A simple question on changing bounce properties

edit

Hello everyone,

I'm trying to model a cube and a slope. The cube free fall under gravity and make collision with the slope. I'm curious about their bounce properties. I try to set the kp in <ode> and restitution_coefficient in <bounce> in my SDF code.

I'm running Gazebo 7 on Ubuntu 14.04.

1.Restitution_coefficient should be the only factor that affects the collision effect, but when I change the value of kp, the collision effect is also affected. Why?

2.When I set the value of restitution_coefficient equal to zero, the cube still bounces from the slope. According to common sense, the cube should be rest on the slope. Why bounce?

The cube SDF:

<?xml version="1.0" ?>
<sdf version="1.5"> 
<model name="elasticBall">
<pose>0.5 0 0 0 -0.7854 0</pose>
<link name="link">
  <collision name="collision">
    <geometry>
      <box>
        <size>0.3 0.3 0.3</size>
      </box>
    </geometry>
    <surface>
       <friction>
        <ode>
          <mu>10</mu>
          <mu2>10</mu2>
        </ode>
      </friction>
      <bounce>
        <restitution_coefficient>0.0</restitution_coefficient>
        <threshold>0.01</threshold>
      </bounce>
      <contact>
        <ode>
          <kp>1e10</kp>
          <max_vel>1e10</max_vel>
          <min_depth>0.001</min_depth>
        </ode>
      </contact>
    </surface>
  </collision>
  <inertial>
    <mass>2</mass>
    <inertia>
      <ixx>1</ixx>
      <ixy>0</ixy>
      <ixz>0</ixz>
      <iyy>1</iyy>
      <iyz>0</iyz>
      <izz>1</izz>
    </inertia>
  </inertial>
  <visual name="visual">
    <geometry>
      <box>
        <size>0.3 0.3 0.3</size>
      </box>
    </geometry>
    <material>
      <script>
      <uri>file://media/materials/scripts/gazebo.material</uri>
      <name>Gazebo/WoodPallet</name>
      </script>
    </material>
  </visual>
</link>

</model> </sdf>

The Slope SDF

<?xml version="1.0"?>
<sdf version="1.4">
  <model name="slopePlaneLong">
    <static>true</static>
    <pose>0.5 0 0 0 -0.2618 0</pose>
    <link name="link">
      <collision name="collision">
        <geometry>
          <box>
            <size>5 5 .01</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>10</mu>
              <mu2>10</mu2>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.0</restitution_coefficient>
            <threshold>0.01</threshold>
          </bounce>
          <contact>
            <ode>
              <kp>1e10</kp>
              <max_vel>1e10</max_vel>
              <min_depth>0.001</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
      <visual name="visual">
        <cast_shadows>false</cast_shadows>
        <geometry>
          <box>
            <size>5 5 .01</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Orange</name>
          </script>
        </material>
      </visual>
    </link>
  </model>
</sdf>

The launch file

<launch>

<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<arg name="paused" default="true"/>

<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find collision_gazebo)/worlds/blank.world"/>
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>

<node name="spawn_slopePlane" pkg="gazebo_ros" type="spawn_model" args="-file $(find collision_description)/sdf/slopePlane.sdf -sdf -x 0.6 -z 0.6  -model slopePlane" />

<node name="spawn_Cube" pkg="gazebo_ros" type="spawn_model" args="-file $(find ...