ROS_Robot/gazebo_models
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attempt to eliminate cordless_drill jitter by adding margin to contact LCP (min_depth = 1mm).

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This commit is contained in:
John Hsu 2013-04-19 12:00:05 -07:00
parent 02233e5130
commit 527f2ca599
3 changed files with 5 additions and 3 deletions
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2
coke_can/meshes/coke_can.dae
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@ -8,7 +8,7 @@
<up_axis>Y_UP</up_axis> <up_axis>Y_UP</up_axis>
<created>Wed Apr 25 01:36:10 2012</created> <created>Wed Apr 25 01:36:10 2012</created>
<modified>Wed Apr 25 01:36:10 2012</modified> <modified>Wed Apr 25 01:36:10 2012</modified>
<unit meter="0.00254" name="inches"/> <unit meter="0.001" name="mm"/>
</asset> </asset>
<library_images> <library_images>
<image id="texture0" name="texture0"> <image id="texture0" name="texture0">

5
coke_can/model-1_3.sdf
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@ -3,6 +3,7 @@
<model name="coke_can"> <model name="coke_can">
<link name="link"> <link name="link">
<inertial> <inertial>
<pose>0 0 0.05 0 0 0</pose>
<mass>0.390</mass> <mass>0.390</mass>
<inertia> <inertia>
<ixx>0.00058</ixx> <ixx>0.00058</ixx>
@ -14,7 +15,7 @@
</inertia> </inertia>
</inertial> </inertial>
<collision name="collision"> <collision name="collision">
<pose>0 0 -0.46 0 0 0</pose> <pose>0 0 -0.18 0 0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<uri>model://coke_can/meshes/coke_can.dae</uri> <uri>model://coke_can/meshes/coke_can.dae</uri>
@ -22,7 +23,7 @@
</geometry> </geometry>
</collision> </collision>
<visual name="visual"> <visual name="visual">
<pose>0 0 -0.46 0 0 0</pose> <pose>0 0 -0.18 0 0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<uri>model://coke_can/meshes/coke_can.dae</uri> <uri>model://coke_can/meshes/coke_can.dae</uri>

1
cordless_drill/model.sdf
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@ -25,6 +25,7 @@
<contact> <contact>
<ode> <ode>
<max_vel>0.1</max_vel> <max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode> </ode>
</contact> </contact>
</surface> </surface>