Home | Tutorials | Wiki | Issues
Ask Your Question
0

Weird collision/gravity behavior

asked 2015-07-01 18:45:39 -0600

epurdy gravatar image

I have a simulation with a coke can and a trash can, and I'm trying to get a robot to put the coke can in the trash can. The problem is that the coke can doesn't always fall into the trash can, sometimes it just kind of sits on top. Sometimes it falls straight in, and sometimes it falls in an incredibly slow way. Sometimes it slowly drops in and then falls the rest of the way at a normal speed.

The coke can is the one that comes with ROS's gazebo_worlds package.

I am using this model for the trashcan: http://www.3dm3.com/modelsbank/model1...

It is wrapped in the following URDF:

<robot name="waste_can_model">
  <link name="waste_can">
    <inertial>
      <mass value="10.0" />
      <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
      <origin xyz="0 0 0.06" />
      <inertia  ixx="3.0" ixy="0.0"  ixz="0.0"  iyy="3.0"  iyz="0.0"  izz="3.0" />
    </inertial>
    <visual>
      <!-- visual origin is defined w.r.t. link local coordinate system -->
      <origin xyz="0 0 -0.18" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://vicarious/objects/3dm-wastcan2.dae" scale="0.03 0.03 0.03" />
      </geometry>
    </visual>
    <collision>
      <!-- collision origin is defined w.r.t. link local coordinate system -->
      <origin xyz="0 0 -0.18" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://vicarious/objects/3dm-wastcan2.dae" scale="0.03 0.03 0.03" />
      </geometry>
    </collision>
  </link>
  <gazebo reference="coke_can">
    <material>Gazebo/Red</material>
    <turnGravityOff>false</turnGravityOff>
    <kp>100000000.0</kp>
    <kd>1000000.0</kd>
  </gazebo>
</robot>

Any idea what's going wrong? Is something wrong with the mesh? Is there a way to validate the mesh?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2015-07-02 16:43:33 -0600

epurdy gravatar image

Turns out the trash can had too many polygons, simplifying it in MeshLab fixed the simulation.

edit flag offensive delete link more
Login/Signup to Answer

Question Tools

Stats

Asked: 2015-07-01 18:45:39 -0600

Seen: 232 times

Last updated: Jul 02 '15