From 095f2ef718fbaeb6b8efcca9713e27dc56c1ced5 Mon Sep 17 00:00:00 2001 From: Sergi Hernandez Juan <shernand@iri.upc.edu> Date: Thu, 9 Apr 2020 09:42:01 +0200 Subject: [PATCH] Added the kp and kd parameters to the wheels to avoid sliping. --- urdf/include/wheel.gazebo | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/urdf/include/wheel.gazebo b/urdf/include/wheel.gazebo index d1a59a8..f9608ff 100644 --- a/urdf/include/wheel.gazebo +++ b/urdf/include/wheel.gazebo @@ -10,8 +10,8 @@ <selfCollide>true</selfCollide> <mu1>100.000000</mu1> <mu2>50.000000</mu2> -<!-- <kp>1e15</kp>--> -<!-- <kd>1e13</kd>--> + <kp>1e15</kp> + <kd>1e13</kd> <!-- <minDepth>0.01</minDepth>--> </gazebo> -- GitLab