add flag to ignore Coulomb friction
@@ -573,7 +573,7 @@ class DHLink(Link):
return link
- def friction(self, qd):
+ def friction(self, qd, coulomb=True):
"""
``tau = friction(qd)`` Calculates the joint friction force/torque (n)
for joint velocity qd (n). The friction model includes:
@@ -607,6 +607,7 @@ class DHLink(Link):
tau = self.B * np.abs(self.G) * qd
+ if coulomb:
if qd > 0:
tau += self.Tc[0]
elif qd < 0:
