Home | Tutorials | Wiki | Issues
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

It seems weird that your small spheres appear to have friction. If you set mu1 and mu2 to 0 you should get perfectly frictionless, sliding behavior. Have you checked that your generated URDF has the values set correctly (and that there is no bug in the xacro macros)?

That being said, there are issues when trying to tune diff drive systems (see here or here). Especially the fdir1 parameter seems to be a little bit mysterious, so you might want to get rid of that one.

I just recently implemented a plugin that applies forces directly to a robot body and otherwise lets the robot "slide" over the environment by setting mu1 and mu2 to 0 for links in contact with the ground. This avoids friction tuning issues and works well for many applications. See video.

It seems weird that your small spheres appear to have friction. If you set mu1 and mu2 to 0 you should get perfectly frictionless, sliding behavior. Have you checked that your generated URDF has the values set correctly (and that there is no bug in the xacro macros)?

That being said, there are issues when trying to tune diff drive systems (see here or here). Especially the fdir1 parameter seems to be a little bit mysterious, so you might want to get rid of that one.

I just recently implemented a plugin that applies forces directly to a robot body and otherwise lets the robot "slide" over the environment by setting mu1 and mu2 to 0 for links in contact with the ground. This avoids friction tuning issues and works well for many applications. See video.