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Tower of Hanoi: Objects jumping when stacked

asked 2018-09-17 09:24:03 -0500

SailAvid1
1 ●1 ●1 ●1

I am trying to build a "Tower of Hanoi" simulation in Gazebo.

For that I have a model with 3 pins and a few rings with different sizes.

If I place these rings on top of each other, they simply jump away after the fourth or so.

image description

You can see the behaviour here in this video:

https://youtu.be/vwuhcyKq3U8

I already tried to set the dampingFactor, minDepth and a few other parameters, but that didn't fix it: https://youtu.be/VhdT60QPgsI

image description

Also, the Inertia matrix is correct and the center of mass is also in the middle of the rings.

The whole source code to reproduce the problem is here:

https://github.com/Pro/gazebo_hanoi

How do I have to modify the URDF to successfully stack the rings?

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answered 2018-09-17 11:18:45 -0500

chapulina
7504 ●2 ●23 ●54 https://louise.world/

We've done a Hanoi tower demo before, you can see the parameters here if you're interested.

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answered 2018-09-17 10:44:39 -0500

flag of United States of America

609 ●4 ●11 ●20 https://www.metamorphs...

Try setting the maxVel parameter to a low value.

e.g:

<gazebo>
  <maxVel>0</>
</gazebo>

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Asked: 2018-09-17 08:10:34 -0500

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Last updated: Sep 17 '18

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