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.dae/.stl meshes repels each other, when standart box do not.

asked 2016-04-11 08:51:16 -0500

iskinmike gravatar image

I want to robot laid tower of cubes. When I use simple models of cubes, they lie on each other.

<box> 1 1 1</box>

But if I use cubes of .dae or .stl they begin to repel each other and the tower collapses.

<sdf version ='1.5'>
<model name='name'>
<link name ='link'>
    <inertial>
        <mass>1.0</mass>
    </inertial>
    <collision name ='collision'>
        <geometry>
            <mesh> <uri> file://media/models/cube.stl </uri></mesh> 
        </geometry>
    </collision>
    <visual name ='visual'>
        <geometry>
            <mesh> <uri> file://media/models/cube.dae </uri></mesh> 
        </geometry>
        <material>
            <script>
                <uri>file://media/materials/scripts/gazebo.material</uri>
                <name>Gazebo/SkyBlue</name>
            </script>
        </material>
    </visual>
</link>
</model>
</sdf>

I've tried to add [inertia] and [collision] -> [surface] properties, but it doesn't help. What am I missing?

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Comments

1

Maybe you will have to tune the inertia matrix in the inertial tag. Default values might be too high. http://sdformat.org/spec?ver=1.6&elem=link You can also try to add friction in collision ->surface (use mu and mu2 tags) http://sdformat.org/spec?ver=1.6&elem=collision

Brosseau.F gravatar imageBrosseau.F ( 2016-04-11 10:11:46 -0500 )edit

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answered 2016-04-11 11:33:37 -0500

In general, meshes tend to be less stable than simple shapes (box, cylinder and sphere). If all you want is a cube, it is highly recommended you use a simple <box> 1 1 1</box> for the collision geometry.

And as @brosseauf said, it also helps if you use realistic inertia values.

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Asked: 2016-04-11 08:51:16 -0500

Seen: 121 times

Last updated: Apr 11 '16