sdf robot model slippery, slides no friction

edit

does this mean that when writing an animation plugin you must "manually" implement the physics engine? if so how? there's nothing on physics engine when using common::NumericAnimation() classes

class Motion : public ModelPlugin { public: void Load(physics::ModelPtr model, sdf::ElementPtr /*sdf*/) { std::map<std::string, common::numericanimationptr=""> motion;

  motion["thor-op::l_hip_pitch"].reset(new common::NumericAnimation("motion", 4.5, true));
  ...
  so on and so on for every other joint
  ...
  common::NumericKeyFrame *key = motion["thor-op::l_hip_pitch"]->CreateKeyFrame(0.0);
  key->SetValue(0.0);
  ...
  so on and so on for every other joint
  ...
  key = motion["thor-op::l_hip_pitch"]->CreateKeyFrame(.75);
  key->SetValue(-1.57);
  ...
  so on and so on for every other joint, for every .75 seconds until 4.5 seconds
  ...

model->SetJointAnimation(motion); } }; GZREGISTERMODELPLUGIN(Motion) }

So what happens is as soon as the robot moves it begins to slip and slide. however, when no plugin is loaded the model stays in place but it collapses under its own weight.

thank you hsu for your answer.

i already tried this method way before i started this thread. the problem is that as soon as i load a plugin to the model to control the joints position (common::NumericAnimation, SetValue(double position)) the model begins slipping regardless how heavy or how high the mu's are set.

Of course if i do not load a controller to the model then the robot collapses on its own weight (without slipping).

this is a sample of the robot The entire robot still slips regardless of mu values or mass values

<!-- 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>
      </surface>
    </collision>
    <visual name="visual">
      <geometry>
        <box><size>.300 .120 .020</size></box>
      </geometry>
    </visual>
  </link>

hello hsu I also already tried the <min_depth> tags and still did not work. I exhausted every single possibility and the robot still slips.

robot does not slip when no plugin is loaded to it. however, in case of my humanoid, the robot collapses on its own weight because there is nothing controlling the joints.

my big problem is that when i use a plugin to control the robot joints (i.e. program some robot motions) the robot beings to slip as soon as a joint moves.

I don't know what else to do. This is the reason why i started this thread.

The plugin is very long and very repetitive so i am posting just a few pieces for one joint. The model itself moving is not a problem. My problem is as soon as the model beings to move it slips and slides all over the world.

The plugin is for ModelPlugin class

class Motion : public ModelPlugin { public: void Load(physics::ModelPtr model, sdf::ElementPtr /*sdf*/) { std::map<std::string, common::numericanimationptr=""> motion; ... motion["humanoid::lhippitch"].reset(new common::NumericAnimation("motion", 4.5, true)); ... common::NumericKeyFrame *key = motion["thor-op::lhippitch"]->CreateKeyFrame(0.0); key->SetValue(0.0); ... key = motion["thor-op::lhippitch"]->CreateKeyFrame(.75); key->SetValue(-1.57); ... so on and so on for every .75 seconds until the 4.5 second mark and it repeats over ... model->SetJointAnimation(motion); } }; GZREGISTERMODEL_PLUGIN(Motion)

I don't think i am doing anything wrong so I hope there is something i am missing on my plugin.