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Rolling friction demo for sphere and torsional friction demo for two point contact.

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yunfeibai
2016-08-30 17:50:37 -07:00
parent d784c61b61
commit 9c124b5896
10 changed files with 79 additions and 18 deletions
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data/cube_gripper_right.urdf
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@@ -6,7 +6,7 @@
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="1.0"/>
<rolling_friction value="0.3"/>
<inertia_scaling value="3.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>