search

gazebo-forks / dart

Dynamic Animation and Robotics Toolkit
http://dartsim.github.io/
BSD 2-Clause "Simplified" License
6 stars 5 forks source link

Force dependent slip #9

Closed azeey closed 3 years ago

azeey commented 3 years ago

The current implementation of slip compliance depends on the mass and the moment of inertia of the body as well as the location of the contact points. This PR makes it so that the slip velocity only depends on the applied force on the body. The behavior should now be consistent with ODEs FDS as implemented by Gazebo classic.

/cc @Jshep1

scpeters commented 3 years ago

nit: you could optionally tighten the tolerances a small amount (patch in https://gist.github.com/scpeters/3873d509867e6b6ea98bf32236b7f3a7 )

azeey commented 3 years ago

nit: you could optionally tighten the tolerances a small amount (patch in https://gist.github.com/scpeters/3873d509867e6b6ea98bf32236b7f3a7 )

I applied the patch. https://github.com/azeey/dart/pull/9/commits/a4fa5cebc63072e65e4738555d0f9be665d8c2ed