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

2016-08-30 17:50:37 -07:00
parent d784c61b61
commit 9c124b5896
10 changed files with 79 additions and 18 deletions
--- a/data/plane.urdf
+++ b/data/plane.urdf
@@ -1,6 +1,9 @@
 <?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"/>