SHERPA/sherpa_ros2_ws
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added friction

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