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We had good success on our robots with not really modeling softness, but using the default parameters. You should be able to find a few skidsteering robots for inspiration regarding parameters (the husky_simulator package should provide a working example). I found that some parameters do not appear to work correctly though (see Gazebo Q/A).
There also is a user group for Pioneer robots. I´d be surprised if there is not AT3 available for simulation, as this robot is in pretty widespread use still.
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We had good success on our robots with not really modeling softness, but using the default parameters. You should be able to find a few skidsteering robots for inspiration regarding parameters (the husky_simulator package should provide a working example). I found that some parameters do not appear to work correctly though (see Gazebo Q/A).
There also is a user group for Pioneer robots. I´d be surprised if there is not AT3 available for simulation, as this robot is in pretty widespread use still.
/edit: Regarding parameters of the husky: Performance is a function of the complete model, so also the masses, inertias and ratios between them for the full model. It might be the case that the husky has better properties there. Note that issues could be reduced by altering some simulation parameters (timestep etc.) or model parameters (changing masses, getting rid of details etc.).
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