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give min_depth to polaris wheels to improve wheel contact

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This commit is contained in:
Steve Peters 2013-05-16 15:53:56 -07:00
parent 66f45e8d83
commit 642fd07302
1 changed files with 10 additions and 10 deletions
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20
polaris_ranger_ev/model.sdf
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@ -399,14 +399,14 @@
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
<fdir1>1 0 0</fdir1>
<fdir1>0 0 1</fdir1>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
</ode>
</friction>
<contact>
<ode>
<min_depth>0.00</min_depth>
<min_depth>0.005</min_depth>
<kp>1e8</kp>
</ode>
</contact>
@ -455,14 +455,14 @@
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
<fdir1>1 0 0</fdir1>
<fdir1>0 0 1</fdir1>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
</ode>
</friction>
<contact>
<ode>
<min_depth>0.00</min_depth>
<min_depth>0.005</min_depth>
<kp>1e8</kp>
</ode>
</contact>
@ -513,14 +513,14 @@
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
<fdir1>1 0 0</fdir1>
<fdir1>0 0 1</fdir1>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
</ode>
</friction>
<contact>
<ode>
<min_depth>0.00</min_depth>
<min_depth>0.005</min_depth>
<kp>1e8</kp>
</ode>
</contact>
@ -589,14 +589,14 @@
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
<fdir1>1 0 0</fdir1>
<fdir1>0 0 1</fdir1>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
</ode>
</friction>
<contact>
<ode>
<min_depth>0.00</min_depth>
<min_depth>0.005</min_depth>
<kp>1e8</kp>
</ode>
</contact>
@ -1029,7 +1029,7 @@
<upper>0.08</upper>
</limit>
<dynamics>
<damping>1.0</damping>
<damping>3.0</damping>
</dynamics>
</axis>
<physics>
@ -1048,7 +1048,7 @@
<upper>0.08</upper>
</limit>
<dynamics>
<damping>1.0</damping>
<damping>3.0</damping>
</dynamics>
</axis>
<physics>