My robot is a Skid-Steered mobile robot ,which built in the soft sand, so I need to verify the dynamics of my wheeled mobile robot in the soft sand, that is, I want to give a torque to the wheels motor to check the movement of the robot, but I don't know how to simulate the situation of the soft sand in webots, please help to give me a solution,thank you very much.
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1 Answers
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We did something similar for the RoboCup simulation:
https://github.com/cyberbotics/webots/pull/2831#issuecomment-797423633
Basically, you can set the softCFM parameter to like 0.03.
The softCFM parameter is a parameter of the ContactProperties node. Note that you have to add the ContactProperties node to the WorlInfo > contactProperties.
