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[Wheels] Add replaceable static and damped wheel compliance - #43
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rhorvath02 merged 4 commits intoOct 25, 2026
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rhorvath02 merged 4 commits into
rhorvath02 merged 4 commits into
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This was referenced Oct 22, 2026
rhorvath02
marked this pull request as ready for review
October 22, 2026 06:10
Wheel0DOF and Wheel1DOF_Z tied the hub flange to hubAxis.support, which MSL fixes to the world. With the new roadReaction, a locked wheel's tire torque then went to ground and the upright lost the Fx*r moment. Lock the flange through roadReaction so the upright carries it.
raorjun
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Oct 23, 2026
raorjun
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Oct 23, 2026
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Approve. CI is green, and the review findings are fixed or addressed in the comments above.
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Purpose
Represent wheel-stack compliance while retaining a stateless option for quasi-static rigs.
Approach
Group wheel DOF models with a constrained replaceable compliance interface under
Suspension.Tires.Wheels. Provide elastic and damped variants with translational and rotational stiffness; dynamic damping remains distinct from the static compliance law.Validation
Includes wheel DOF, compliance, physics-variant and alignment fixtures. Fixture paths, test collection and Modelica formatting checked.