[model.sdf] set surface parameters, not sure if this is correct

130s · Mar 3, 2015 · 8fc036b · 8fc036b
1 parent 01c6c30
commit 8fc036b
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diff --git a/tetris_gazebo/models/apollo15_landing_site_1000x1000/model-1_4.sdf b/tetris_gazebo/models/apollo15_landing_site_1000x1000/model-1_4.sdf
@@ -4,6 +4,22 @@
     <static>true</static>
     <link name="link">
       <collision name="collision">
+        <surface>
+          <friction>
+          <ode>
+            <mu>0.2</mu>
+          </ode>
+          </friction>
+          <contact>
+          <ode>
+            <soft_cfm>1</soft_cfm>
+            <kp>100000</kp>
+            <kd>1</kd>
+            <max_vel>0.000001</max_vel>
+            <min_depth>0.02</min_depth>
+          </ode>
+          </contact>
+        </surface>
         <geometry>
           <heightmap>
             <uri>model://apollo15_landing_site_1000x1000/materials/textures/NAC_DTM_APOLLO15_E261N0036_257x257+7472+2152.png</uri>

diff --git a/tetris_gazebo/models/apollo15_landing_site_1000x1000/model.sdf b/tetris_gazebo/models/apollo15_landing_site_1000x1000/model.sdf
@@ -4,6 +4,22 @@
     <static>true</static>
     <link name="link">
       <collision name="collision">
+        <surface>
+          <friction>
+          <ode>
+            <mu>0.2</mu>
+          </ode>
+          </friction>
+          <contact>
+          <ode>
+            <soft_cfm>1</soft_cfm>
+            <kp>100000</kp>
+            <kd>1</kd>
+            <max_vel>0.000001</max_vel>
+            <min_depth>0.02</min_depth>
+          </ode>
+          </contact>
+        </surface>
         <geometry>
           <heightmap>
             <uri>model://apollo15_landing_site_1000x1000/materials/textures/NAC_DTM_APOLLO15_E261N0036_257x257+7472+2152.png</uri>