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Sliding problem with stack of boxes

asked 2019-07-05 09:14:42 -0500

nlamprian gravatar image

I'm trying to pull a stack of boxes as shown in the gif. A robot (not shown here) is moving the bottom box. Instead of following the bottom box, the top box stays in place.

sliding-boxes

The values used for the collision geometry of the boxes in this particular test are the following:

image description

I've tried many values (with extended ranges) for the different parameters, but as far as I can tell, nothing had any effect on the shown behavior.

Do you have any ideas what would make it possible to pull the entire stack of boxes?

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maybe try making fdir1 not zero? like [1, 0, 0]? just a guess...

Peter Mitrano gravatar imagePeter Mitrano ( 2019-07-05 12:48:27 -0500 )edit

Already tried it, but still nothing.

nlamprian gravatar imagenlamprian ( 2019-07-05 13:37:05 -0500 )edit

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answered 2019-07-09 12:58:50 -0500

chapulina gravatar image

If you're using ODE, try turning off allow_auto_disable.

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Thank you for the response. Unfortunately, it didn't work. I added the element, verified that the state changed by calling model->GetAutoDisable(), but in the end, nothing changed.

nlamprian gravatar imagenlamprian ( 2019-07-10 05:12:49 -0500 )edit

Damn :/ I recommend you make models transparent and turn on contact visualization. Then try tweaking surface params like kp and min depth so that the contact points are persistent.

chapulina gravatar imagechapulina ( 2019-07-10 07:59:59 -0500 )edit

@chapulina speaking of the model parameters like kp, fdir etc., is there a good resource that explains what those parameters mean and what values we should put there? What are the ranges, what are the units, specific examples etc.? I don't think I have ever found a clear explanation in any of the official tutorials.

kumpakri gravatar imagekumpakri ( 2019-07-11 02:45:02 -0500 )edit

The ODE manual can be quite helpful, especially around page 9: http://ode.org/ode-latest-userguide.pdf

chapulina gravatar imagechapulina ( 2019-07-11 08:31:10 -0500 )edit
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Asked: 2019-07-05 09:14:42 -0500

Seen: 78 times

Last updated: Jul 09