How to set the friction model to cone_model

asked 2019-04-19 14:20:45 -0500

steradiant gravatar image

updated 2019-04-19 14:21:10 -0500

Hello, after some research I found out that probably the description of the Gazebo tutorial regarding the friction parameters isn't really good (or even false). ODE has two friction approximations implemented (look here. How can I set the friction model to "cone_model"?

I found this: link but it gives me the following warning:

XML Element[friction_model], child of element[solver] not defined in SDF. Ignoring[friction_model]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.

I've also found this but where to find this to change it?

Thanks in advance!

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