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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.


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: 98 times

Last updated: Jul 09