From 927c459990c9f459453b6a8a375384636ba35de3 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Jul 2020 13:36:44 +0200
Subject: [PATCH 1/2] Remove secondary friction coefficient from the ground
 plane

---
 gym_ignition_models/ground_plane/ground_plane.sdf | 1 -
 1 file changed, 1 deletion(-)

diff --git a/gym_ignition_models/ground_plane/ground_plane.sdf b/gym_ignition_models/ground_plane/ground_plane.sdf
index d77c1ac..c02c8a7 100644
--- a/gym_ignition_models/ground_plane/ground_plane.sdf
+++ b/gym_ignition_models/ground_plane/ground_plane.sdf
@@ -12,7 +12,6 @@
                     <friction>
                         <ode>
                             <mu>100</mu>
-                            <mu2>50</mu2>
                         </ode>
                     </friction>
                 </surface>

From 9172435beef50851e522db1a6a7c731960435bdf Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Jul 2020 13:38:45 +0200
Subject: [PATCH 2/2] Reduce friction of the iCub feet

---
 .../icub_simple_collisions.urdf                        | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/gym_ignition_models/iCubGazeboSimpleCollisionsV2_5/icub_simple_collisions.urdf b/gym_ignition_models/iCubGazeboSimpleCollisionsV2_5/icub_simple_collisions.urdf
index 052cb25..04a04d4 100644
--- a/gym_ignition_models/iCubGazeboSimpleCollisionsV2_5/icub_simple_collisions.urdf
+++ b/gym_ignition_models/iCubGazeboSimpleCollisionsV2_5/icub_simple_collisions.urdf
@@ -1552,6 +1552,11 @@
         <contact>
           <collide_bitmask>294</collide_bitmask>
         </contact>
+        <friction>
+          <ode>
+            <mu>1</mu>
+          </ode>
+        </friction>
       </surface>
     </collision>
   </gazebo>
@@ -1706,6 +1711,11 @@
         <contact>
           <collide_bitmask>198</collide_bitmask>
         </contact>
+        <friction>
+          <ode>
+            <mu>1</mu>
+          </ode>
+        </friction>
       </surface>
     </collision>
   </gazebo>