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Add lateral and spinning friction coefficients to gripper sdf model.

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yunfeibai
2017-03-20 10:16:15 -07:00
parent 6695268fba
commit 753f1d3d2f
1 changed files with 8 additions and 0 deletions
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8
data/gripper/wsg50_with_r2d2_gripper.sdf
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@@ -215,6 +215,10 @@
</joint> </joint>
<link name='finger_right'> <link name='finger_right'>
<contact>
<lateral_friction>1.0</lateral_friction>
<spinning_friction>1.5</spinning_friction>
</contact>
<pose frame=''>0.062 0 0.145 0 0 1.5708</pose> <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
<inertial> <inertial>
<mass>0.2</mass> <mass>0.2</mass>
@@ -255,6 +259,10 @@
</joint> </joint>
<link name='finger_left'> <link name='finger_left'>
<contact>
<lateral_friction>1.0</lateral_friction>
<spinning_friction>1.5</spinning_friction>
</contact>
<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose> <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
<inertial> <inertial>
<mass>0.2</mass> <mass>0.2</mass>