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how can i use friction coefficient more than 1?

asked 2018-11-06 23:15:34 -0500

timothyha gravatar image


i'm trying to make a road model where a high friction coefficient is applied. but when i set 'mu' and 'mu2' higher than 1, the model shows no difference from the case where mu=1 ( i also changed mu and mu2 for both the sliding objects and the road)

so, i search for the solution, and i find a description about the mu : according to this page, it seems that 'mu' and 'mu2' can only take bounded value btw 0~1

In summary, can i find another way to use a model with friction coefficient >1 ?

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answered 2018-11-09 09:17:41 -0500

updated 2018-11-09 09:18:30 -0500

I would experiment with setting mu and mu2 to really high values (>1) anyways, e.g. 100, 1000, Inf, just to see what happens.

Despite the SDF documentation, this answer (from 2015) appears to suggest that high friction parameter values do make a difference:

I spent some time searching through the Gazebo source code, but couldn't find code to concatenate / normalize the mu / mu2 parameters to [0,1]. <-- I did not do an exhaustive search, so somebody correct me if it's there.

Also see the ODE manual:

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Asked: 2018-11-06 22:14:30 -0500

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Last updated: Nov 09 '18