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erdnaxe / kraby

Documentation and ressources of Kraby, an open-source hexapod robot
https://kraby.readthedocs.io
MIT License
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Set endcap stiffness and damping #2

Open erdnaxe opened 4 years ago

erdnaxe commented 4 years ago

In urdf_description/src/links/endcap.sdf.j2 the contact parameters are currently:

<contact>
      <lateral_friction value="1.0" /><!-- TODO -->
      <rolling_friction value="1.0" /><!-- TODO -->
      <spinning_friction value="0.3" /><!-- TODO -->
      <stiffness value="3000" /><!-- TODO -->
      <damping value="100" /><!-- TODO -->
</contact>

This may be changed by measuring these values.

erdnaxe commented 4 years ago

Spinning friction (friction relative to reaction force normal) should be very low as there is little friction with a sphere geometry.

Lateral and rolling friction should be around 0.6 - 0.7, see values of https://www.engineersedge.com/coeffients_of_friction.htm.

erdnaxe commented 4 years ago

The stiffness is the resistance offered by an elastic body to deformation, in N/m, 10 000 N/m should be good.

The damping is recommanded to 1000 for wheels in PyBullet Quickstart Guide. Need more research.