From b7fe64aef04a3ea4a90506bd0a91887b73de63a6 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 29 Oct 2020 16:24:25 +0100
Subject: [PATCH] Increased the torque of the wheel joints to 1N each.
---
urdf/include/wheel.xacro | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/urdf/include/wheel.xacro b/urdf/include/wheel.xacro
index 9bc4539..4e124dc 100644
--- a/urdf/include/wheel.xacro
+++ b/urdf/include/wheel.xacro
@@ -35,7 +35,7 @@
<parent link="${parent}"/>
<child link="${name}_wheel"/>
<axis xyz="0 0 ${direction}"/>
- <limit effort="0.1" velocity="20.0" upper="1e16" lower="-1e16"/>
+ <limit effort="1.0" velocity="20.0" upper="1e16" lower="-1e16"/>
<!-- the limits only apply to revolute and prismatic joints -->
<dynamics damping="0.001"/>
</joint>
--
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