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Gazebo5 simulator ball bearings leak through bowl walls

asked 2015-02-24 04:30:31 -0500

I have created a simulation where 1000 ball bearings are put inside a bowl. What happens is that some of the balls get through the walls of the bowl, leaking outside it. Most of the balls remain inside the bowl and react properly to interactions with them, but some others, go through the bowl.

Here there is a video showing the behavior Ball Leaking Video

The ball bearings model is just the model provided by Gazebo.

Can anyone give me a hint about how to avoid this behavior?

My system: - Ubuntu 14.04 - ROS Indigo - Gazebo5 (for ROS packages)

Attached: - The model of the bowl model.sdf

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answered 2015-02-24 10:08:53 -0500

AndreiHaidu gravatar image

Hi there,

I also noticed this bug and filed an issue report. Feel free to give it a vote/comment so it gets more attention.

This happens because the spheres only collide with the edges of the meshes, so if the mesh triangles are larger the spheres just fall through them.

For a quick workaround you can make your bowls' mesh triangles smaller. This of course will make the simulation slower.

Cheers, Andrei

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answered 2015-04-15 09:30:59 -0500

Thank you Andrei for your answer, I just did what you suggested and it worked.

I decreased the size of the polygons that constitute the mesh model by means of Blender program. See the result at the attached pictures.

With larger polygons image description

With smaller polygons image description

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Asked: 2015-02-24 04:30:31 -0500

Seen: 161 times

Last updated: Apr 15 '15