added friction

2025-05-02 09:41:27 +02:00
parent 9ce267957b
commit 85ab9f3fd9
1 changed files with 2 additions and 0 deletions
--- a/src/sherpa/urdf/components/wheel.xacro
+++ b/src/sherpa/urdf/components/wheel.xacro
@@ -64,6 +64,8 @@
                    <ode>
                        <mu>1.5</mu>
                        <mu2>1.2</mu2>
+                        <kp>1000000</kp>
+	                    <kd>100</kd>
                    </ode>
                </friction>
                <soft_cfm>0.1</soft_cfm>  <!-- Soft contact to prevent rigid collisions -->