Unfortunately you cannot specify in runtime the mass and friction of objects.
You can on the other hand have a look at the code.
Eg: for the friction and interaction of the objects have a look at OdeSdlSimulation::nearCallback function in iCub_Sim.cpp.
and for the mass of the objects created in runtine in OdeWorldManager.cpp (by defaults they are set to 1kg)
hope this helps,
From: Fabien Benureau [[hidden email]]
Sent: Wednesday, June 29, 2011 10:36 AM
To: [hidden email] Subject: [rc-hackers] Mass and friction in the simulator
I am using the iCub simulator to make the iCub interact with object. Is
there a way in the simulator to specify the mass and friction of an object ?