Set CFM and ERP physics parameters for the four wheel joints.#243
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darrenchurchill wants to merge 1 commit into
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Set CFM and ERP physics parameters for the four wheel joints.#243darrenchurchill wants to merge 1 commit into
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This addresses issue BCLab-UNM#227. Setting the wheel joints' Constraint Force Mixing parameters and Error Reduction Parameters to values different from their global defaults allows the rover to slowly in place without moving forward at the same time. The CFM is set to slightly soften the wheel joints, and the ERP is set to quickly reduce any wheel joint errors that a softened joint can introduce.
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@kristiana-rendon and @Antonio-Griego please test this code in simulation and reply here. I'm excited that Darren has provided a templating method. You will be interested to look at the templating too, @johncarl81. |
gmfricke
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Thanks for sharing this. I have asked two of our team to test the changes. Assuming that goes well we will merge this,
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See PR #243. This pull request supersedes the earlier one since we are using templated model files now. Thanks to @darrenchurchill. "I settled on a very small Constraint Force Mixing parameter (0.01), to soften the wheel joints slightly, and a greatly increased the Error Reduction Parameter (0.8), so the wheels move quickly back to their normal positions in just a few physics iterations if they get slightly out of place. The CFM is small enough so there shouldn't be any 'suspension' effect or vibration in the model when it comes to a stop."
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Dec 31, 2019
See PR BCLab-UNM#243. This pull request supersedes the earlier one since we are using templated model files now. Thanks to @darrenchurchill. "I settled on a very small Constraint Force Mixing parameter (0.01), to soften the wheel joints slightly, and a greatly increased the Error Reduction Parameter (0.8), so the wheels move quickly back to their normal positions in just a few physics iterations if they get slightly out of place. The CFM is small enough so there shouldn't be any 'suspension' effect or vibration in the model when it comes to a stop."
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This addresses issue #227.
I'm excited you're going to take a look at this.
I settled on a very small Constraint Force Mixing parameter (0.01), to soften the wheel joints slightly, and a greatly increased the Error Reduction Parameter (0.8), so the wheels move quickly back to their normal positions in just a few physics iterations if they get slightly out of place.
The CFM is small enough so there shouldn't be any 'suspension' effect or vibration in the model when it comes to a stop.
Let me know what you think.