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Fix wheel friction, add wheel camber to have 1 contact point instead of two, use cfm damping for pedals

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This commit is contained in:
Steve Peters 2013-04-26 18:32:16 -07:00
parent aae4f5a94c
commit 02f0fff9c7
1 changed files with 87 additions and 54 deletions
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141
polaris_ranger_ev/model.sdf
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@ -11,6 +11,8 @@
<ixy>0.0</ixy><iyy>550</iyy> <ixy>0.0</ixy><iyy>550</iyy>
<ixz>0.0</ixz><iyz>0.0</iyz><izz>550</izz> <ixz>0.0</ixz><iyz>0.0</iyz><izz>550</izz>
</inertia> </inertia>
<!-- chassis c.o.g. near lateral/longitudinal center, height of 0.4 m -->
<pose>0.1 0 0.4 0 0 0</pose>
</inertial> </inertial>
<visual name="visual"> <visual name="visual">
<!-- rotate mesh to get to X-forward --> <!-- rotate mesh to get to X-forward -->
@ -376,7 +378,7 @@
<link_name>atlas::pelvis</link_name> <link_name>atlas::pelvis</link_name>
</plugin--> </plugin-->
<link name="rear_right_wheel"> <link name="rear_right_wheel">
<pose>-0.85 -0.6 0.32 1.570796 0.0 0.0</pose> <pose>-0.85 -0.6 0.32 1.52 0.0 0.0</pose>
<inertial> <inertial>
<mass>12</mass><!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html --> <mass>12</mass><!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html -->
<inertia> <inertia>
@ -395,8 +397,8 @@
<surface> <surface>
<friction> <friction>
<ode> <ode>
<mu>100000.0</mu> <mu>1.0</mu>
<mu2>100000.0</mu2> <mu2>1.0</mu2>
<slip1>0.0</slip1> <slip1>0.0</slip1>
<slip2>0.0</slip2> <slip2>0.0</slip2>
</ode> </ode>
@ -430,7 +432,7 @@
</visual> </visual>
</link> </link>
<link name="rear_left_wheel"> <link name="rear_left_wheel">
<pose>-0.85 0.6 0.32 1.570796 0.0 0.0</pose> <pose>-0.85 0.6 0.32 -1.52 0.0 0.0</pose>
<inertial> <inertial>
<mass>12</mass><!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html --> <mass>12</mass><!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html -->
<inertia> <inertia>
@ -449,8 +451,8 @@
<surface> <surface>
<friction> <friction>
<ode> <ode>
<mu>100000.0</mu> <mu>1.0</mu>
<mu2>100000.0</mu2> <mu2>1.0</mu2>
<slip1>0.0</slip1> <slip1>0.0</slip1>
<slip2>0.0</slip2> <slip2>0.0</slip2>
</ode> </ode>
@ -486,7 +488,7 @@
</link> </link>
<link name="front_right_wheel"> <link name="front_right_wheel">
<pose>1.03 -0.6 0.32 1.570796 0.0 0.0</pose> <pose>1.03 -0.6 0.32 1.52 0.0 0.0</pose>
<inertial> <inertial>
<mass>12</mass><!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html --> <mass>12</mass><!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html -->
<inertia> <inertia>
@ -505,8 +507,8 @@
<surface> <surface>
<friction> <friction>
<ode> <ode>
<mu>100000.0</mu> <mu>1.0</mu>
<mu2>100000.0</mu2> <mu2>1.0</mu2>
<slip1>0.0</slip1> <slip1>0.0</slip1>
<slip2>0.0</slip2> <slip2>0.0</slip2>
</ode> </ode>
@ -560,7 +562,7 @@
</collision> </collision>
</link> </link>
<link name="front_left_wheel"> <link name="front_left_wheel">
<pose>1.03 0.6 0.32 1.570796 0.0 0.0</pose> <pose>1.03 0.6 0.32 -1.52 0.0 0.0</pose>
<inertial> <inertial>
<mass>12</mass><!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html --> <mass>12</mass><!-- estimated from http://www.rzrforums.net/wheels-tires/1729-tire-wheel-weights-most-sizes.html -->
<inertia> <inertia>
@ -579,8 +581,8 @@
<surface> <surface>
<friction> <friction>
<ode> <ode>
<mu>100000.0</mu> <mu>1.0</mu>
<mu2>100000.0</mu2> <mu2>1.0</mu2>
<slip1>0.0</slip1> <slip1>0.0</slip1>
<slip2>0.0</slip2> <slip2>0.0</slip2>
</ode> </ode>
@ -593,7 +595,7 @@
</surface> </surface>
</collision> </collision>
<visual name="visual"> <visual name="visual">
<pose>0 0 0 0 -1.570796 0</pose> <pose>0 0 0 3.14159 1.570796 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<uri>model://polaris_ranger_ev/meshes/polaris.dae</uri> <uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
@ -728,17 +730,15 @@
<mass>1.0</mass> <mass>1.0</mass>
<pose>0 0 0 0 0 0</pose> <pose>0 0 0 0 0 0</pose>
<inertia> <inertia>
<ixx>0.1</ixx> <ixx>0.012</ixx>
<ixy>0</ixy> <ixy>0</ixy>
<ixz>0</ixz> <ixz>0</ixz>
<iyy>0.1</iyy> <iyy>0.012</iyy>
<iyz>0</iyz> <iyz>0</iyz>
<izz>1.0</izz> <izz>0.024</izz>
</inertia> </inertia>
</inertial> </inertial>
<velocity_decay>0.1</velocity_decay>
<collision name="collision"> <collision name="collision">
<!-- rotate mesh to get to X-forward --> <!-- rotate mesh to get to X-forward -->
<pose>0 0 0 -0.69 0 -1.570796</pose> <pose>0 0 0 -0.69 0 -1.570796</pose>
@ -780,6 +780,16 @@
</script> </script>
</material> </material>
</visual> </visual>
<!-- visual used to measure size of mesh steering wheel -->
<!--visual name="vis_cyl">
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.16</radius>
<length>0.01</length>
</cylinder>
</geometry>
</visual-->
</link> </link>
<link name='hand_brake'> <link name='hand_brake'>
@ -831,22 +841,26 @@
<lower>-1.0</lower> <lower>-1.0</lower>
<upper>1.0</upper> <upper>1.0</upper>
</limit> </limit>
<dynamics>
<damping>50.0</damping>
</dynamics>
</axis> </axis>
<physics><ode><limit> <physics>
<cfm>0.000000</cfm> <ode>
<erp>0.900000</erp> <cfm_damping>1</cfm_damping>
</limit></ode></physics> <limit>
<cfm>0.000000</cfm>
<erp>0.900000</erp>
</limit>
</ode>
</physics>
</joint> </joint>
<joint type="revolute" name="front_left_wheel_joint"> <joint type="revolute" name="front_left_wheel_joint">
<child>front_left_wheel</child> <child>front_left_wheel</child>
<parent>front_left_wheel_steering_block</parent> <parent>front_left_wheel_steering_block</parent>
<axis> <axis>
<xyz>0 1 0</xyz> <xyz>0 1 0.05</xyz>
</axis> </axis>
<physics><ode><limit>
<cfm>0.000000</cfm>
<erp>0.900000</erp>
</limit></ode></physics>
</joint> </joint>
<joint type="revolute" name="front_right_steering_joint"> <joint type="revolute" name="front_right_steering_joint">
@ -858,23 +872,27 @@
<lower>-1.0</lower> <lower>-1.0</lower>
<upper>1.0</upper> <upper>1.0</upper>
</limit> </limit>
<dynamics>
<damping>50.0</damping>
</dynamics>
</axis> </axis>
<physics><ode><limit> <physics>
<cfm>0.000000</cfm> <ode>
<erp>0.900000</erp> <cfm_damping>1</cfm_damping>
</limit></ode></physics> <limit>
<cfm>0.000000</cfm>
<erp>0.900000</erp>
</limit>
</ode>
</physics>
</joint> </joint>
<joint type="revolute" name="front_right_wheel_joint"> <joint type="revolute" name="front_right_wheel_joint">
<child>front_right_wheel</child> <child>front_right_wheel</child>
<parent>front_right_wheel_steering_block</parent> <parent>front_right_wheel_steering_block</parent>
<axis> <axis>
<xyz>0 1 0</xyz> <xyz>0 1 -0.05</xyz>
</axis> </axis>
<physics><ode><limit>
<cfm>0.000000</cfm>
<erp>0.900000</erp>
</limit></ode></physics>
</joint> </joint>
@ -882,14 +900,18 @@
<child>rear_left_wheel</child> <child>rear_left_wheel</child>
<parent>chassis</parent> <parent>chassis</parent>
<axis> <axis>
<xyz>0 1 0</xyz> <xyz>0 1 0.05</xyz>
</axis> </axis>
<physics><ode><limit>
<cfm>0.000000</cfm>
<erp>0.900000</erp>
</limit></ode></physics>
</joint> </joint>
<joint type="revolute" name="rear_right_wheel_joint">
<pose>0.0 0.0 -0.1 0 0 0</pose>
<child>rear_right_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 -0.05</xyz>
</axis>
</joint>
<joint name='gas_joint' type='prismatic'> <joint name='gas_joint' type='prismatic'>
<parent>chassis</parent> <parent>chassis</parent>
@ -900,7 +922,15 @@
<lower>0.00</lower> <lower>0.00</lower>
<upper>0.08</upper> <upper>0.08</upper>
</limit> </limit>
<dynamics>
<damping>3.0</damping>
</dynamics>
</axis> </axis>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
</ode>
</physics>
</joint> </joint>
<joint name='brake_joint' type='prismatic'> <joint name='brake_joint' type='prismatic'>
<parent>chassis</parent> <parent>chassis</parent>
@ -911,7 +941,15 @@
<lower>0.00</lower> <lower>0.00</lower>
<upper>0.08</upper> <upper>0.08</upper>
</limit> </limit>
<dynamics>
<damping>3.0</damping>
</dynamics>
</axis> </axis>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
</ode>
</physics>
</joint> </joint>
<joint name='steering_joint' type='revolute'> <joint name='steering_joint' type='revolute'>
<pose>-0.002 0 0 0 0 0</pose> <pose>-0.002 0 0 0 0 0</pose>
@ -934,20 +972,15 @@
<lower>0</lower> <lower>0</lower>
<upper>0.6</upper> <upper>0.6</upper>
</limit> </limit>
<dynamics>
<damping>3.0</damping>
</dynamics>
</axis> </axis>
</joint> <physics>
<ode>
<joint type="revolute" name="rear_right_wheel_joint"> <cfm_damping>1</cfm_damping>
<pose>0.0 0.0 -0.1 0 0 0</pose> </ode>
<child>rear_right_wheel</child> </physics>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
<physics><ode><limit>
<cfm>0.000000</cfm>
<erp>0.900000</erp>
</limit></ode></physics>
</joint> </joint>
</model> </model>