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URDF has no concept of friction, so you'll have to insert SDF (which is currently specified using the <gazebo> extension).

Something like

  <gazebo reference="r_foot">
    <!-- kp and kd for rubber -->
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <mu1>1.5</mu1>
    <mu2>1.5</mu2>
    <fdir1>1 0 0</fdir1>
    <maxVel>1.0</maxVel>
    <minDepth>0.00</minDepth>
  </gazebo>