chgans wrote:
> Indeed, yes, i'm very interested by your patch.
>
> Chris
I checked an OmniWheel patch in under RequestID 1896952.
I think there still is an issue since Gazebo's last change to the
coordinate system. The friction vector is an ODE coordinate, while
cylinder axis are OGRE coordinate (i think).
Anyways, you can see the effect by placing a cylinder like this on an
inclined plane:
<model:physical name="cylinder1_model">
<xyz>1 -1.5 0.5</xyz>
<rpy>0.0 0.0 0.0</rpy>
<body:cylinder name="cylinder1_body">
<geom:cylinder name="cylinder1_geom">
<size>0.5 1</size>
<mass>1.0</mass>
<visual>
<mesh>unit_cylinder</mesh>
<material>Gazebo/RustyBarrel</material>
</visual>
<surface>
<type>0</type>
<mu1>1.7</mu1>
<bounce>0.1</bounce>
<bounceVel>0.04</bounceVel>
</surface>
<surface>
<type>1</type>
<mu1>1.7</mu1>
<bounce>0.1</bounce>
<bounceVel>0.04</bounceVel>
</surface>
<surface>
<type>2</type>
<mu1>0.01</mu1>
<mu2>1.7</mu2>
<mu1Dir>1 0 0</mu1Dir>
<bounce>0.1</bounce>
<bounceVel>0.04</bounceVel>
</surface>
</geom:cylinder>
</body:cylinder>
</model:physical>
cheers,
hendrik.
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