separate spinning and rolling friction coefficients, exposed in URDF as spinning_friction / m_rolling_friction

improvements in VR demo, add grasper etc.
2016-09-16 00:57:00 +01:00
parent 1d88cf71e4
commit 567b003654
14 changed files with 92 additions and 74 deletions
--- a/data/cube_small.urdf
+++ b/data/cube_small.urdf
@@ -3,7 +3,7 @@
  <link name="baseLink">
    <contact>
      <lateral_friction value="1.0"/>
-      <rolling_friction value="0.1"/>
+      <spinning_friction value="0.1"/>
      <inertia_scaling value="3.0"/>
    </contact>
    <inertial>