Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Improve MJCF import, to allow reading of friction parameters, including spinning and rolling friction, with some rudimentary 'default class' support.

Browse Source 
Tweak VRGloveSimulatorMain to work better with MPL/mpl2.xml hand.
This commit is contained in:
Erwin Coumans
2017-05-02 18:05:36 -07:00
parent 74ce6af26c
commit 07992fe61d
3 changed files with 272 additions and 70 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
data/MPL/mpl2.xml
View File

@@ -25,7 +25,7 @@
<default>
<default class="MPL">
<geom material="MatMesh" contype="1" conaffinity="1" condim="4" margin="0.001"/>
<geom material="MatMesh" contype="1" conaffinity="1" condim="4" friction="1 .5 0.5" margin="0.001"/>
<joint limited="true" damping="0.2" armature=".01"/>
<site material="MatTouch" type="ellipsoid" group="3"/>
<position ctrllimited="true" kp="10"/>
@@ -104,7 +104,7 @@
<!-- ======= ROBOT ======= -->
<body name="wristy" pos="0 0 0">
<body childclass="MPL" name="wristy" pos="0 0 0">
<inertial pos="-7.08369e-005 -0.0217787 -0.000286168" quat="0.707488 0.00581744 -0.0107421 0.70662" mass="0.0272932" diaginertia="2.46813e-005 1.77029e-005 1.71079e-005" />
<geom type="mesh" mesh="wristy"/>
<joint type="free"/>