Question

I want to simulate two differential drive robots carrying a box above their chassis. But I am having some trouble on the simulation because the box is vibrating when above the robots.

This is the sdf from the box, am I doing something wrong or is this expected? How could I correct it?

<?xml version='1.0'?> false 0 0 0 0 0 0 0.01 0.001666666 0.00.001416666 0.00.00.001666666 .1 .4 .1 10000 10000 .1 .4 .1

Asked by yuril on 2020-08-25 12:46:03 UTC

Answer 1

Try setting min_depth in your model like so

<surface>
  <contact>
    <ode>
      <min_depth>0.001</min_depth>
    </ode>
  </contact>
  <friction>
    <ode>
       <mu>10000</mu>
       <mu2>10000</mu2>
    </ode>
  </friction>
</surface>

Other contact parameters of interest might be kp and kd.

Asked by nlamprian on 2020-08-25 17:31:07 UTC

Object "vibrating" when in contact with other

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