Unstable trimesh/trimesh collision gazebo-classic
Environment
- OS Version: Ubuntu 20.04
- gazebo-classic, binary, version 11.13.0
Description
Expected behavior: The stacking of the trimeshes on top of each other is stable and does not drift over time. For example, in the case of using primitives (box), it is possible to stack boxes on top of each other and this stack will be stable.
Actual behavior: One trimesh on top of another drifts and falls over time. There is also the distance between trimeses for bullet physics, and it can't changed by tuning the physics parameters.
Steps to reproduce
- clone and build the repository github kirillin/trimeshcollisiongazebo.git
- Launch simulator roslaunch trimeshcollisiongazebo emptyworldode.launch
- Spawn set of trimeshed using rosrun trimeshcollisiongazebo spawn_trimesh.py N, where N is quantity of spawning trimeshes.
Output
The following set of videos demonstrate the strange behavior.
Two trimeses on top of each other: ODE https://youtu.be/ckxjb4EiOtQ
Five trimeses on top of each other: ODE https://youtu.be/dACJ0sKAe6s
This question is duplicate https://github.com/gazebosim/gazebo-classic/issues/3335
Asked by kirillin on 2023-07-13 01:20:51 UTC
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