Polaris: give min_depth to polaris wheels to improve wheel contact

#42 Merged at 3a121d1
Repository
Branch
polaris_min_depth
Repository
Branch
default
Author
  1. Steve Peters
Reviewers
Description

Also adjust fdir1 on the wheels and give increase damping of gas and brake pedals.

UPDATE: set max_contacts to 1, since it's hard to steer when there's multiple contact points per wheel.

Comments (3)

  1. Peter Abeles

    Tested this change in a sequence of motions on a large flat plane with the same friction as the road in task 1. No significant slipping or spinning occured and driving motions are now repeatable. Did limited testing in vrc_task_1. Again, no slipping or spinning was observered when breaks were applied while still on the road. Drove off the road once and it seemed to behave reasonably.

  2. Thomas Koletschka

    This also seems to solve the issue of polaris drifting on the starting pen while stationary.