Fix the parameters on the tracks of DoubleArmV7A

choreonoid · Sep 28, 2021 · 4fea751 · 4fea751
1 parent 228c7b1
commit 4fea751
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Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/share/default/materials.yaml b/share/default/materials.yaml
@@ -132,6 +132,7 @@ contact_materials:
     restitution: 0.0
   -
     materials: [ Ground, DoubleArmV7ATracks ]
+    youngs_modulus: 1e10
     friction: 1.0
     secondary_friction: 0.5
     restitution: 0.0
@@ -140,10 +141,12 @@ contact_materials:
     primary_direction: [ 1, 0, 0 ]
     friction_model: [ constant_normal_force_oriented_box, direct ]
     #friction_model: [ oriented_iterative, direct ]
+    constant_normal_force: 5000
     reference_body: DoubleArmV7
     reference_link: TFRAME
   -
     materials: [ DoubleArmV7AWheel, DoubleArmV7ATracks ]
+    youngs_modulus: 1e10
     friction: 1.0
     restitution: 0.0
   -

diff --git a/share/model/DoubleArmV7/DoubleArmV7A.body b/share/model/DoubleArmV7/DoubleArmV7A.body
@@ -22,7 +22,7 @@ links:
         nodeWidth:  0.25
         nodeThickerThickness: 0.04
         useThickerNodeEvery: 2
-        nodeDistanceTension: 1.0E-4
+        nodeDistanceTension: 1.2E-4
         hingeCompliance: 1.0E-8
         hingeSpookDamping: 0.01
         minStabilizingHingeNormalForce: 1000
@@ -40,8 +40,8 @@ links:
           appearance:
             material:
               diffuseColor: [ 0.15, 0.15, 0.15 ]
-              specularColor: [ 0.8, 0.8, 0.8 ]
-              shininess: 0.02
+              specularColor: [ 0.7, 0.7, 0.7 ]
+              shininess: 0.1
       -
         type: AGXVehicleContinuousTrackDevice
         name: TRACK_R
@@ -54,7 +54,7 @@ links:
         nodeWidth:  0.25
         nodeThickerThickness: 0.04
         useThickerNodeEvery: 2
-        nodeDistanceTension: 1.0E-4
+        nodeDistanceTension: 1.2E-4
         hingeCompliance: 1.0E-8
         hingeSpookDamping: 0.01
         minStabilizingHingeNormalForce: 1000