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Merge pull request #765 from YunfeiBai/master

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Torsional and rolling friction for btMultiBody
This commit is contained in:
erwincoumans
2016-09-01 14:57:46 -07:00
committed by GitHub
parent 03f09042e2 9c124b5896
commit a370c3bbac
13 changed files with 595 additions and 22 deletions
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45
data/cube_gripper_left.urdf Normal file
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@@ -0,0 +1,45 @@
<?xml version="0.0" ?>
<robot name="cube_gripper_left.urdf">
<link name="world">
</link>
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.3"/>
<inertia_scaling value="3.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0.785398 0.785398" xyz="0 0 0"/>
<geometry>
<mesh filename="cube.obj" scale=".05 .05 .05"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0.785398 0.785398" xyz="0 0 0"/>
<geometry>
<box size=".05 .05 .05"/>
</geometry>
</collision>
</link>
<joint name="cube_joint" type="prismatic">
<parent link="world"/>
<child link="baseLink"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<dynamics damping="0.0"/>
</joint>
</robot>

45
data/cube_gripper_right.urdf Normal file
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@@ -0,0 +1,45 @@
<?xml version="0.0" ?>
<robot name="cube_gripper_right.urdf">
<link name="world">
</link>
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.3"/>
<inertia_scaling value="3.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 -0.785398 -0.785398" xyz="0 0 0"/>
<geometry>
<mesh filename="cube.obj" scale=".05 .05 .05"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 -0.785398 -0.785398" xyz="0 0 0"/>
<geometry>
<box size=".05 .05 .05"/>
</geometry>
</collision>
</link>
<joint name="cube_joint" type="prismatic">
<parent link="world"/>
<child link="baseLink"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<dynamics damping="0.0"/>
</joint>
</robot>

2
data/cube_small.urdf
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@@ -3,7 +3,7 @@
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<rolling_friction value="0.3"/>
<inertia_scaling value="3.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>

3
data/plane.urdf
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@@ -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"/>

29
data/sphere2_rolling_friction.urdf Normal file
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@@ -0,0 +1,29 @@
<?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>