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Setting <split_impulse_penetration_threshold> tag of bullet Engine in .world file does not work

asked 2020-05-04 12:42:27 -0500

mazeyu gravatar image

Here's the code of the .world file. Whatever I change -0.05 to be, both + and -, the gap between objects in gazebo is always the same and seems -0.01, the default value. But when I add <erf> etc. in <constraints> tag, things do happen. So it confirms gazebo is reading this file. But I cannot figure out why the value of split_impulse_penetration_threshold is ignored.

<sdf version="1.6"> <world name="default">

<!-- A global light source -->
<include>
  <uri>model://sun</uri>
</include>

<!-- A ground plane -->
<include>
  <uri>model://ground_plane</uri>
</include>
<physics type="bullet">

      <bullet>
        <constraints>


            <contact_surface_layer> 0 </contact_surface_layer>
            <split_impulse> 1 </split_impulse>
            <split_impulse_penetration_threshold> -0.05 </split_impulse_penetration_threshold>
        </constraints>
      </bullet>
</physics>

</world> </sdf>

enter code here

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answered 2021-08-28 05:11:15 -0500

andrea_pat gravatar image

Very similar problem here. I am trying to modify ground's kp and kd, but nothing happens. I have confirmed the file is correctly read, since with ODE it works.

extract of CODE:

    <surface>

      <contact>
         <collide_bitmask>0xffff</collide_bitmask>
         <ode>
            <kp>1e12</kp>
            <kd>1</kd>
            <min_depth> </min_depth> 
         </ode>
         <bullet>
            <kp>1e12</kp>
            <kd>1</kd>
            <split_impulse_penetration_threshold>  </split_impulse_penetration_threshold> <!-- default -0.01 -->
         </bullet>
      </contact>

      <friction>
        <ode>
          <mu>1</mu>
          <mu2>1</mu2>
        </ode>
        <bullet>
          <friction>1</friction>
          <friction2>1</friction2>
        </bullet>
      </friction>
    </surface>
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Asked: 2020-05-04 12:42:27 -0500

Seen: 53 times

Last updated: Aug 28