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/pr2_gripper.urdf
+++ b/data/pr2_gripper.urdf
@@ -33,6 +33,7 @@
  <link name="left_gripper">
    <contact>
      <lateral_friction value="50.0"/>
+      <spinning_friction value="0.1"/>
    </contact>
    <visual>
      <origin rpy="0.0 0 0" xyz="0 0 0"/>