Add lateral and spinning friction coefficients to gripper sdf model.

2017-03-20 10:16:15 -07:00
parent 6695268fba
commit 753f1d3d2f
1 changed files with 8 additions and 0 deletions
--- a/data/gripper/wsg50_with_r2d2_gripper.sdf
+++ b/data/gripper/wsg50_with_r2d2_gripper.sdf
@@ -215,6 +215,10 @@
    </joint>
    
    <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>
      <inertial>
        <mass>0.2</mass>
@@ -255,6 +259,10 @@
    </joint>
    
    <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>
      <inertial>
        <mass>0.2</mass>