Restitution coefficient does not change

asked 2016-09-07 20:08:41 -0600

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Hi all,

I'm creating a contact simulation of two objects with Gazebo7. I tried to change the restitution coefficient, but still I can't make it.

My URDF code is here:

Ball:

  <link name="ball_link">
  <visual name="ball_visual">
      <origin xyz="$0 0 0" rpy="0 0 0"/>
    <geometry>
      <mesh filename="package://single_model/urdf/ball/meshes/ball.dae"/>
         <scale>0.1 0.1 0.1</scale>
    </geometry>
  </visual>
  <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
    <geometry>
      <mesh filename="package://single_model/urdf/ball/meshes/ball.dae"/>
         <scale>0.1 0.1 0.1</scale>
    </geometry>
      <surface>
         <bounce>
            <restitution_coefficient>0.5</restitution_coefficient>
            <threshold>0.01</threshold>
         </bounce>
      </surface>
  </collision>
  <inertial>
    <mass value="${ball_mass}"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
    <inertia ixx="${ball_ixx}"
             ixy="${ball_ixy}"
             ixz="${ball_ixz}"
             iyy="${ball_iyy}"
             iyz="${ball_iyz}"
             izz="${ball_izz}"/>
  </inertial>
</link>

Target:

  <link name="target_link">
  <visual name="target_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
    <geometry>
      <mesh filename="package://single_model/urdf/target/meshes/box.dae"/>
         <scale>0.1 0.1 0.1</scale>
    </geometry>
  </visual>
  <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
    <geometry>
      <mesh filename="package://single_model/urdf/target/meshes/box.dae"/>
         <scale>0.1 0.1 0.1</scale>
    </geometry>
      <surface>
         <bounce>
            <restitution_coefficient>0.5</restitution_coefficient>
            <threshold>0.01</threshold>
         </bounce>
      </surface>
  </collision>
  <inertial>
    <mass value="${target_mass}"/>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
    <inertia ixx="${target_ixx}"
             ixy="${target_ixy}"
             ixz="${target_ixz}"
             iyy="${target_iyy}"
             iyz="${target_iyz}"
             izz="${target_izz}"/>
  </inertial>
</link>

And gazebo.xacro is here:

Ball:

<gazebo reference="ball_link">
    <selfCollide>true</selfCollide>
    <maxVel>10.0</maxVel>
    <minDepth>0.001</minDepth>
</gazebo>

Target:

<gazebo reference="target_link">
    <selfCollide>true</selfCollide>
    <maxVel>10.0</maxVel>
    <minDepth>0.001</minDepth>
</gazebo>

When I perform this simulation, both two objects' restitution coefficient are still 0, and they start bounding in the world.

I would really appreciate you if you would give me some advice.

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Comments

1

urdf? restitution coefficient isn't part of urdf as far as a I know. What happens if you write it directly in SDF? here's an example: https://bitbucket.org/osrf/gazebo_models/src/ca53b7f6b22c2c426c240aa00fb4a8cf23c728d5/frc2016_ball/model.sdf?at=default&fileviewer=file-view-default you may have to put the restitution_coefficient in a <gazebo> tag

Peter Mitrano gravatar imagePeter Mitrano ( 2016-09-13 00:04:12 -0600 )edit

Thank you very much! I changed my URDF into SDF, then now it works well.

Mari gravatar imageMari ( 2016-09-15 02:48:51 -0600 )edit