Hi, I am new to Gazebo and trying out the tutorials. When I run the second tutorial, in which a cube is created and a linear velocity is given to it, the cube translates for a while and then starts to topple about its edge. This toppling behavior continues from there on. If I increase the velocity I dont see this behavior. Can anyone explain that why is the linear velocity causing rotational motion.

Thanks.

The Plugin Code

include <boost bind.hpp="">

include <gazebo gazebo.hh="">

include <gazebo physics="" physics.hh="">

include <gazebo common="" common.hh="">

include <stdio.h>

namespace gazebo { class ModelPush : public ModelPlugin { public: void Load(physics::ModelPtr parent, sdf::ElementPtr /*sdf*/) { // Store the pointer to the model this->model = _parent;

  // Listen to the update event. This event is broadcast every
  // simulation iteration.
  this->updateConnection = event::Events::ConnectWorldUpdateBegin(
      boost::bind(&ModelPush::OnUpdate, this, _1));
}

// Called by the world update start event
public: void OnUpdate(const common::UpdateInfo & /*_info*/)
{
  // Apply a small linear velocity to the model.
  this->model->SetLinearVel(math::Vector3(.03, 0, 0));
}

// Pointer to the model
private: physics::ModelPtr model;

// Pointer to the update event connection
private: event::ConnectionPtr updateConnection;

};

// Register this plugin with the simulator GZREGISTERMODEL_PLUGIN(ModelPush) }