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Merged in polaris_differential (pull request #38)

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Polaris: rear differential, parameter updates for improved ground contact
This commit is contained in:
Steven Peters 2013-05-10 16:54:36 -07:00
commit aa7db92d85
1 changed files with 48 additions and 11 deletions
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59
polaris_ranger_ev/model.sdf
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@ -399,13 +399,15 @@
<ode> <ode>
<mu>1.0</mu> <mu>1.0</mu>
<mu2>1.0</mu2> <mu2>1.0</mu2>
<fdir1>1 0 0</fdir1>
<slip1>0.0</slip1> <slip1>0.0</slip1>
<slip2>0.0</slip2> <slip2>0.0</slip2>
</ode> </ode>
</friction> </friction>
<contact> <contact>
<ode> <ode>
<min_depth>0.01</min_depth> <min_depth>0.00</min_depth>
<kp>1e8</kp>
</ode> </ode>
</contact> </contact>
</surface> </surface>
@ -453,13 +455,15 @@
<ode> <ode>
<mu>1.0</mu> <mu>1.0</mu>
<mu2>1.0</mu2> <mu2>1.0</mu2>
<fdir1>1 0 0</fdir1>
<slip1>0.0</slip1> <slip1>0.0</slip1>
<slip2>0.0</slip2> <slip2>0.0</slip2>
</ode> </ode>
</friction> </friction>
<contact> <contact>
<ode> <ode>
<min_depth>0.01</min_depth> <min_depth>0.00</min_depth>
<kp>1e8</kp>
</ode> </ode>
</contact> </contact>
</surface> </surface>
@ -509,13 +513,15 @@
<ode> <ode>
<mu>1.0</mu> <mu>1.0</mu>
<mu2>1.0</mu2> <mu2>1.0</mu2>
<fdir1>1 0 0</fdir1>
<slip1>0.0</slip1> <slip1>0.0</slip1>
<slip2>0.0</slip2> <slip2>0.0</slip2>
</ode> </ode>
</friction> </friction>
<contact> <contact>
<ode> <ode>
<min_depth>0.01</min_depth> <min_depth>0.00</min_depth>
<kp>1e8</kp>
</ode> </ode>
</contact> </contact>
</surface> </surface>
@ -583,13 +589,15 @@
<ode> <ode>
<mu>1.0</mu> <mu>1.0</mu>
<mu2>1.0</mu2> <mu2>1.0</mu2>
<fdir1>1 0 0</fdir1>
<slip1>0.0</slip1> <slip1>0.0</slip1>
<slip2>0.0</slip2> <slip2>0.0</slip2>
</ode> </ode>
</friction> </friction>
<contact> <contact>
<ode> <ode>
<min_depth>0.01</min_depth> <min_depth>0.00</min_depth>
<kp>1e8</kp>
</ode> </ode>
</contact> </contact>
</surface> </surface>
@ -915,8 +923,9 @@
<axis> <axis>
<xyz>0 0 1</xyz> <xyz>0 0 1</xyz>
<limit> <limit>
<lower>-1.0</lower> <!-- +- 50 degrees -->
<upper>1.0</upper> <lower>-0.8727</lower>
<upper>0.8727</upper>
</limit> </limit>
<dynamics> <dynamics>
<damping>50.0</damping> <damping>50.0</damping>
@ -946,8 +955,9 @@
<axis> <axis>
<xyz>0 0 1</xyz> <xyz>0 0 1</xyz>
<limit> <limit>
<lower>-1.0</lower> <!-- +- 50 degrees -->
<upper>1.0</upper> <lower>-0.8727</lower>
<upper>0.8727</upper>
</limit> </limit>
<dynamics> <dynamics>
<damping>50.0</damping> <damping>50.0</damping>
@ -990,6 +1000,25 @@
</axis> </axis>
</joint> </joint>
<joint type="revolute" name="rear_differential_joint">
<child>rear_right_wheel</child>
<parent>rear_left_wheel</parent>
<axis>
<!-- expressed in chassis frame -->
<xyz>0 1 0</xyz>
<dynamics>
<damping>70</damping>
</dynamics>
</axis>
<physics>
<ode>
<erp>0</erp>
<cfm>1000</cfm>
<cfm_damping>1</cfm_damping>
</ode>
</physics>
</joint>
<joint name='gas_joint' type='prismatic'> <joint name='gas_joint' type='prismatic'>
<parent>chassis</parent> <parent>chassis</parent>
<child>gas_pedal</child> <child>gas_pedal</child>
@ -1000,7 +1029,7 @@
<upper>0.08</upper> <upper>0.08</upper>
</limit> </limit>
<dynamics> <dynamics>
<damping>3.0</damping> <damping>1.0</damping>
</dynamics> </dynamics>
</axis> </axis>
<physics> <physics>
@ -1019,7 +1048,7 @@
<upper>0.08</upper> <upper>0.08</upper>
</limit> </limit>
<dynamics> <dynamics>
<damping>3.0</damping> <damping>1.0</damping>
</dynamics> </dynamics>
</axis> </axis>
<physics> <physics>
@ -1038,7 +1067,15 @@
<lower>-3.14</lower> <lower>-3.14</lower>
<upper>3.14</upper> <upper>3.14</upper>
</limit> </limit>
<dynamics>
<damping>1.0</damping>
</dynamics>
</axis> </axis>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
</ode>
</physics>
</joint> </joint>
<joint name='hand_brake_joint' type='revolute'> <joint name='hand_brake_joint' type='revolute'>
<parent>chassis</parent> <parent>chassis</parent>
@ -1050,7 +1087,7 @@
<upper>0.6</upper> <upper>0.6</upper>
</limit> </limit>
<dynamics> <dynamics>
<damping>3.0</damping> <damping>1.0</damping>
</dynamics> </dynamics>
</axis> </axis>
<physics> <physics>