Robot falling apart on unsmooth terrain

asked 2015-01-05 09:20:08 -0600

peci1 gravatar image

I have a multi-link robot SDF in Gazebo 2.1. It is a simple "static" model with just inertia and collision elements defined, no transmission elements or motors specified.

When I let the robot fall down on a plane, everything is ok.

However, I need to use a terrain model obtained from point cloud triangulation. Such terrain contains lots of small triangles with varying normals and errors (because of precision of the measurements and triangulation). When I let the robot fall on this terrain, it instantly begins to fall apart (even if the terrain is quite planar/the normals do not differ much).

My workaround so far is to preprocess the SDF to remove all joints (in different words - the links remain, just the joints are static), so that for every joint config I have a different SDF model. Highly ineffective, I know. Luckily, by this modification, the model stops falling apart and behaves in an expected way.

Do you have an idea on how to have a model with non-static joints that doesn't fall apart?

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Comments

How are you defining the model to be static? A model that has been defined as static will not fall. Could you post your model's SDF file?

nkoenig gravatar imagenkoenig ( 2015-01-07 10:24:03 -0600 )edit