Add link friction coefficients (ODE) - Githubissues

AndrejOrsula / panda_ign_moveit2

Franka Emika Panda packages for manipulation with MoveIt 2 inside Ignition Gazebo

https://app.ignitionrobotics.org/AndrejOrsula/fuel/models/panda

BSD 3-Clause "New" or "Revised" License

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Add link friction coefficients (ODE) #4

Closed AndrejOrsula closed 3 years ago

AndrejOrsula commented 3 years ago

Body links considered as aluminium
- Ref https://engineeringlibrary.org/reference/coefficient-of-friction
Finger links considered as rubber, with guesstimated value
- Ref https://nvlpubs.nist.gov/nistpubs/jres/28/jresv28n4p439_a1b.pdf