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I've finally sorted it out. The problem was related to the missing <minDepth> tag.

Here is the working URDF portion:

        <gazebo reference="${name}_foot"> <mu1>1</mu1> <mu2>1</mu2> <fdir1>1 0 0</fdir1> <maxContacts>1</maxContacts> <minDepth>0.005</minDepth> <gravity>true</gravity> <collision name="${name}_lowerleg_fixed_joint_lump__\${name}_foot_collision_1">
<geometry>
<sphere>
<!-- should be the same as surface_radius -->
</sphere>
</geometry>

<surface>
<friction>
<torsional>
<coefficient>10</coefficient>
<!-- should be the same as collision sphere radius -->