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lsw9021 / MASS

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How to change the ground friction coefficient? #48

Open ChunchuZhu opened 3 weeks ago

ChunchuZhu commented 3 weeks ago

Hi there!

I'm trying to modify the ground.xml to change the friction coefficient so that the ground can act like ice, I used the following code:

<Skeleton name="Ground">
    <Node name="ground" parent="None" >
        <Body type="Box" mass="15.0" size="200 1 5" contact="On" color="0.8 0.8 0 1.0" friction="0.000001 0.005 0.0001">
            <Transformation linear="1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0" translation="0.0 -0.27 0.0"/>
        </Body>
        <Joint type="Weld">
            <Transformation linear="1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0" translation="0.0 0.0 0.0"/>
        </Joint>
    </Node>
</Skeleton>

I added friction="0.000001 0.005 0.0001" in the XML file, it didn't work. I also tried using the setFrictionCoeff() from DART manual, still didn't work.

Does anybody know how to change the ground friction coefficient in the simulation package?

Thank you very much!