I’m currently working on simulating a humanoid robot (Talos) into DART.
Is it possible to modify the contact model (sphere, box…)? Like gazebo does with ODE: Kp, Kd, mu1, mu2… Hard and soft contact implementation.
Sometimes the robot slips or bounces on the floor when it starts to walk, due to the impact between the foot and the floor. Although, I put 0.0 velocity at the end of the foot’s trajectory. This trick is not enough if the robot moves rapidly.
Thanks in advance