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export contact friction/damping through URDF and API

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convert from contact friction/damping to cfm/erp
btCollisionObject::setContactFrictionAndDamping
This commit is contained in:
Erwin Coumans
2016-09-02 16:40:56 -07:00
parent 23f7293a25
commit ecd814c9c5
19 changed files with 269 additions and 125 deletions
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4
data/cube_no_friction.urdf
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@@ -4,8 +4,8 @@
<contact>
<lateral_friction value="0.0"/>
<rolling_friction value="0.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
<stiffness value="300.0"/>
<damping value="10.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>