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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/sphere2_rolling_friction.urdf Normal file
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<?xml version="0.0" ?>
<robot name="urdf_robot">
<link name="base_link">
<contact>
<rolling_friction value="0.3"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="10.0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</collision>
</link>
</robot>