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Tower of Hanoi: Objects jumping when stacked

asked 2018-09-17 09:24:03 -0500

SailAvid1 gravatar image

I am trying to build a "Tower of Hanoi" simulation in Gazebo.

For that I have a model with 3 pins and a few rings with different sizes.

If I place these rings on top of each other, they simply jump away after the fourth or so.

image description

You can see the behaviour here in this video:

https://youtu.be/vwuhcyKq3U8

I already tried to set the dampingFactor, minDepth and a few other parameters, but that didn't fix it: https://youtu.be/VhdT60QPgsI

image description

Also, the Inertia matrix is correct and the center of mass is also in the middle of the rings.

The whole source code to reproduce the problem is here:

https://github.com/Pro/gazebo_hanoi

How do I have to modify the URDF to successfully stack the rings?

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answered 2018-09-17 10:44:39 -0500

Try setting the maxVel parameter to a low value.

e.g:

<gazebo>
  <maxVel>0</>
</gazebo>
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answered 2018-09-17 11:18:45 -0500

chapulina gravatar image

We've done a Hanoi tower demo before, you can see the parameters here if you're interested.

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Asked: 2018-09-17 08:10:34 -0500

Seen: 111 times

Last updated: Sep 17 '18