Hi, I have created a model of a wheeled robot and it is working, but during the simulation it slides on the floor even with a zero speed. I have tried to change the values of the ODE friction coefficients without perceiving effective changes. Moreover, I performed different tests varying the different parameters of the sdf solver within ODE, without success. The values of the inertia tensor were calculated from meshlab, and I even performed different tests varying them without solving the problem.
Related with this problem, I would like to know if there is any way of fixing a joint position whenever the speed is zero
Any help would be appreciated
