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plowing_effect_test.world: update contact params
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Improve stability of contact points through softened
kp and kd, and small max_vel and min_depth values.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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scpeters committed Jul 6, 2022
1 parent ecedcc1 commit 5432fe5
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24 changes: 24 additions & 0 deletions test/worlds/plowing_effect_test.world
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Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,14 @@
</sphere>
</geometry>
<surface>
<contact>
<ode>
<kp>40000</kp>
<kd>16</kd>
<max_vel>10</max_vel>
<min_depth>0.005</min_depth>
</ode>
</contact>
<friction>
<ode>
<fdir1>0 1 0</fdir1>
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</sphere>
</geometry>
<surface>
<contact>
<ode>
<kp>40000</kp>
<kd>16</kd>
<max_vel>10</max_vel>
<min_depth>0.005</min_depth>
</ode>
</contact>
<friction>
<ode>
<fdir1>0 1 0</fdir1>
Expand Down Expand Up @@ -170,6 +186,14 @@
</sphere>
</geometry>
<surface>
<contact>
<ode>
<kp>40000</kp>
<kd>16</kd>
<max_vel>10</max_vel>
<min_depth>0.005</min_depth>
</ode>
</contact>
<friction>
<ode>
<fdir1>0 1 0</fdir1>
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