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

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improvements in VR demo, add grasper etc.
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Erwin Coumans
2016-09-16 00:57:00 +01:00
parent 1d88cf71e4
commit 567b003654
14 changed files with 92 additions and 74 deletions
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data/plane.urdf
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@@ -1,9 +1,6 @@
<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="baseLink">
<contact>
<rolling_friction value="0.3"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>