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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 -->

<!-- A ground plane -->
<physics type="bullet">


            <contact_surface_layer> 0 </contact_surface_layer>
            <split_impulse> 1 </split_impulse>
            <split_impulse_penetration_threshold> -0.05 </split_impulse_penetration_threshold>

</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:


            <min_depth> </min_depth> 
            <split_impulse_penetration_threshold>  </split_impulse_penetration_threshold> <!-- default -0.01 -->

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

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Last updated: Aug 28