From 7c659f52616028417f316e0e9fb76134d9c8cf73 Mon Sep 17 00:00:00 2001
From: John Hsu <hsu@osrfoundation.org>
Date: Tue, 27 Nov 2012 17:42:04 -0800
Subject: [PATCH] set max_vel for wheel contact param

---
 pr2/model.sdf | 56 +++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 56 insertions(+)

diff --git a/pr2/model.sdf b/pr2/model.sdf
index 40eb39d..fe7caca 100644
--- a/pr2/model.sdf
+++ b/pr2/model.sdf
@@ -148,6 +148,13 @@
             <length>0.034000</length>
           </cylinder>
         </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>100.0</max_vel>
+            </ode>
+          </contact>
+        </surface>
       </collision>
       <visual name='bl_caster_l_wheel_link_geom_visual'>
         <geometry>
@@ -180,6 +187,13 @@
             <length>0.034000</length>
           </cylinder>
         </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>100.0</max_vel>
+            </ode>
+          </contact>
+        </surface>
       </collision>
       <visual name='bl_caster_r_wheel_link_geom_visual'>
         <geometry>
@@ -243,6 +257,13 @@
             <length>0.034000</length>
           </cylinder>
         </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>100.0</max_vel>
+            </ode>
+          </contact>
+        </surface>
       </collision>
       <visual name='br_caster_l_wheel_link_geom_visual'>
         <geometry>
@@ -275,6 +296,13 @@
             <length>0.034000</length>
           </cylinder>
         </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>100.0</max_vel>
+            </ode>
+          </contact>
+        </surface>
       </collision>
       <visual name='br_caster_r_wheel_link_geom_visual'>
         <geometry>
@@ -338,6 +366,13 @@
             <length>0.034000</length>
           </cylinder>
         </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>100.0</max_vel>
+            </ode>
+          </contact>
+        </surface>
       </collision>
       <visual name='fl_caster_l_wheel_link_geom_visual'>
         <geometry>
@@ -370,6 +405,13 @@
             <length>0.034000</length>
           </cylinder>
         </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>100.0</max_vel>
+            </ode>
+          </contact>
+        </surface>
       </collision>
       <visual name='fl_caster_r_wheel_link_geom_visual'>
         <geometry>
@@ -433,6 +475,13 @@
             <length>0.034000</length>
           </cylinder>
         </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>100.0</max_vel>
+            </ode>
+          </contact>
+        </surface>
       </collision>
       <visual name='fr_caster_l_wheel_link_geom_visual'>
         <geometry>
@@ -465,6 +514,13 @@
             <length>0.034000</length>
           </cylinder>
         </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>100.0</max_vel>
+            </ode>
+          </contact>
+        </surface>
       </collision>
       <visual name='fr_caster_r_wheel_link_geom_visual'>
         <geometry>