sdformat_to_mjcf: set friction parameter #70
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Boxes sliding with different friction coefficients Signed-off-by: Steve Peters <[email protected]>
Apply friction coefficient when converting to mjcf geometry. Add test for friction. Add missing doc-string to converter. Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
Codecov Report
@@ Coverage Diff @@
## main #70 +/- ##
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Coverage 98.84% 98.85%
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Files 21 21
Lines 1992 2008 +16
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+ Hits 1969 1985 +16
Misses 23 23
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Signed-off-by: Steve Peters <[email protected]>
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I don't understand why b9138c4 didn't fix the coverage complaint |
Signed-off-by: Steve Peters <[email protected]>
azeey
approved these changes
Jun 14, 2022
Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
azeey
approved these changes
Jun 14, 2022
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🎉 New feature
Part of #12.
Summary
Mujoco supports three friction parameters for a given geom as an array:
[sliding_friction, torsional_friction, rolling_friction]. The pull request maps the//surface/friction/ode/muparameter to thesliding_frictionvalue. I've added a test and an example world with sliding boxes of varying friction coefficients.Test it
sdformat_to_mjcf/tests/test_add_geometry.pytest.sdformat_to_mjcf/tests/resources/friction_demo.sdfgazebo --verbose sdformat_to_mjcf/tests/resources/friction_demo.sdfsdformat_to_mjcf/tests/resources/friction_demo.sdfto mjcf withsdformat2mjcf sdformat_to_mjcf/tests/resources/friction_demo.sdf friction_demo_converted.xmland simulated it with MuJoCo.Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.