gazebo part bouncing when spawned in the world.
Hi, i am new to gazebo, so i have some question for setting values for collision for the mesh file in gazebo. I am trying to spawn a mesh file into gazebo and used model editor to create a model using my mesh file. I am using default values for now, I changed restitutioncoefficient value to 0 and also maxvel to 0. When i spawn my model the model starts swinging instead of coming to a stable position. Can someone tell what other value i need to change for it to land and go to a stable position.
SDF file created by model editor:C:\fakepath\model.sdf
Asked by Jay0145 on 2023-07-10 13:04:55 UTC
Comments
The
model.sdflooks like just simple mesh collision with one link. It's hard to say more without knowing the mesh's shape. Sharing a screenshot of the model may help us understand more.Do you mean the model oscillates on the ground, touching the ground left and right very quickly? So far I experienced that when scaling a box model in x or y direction so large. Adjusting some physics parameter may help improving that.
Asked by Veerachart on 2023-07-11 23:46:42 UTC
I was able to adjust the physics parameters to stop the model from oscillating. I used meshlab to find these parameters by following the tutorials in this link - https://classic.gazebosim.org/tutorials?tut=inertia. The body is stable but its slowly drifts on the floor. I am uploading a the video of the part in gazebo to this.link text
Asked by Jay0145 on 2023-07-14 09:09:32 UTC
I need permission to view the video.
Asked by Veerachart on 2023-07-19 03:45:49 UTC
Sorry for the confusion. I have changed the permissions for the link posted below for the video describing the problem of body moving in gazebo simulation. https://drive.google.com/file/d/1D-sTMOub0n7eELwtZFXhZ6aTPG1et_5O/view?usp=sharing
Asked by Jay0145 on 2023-07-26 08:21:08 UTC
From the video, my guess is it's the stability of the collision calculation. Colliding with meshes can be hard to be accurate. There are quite a few parameters to change and see the performance: collision's max contacts, ODE's min depth (if you are using ODE) for example. ODE's solver parameter is also one thing to play with. You can view the contact points to see if they are stable enough.
Asked by Veerachart on 2023-07-26 20:24:48 UTC
Will decreasing the number of faces on the mesh file help with this problem
Asked by Jay0145 on 2023-07-31 11:43:36 UTC