Hands/Gripper contact model

asked 2014-04-24 11:22:04 -0500

Hi, I have seen that in bipedal humanoid robots a contact model for the feet is specified in robot.gazebo.xacro file:

   <gazebo reference="LFoot">
 <kp>1000000.0</kp>
 <kd>100.0</kd>
 <mu1>1.0</mu1>
 <mu2>1.0</mu2>
 <fdir1>1 0 0</fdir1>
 <maxVel>1.0</maxVel>
 <minDepth>0.00</minDepth>
 <cfmDamping>1</cfmDamping>

</gazebo>

I was wondering if I have to do the same for hands/grippers

Thank you.

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Comments

I guess that you have to do the same for specifying the contact model of every robot part with the enironment.

luca gravatar imageluca ( 2014-04-24 11:31:43 -0500 )edit