separate spinning friction (torsional friction around contact normal) from

rolling friction (orthogonal to contact normal)
2016-09-16 00:04:33 +01:00
parent 4d6a95017e
commit 1d88cf71e4
11 changed files with 67 additions and 9 deletions
--- a/data/r2d2.urdf
+++ b/data/r2d2.urdf
@@ -388,6 +388,7 @@
    <child link="head"/>
    <axis xyz="0 0 1"/>
    <origin xyz="0 0 0.3"/>
+<limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/>
  </joint>

  <link name="box">