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### Friction when using the DART engine

I have been forced to use the DART physical engine because ODE crashes with my models, see still runaway simulations in gazebo.

The question now is how to model friction. In my model there is a box (a rowing boat) that lays on the ground and is being pushed along by other boxes (the blades on the oars of the boat). So like rowing on land. To get the boat to move i give (using ODE) the boat a small friction and the oars large friction.

But there are no friction parameters in DART. The documentation points to an article, but there Coulomb friction is mentioned, but I don't see it being implemented.

So how can I model something like friction when using DART?

Thanks in advance, Sietse

### Friction when using the DART engine

I have been forced to use the DART physical engine because ODE crashes with my models, see still runaway simulations in gazebo.

The question now is how to model friction. In my model there is a box (a rowing boat) that lays on the ground and is being pushed along by other boxes (the blades on the oars of the boat). So like rowing on land. To get the boat to move i give (using ODE) the boat a small friction and the oars large friction.

But there are no friction parameters in DART. The documentation points to an article, but there Coulomb friction is mentioned, but I don't see it being implemented.

So how can I model something like friction when using DART?

Thanks in advance, Sietse

UPDATE: Perhaps I should mention that when I start gazebo with -e dart, that there is the following warning

Warning [BodyNode.cpp:469] [BodyNode] A negative or zero mass [0] is set to BodyNode [link], which can cause invalid physical behavior or segfault. Consider setting positive value instead.