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Add rolling friction, set rolling friction coefficient from urdf, and set up two point contact experiment.

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yunfeibai
2016-08-30 11:19:23 -07:00
parent c741b17da8
commit d784c61b61
9 changed files with 536 additions and 24 deletions
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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="1.0"/>
<inertia_scaling value="3.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>