Hi,

My skid steer robot is slipping when it hits 90 degrees, I understand that Ode uses a pyramid model of friction which causes this, and I would like to change this to a cone model in my sdf.

I believe it is possible from reading this: (http://sdformat.org/spec?ver=1.6&elem=physics#solver_friction_model). However when I try to add I get a warning stating that friction model is being igbored as it is not defined in sdf.

Does anyone have an example of how this is done? or any information on why this wouldn't work?

Thanks in advance!