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<child>front_left_wheel</child>
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<parent>front_left_wheel_steering_block</parent>
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<axis>
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<xyz>0 1 0</xyz>
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<xyz>0 1 0.05</xyz>
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</axis>
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<physics><ode><limit>
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<cfm>0.000000</cfm>
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<erp>0.900000</erp>
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</limit></ode></physics>
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</joint>
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<joint type="revolute" name="front_right_steering_joint">
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@ -858,23 +872,27 @@
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<lower>-1.0</lower>
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<upper>1.0</upper>
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</limit>
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<dynamics>
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<damping>50.0</damping>
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</dynamics>
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</axis>
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<physics><ode><limit>
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<cfm>0.000000</cfm>
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<erp>0.900000</erp>
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</limit></ode></physics>
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<physics>
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<ode>
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<cfm_damping>1</cfm_damping>
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<limit>
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<cfm>0.000000</cfm>
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<erp>0.900000</erp>
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</limit>
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</ode>
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</physics>
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</joint>
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<joint type="revolute" name="front_right_wheel_joint">
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<child>front_right_wheel</child>
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<parent>front_right_wheel_steering_block</parent>
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<axis>
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<xyz>0 1 0</xyz>
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<xyz>0 1 -0.05</xyz>
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</axis>
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<physics><ode><limit>
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<cfm>0.000000</cfm>
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<erp>0.900000</erp>
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</limit></ode></physics>
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</joint>
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@ -882,14 +900,18 @@
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<child>rear_left_wheel</child>
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<parent>chassis</parent>
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<axis>
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<xyz>0 1 0</xyz>
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<xyz>0 1 0.05</xyz>
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</axis>
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<physics><ode><limit>
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<cfm>0.000000</cfm>
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<erp>0.900000</erp>
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</limit></ode></physics>
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</joint>
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<joint type="revolute" name="rear_right_wheel_joint">
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<pose>0.0 0.0 -0.1 0 0 0</pose>
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<child>rear_right_wheel</child>
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<parent>chassis</parent>
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<axis>
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<xyz>0 1 -0.05</xyz>
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</axis>
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</joint>
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<joint name='gas_joint' type='prismatic'>
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<parent>chassis</parent>
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@ -900,7 +922,15 @@
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<lower>0.00</lower>
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<upper>0.08</upper>
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</limit>
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<dynamics>
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<damping>3.0</damping>
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</dynamics>
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</axis>
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<physics>
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<ode>
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<cfm_damping>1</cfm_damping>
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</ode>
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</physics>
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</joint>
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<joint name='brake_joint' type='prismatic'>
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<parent>chassis</parent>
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@ -911,7 +941,15 @@
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<lower>0.00</lower>
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<upper>0.08</upper>
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</limit>
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<dynamics>
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<damping>3.0</damping>
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</dynamics>
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</axis>
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<physics>
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<ode>
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<cfm_damping>1</cfm_damping>
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</ode>
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</physics>
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</joint>
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<joint name='steering_joint' type='revolute'>
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<pose>-0.002 0 0 0 0 0</pose>
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@ -934,20 +972,15 @@
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<lower>0</lower>
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<upper>0.6</upper>
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</limit>
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<dynamics>
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<damping>3.0</damping>
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</dynamics>
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</axis>
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</joint>
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<joint type="revolute" name="rear_right_wheel_joint">
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<pose>0.0 0.0 -0.1 0 0 0</pose>
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<child>rear_right_wheel</child>
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<parent>chassis</parent>
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<axis>
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<xyz>0 1 0</xyz>
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</axis>
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<physics><ode><limit>
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<cfm>0.000000</cfm>
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<erp>0.900000</erp>
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</limit></ode></physics>
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<physics>
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<ode>
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<cfm_damping>1</cfm_damping>
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</ode>
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</physics>
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</joint>
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</model>
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