Is it posible to set maxContacts to one?

asked 2020-07-20 06:03:35 -0500

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Hey,

I am currently trying to simulate a collision between my robot and a wall. I want to get more information about what Forces are created at the collision depending on what parameters I have in my joints.

The wall is a static box and the collision element of my robot is a sphere.I am using the "gazebo_ros_bumper" Sensor Plugin at the sphere.

I set the maxContacts Parameter in the URDF to 1 and checked if it is set correctly in sdf. It is. But when i look at the states Array of my contact sensor it has 10 elements.

I want to have just one so i can compare the results more easy.

Is it generally possible to get just one calculated contact by the collision detection? What is the smallest number of contacts possible?

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