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try adding the min_depth of 3mm to both feet, see if that helps. For example,

<!-- left foot -->
  <link name="left_foot">
    <pose>.030 .090 .010 0 0 0</pose>
    <inertial>
      <mass>1.5</mass>
      <inertia>
        <ixx>1.0</ixx><ixy>0.0</ixy><ixz>0.0</ixz><iyy>1.0</iyy><iyz>0.0</iyz><izz>1.0</izz>
      </inertia>
    </inertial>
    <collision name="collision">
      <geometry>
        <box><size>.300 .120 .020</size></box>
      </geometry>
      <surface>
        <friction>
          <ode><mu>100000.0</mu><mu2>100000.0</mu2></ode>
        </friction>
                <contact>
                  <ode><min_depth>0.003</min_depth></ode>
                </contact>
      </surface>
    </collision>
    <visual name="visual">
      <geometry>
        <box><size>.300 .120 .020</size></box>
      </geometry>
    </visual>
  </link>