A simple question on changing bounce properties
Hi all,
I'm trying to model a ball. I'm not having any luck with making it bounce. I try to set the restitution coefficient in my URDF code, but when I look at the properties of the ball in Gazebo (ball1 -> ball -> link -> collision -> surface) the restitution_coefficient is still equal to zero.
I'm running Fuerte (which should correspond to Gazebo 1.0.2) on Ubuntu 12.04.
The URDF:
<robot name="my_ball">
<link name="ball">
<inertial>
<origin xyz="0 0 0" />
<mass value="0.0027" />
<inertia ixx="0.00000072" ixy="0.0" ixz="0.0" iyy="0.00000072" iyz="0.0" izz="0.00000072" />
</inertial>
<visual>
<origin xyz="0 0 0"/>
<geometry>
<sphere radius=".040" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<sphere radius=".040" />
</geometry>
<surface>
<bounce restitution_coefficient = "1"/>
</surface>
</collision>
</link>
<gazebo reference="ball">
<material>Gazebo/Orange</material>
<kd value = "100">
<kp value = "999999">
<mu1>1</mu1>
<mu2>1</mu2>
</gazebo>
</robot>
I'm loading the ball using:
rosrun gazebo spawn_model -file `pwd`/ballmodel.urdf -urdf -z 10 -x 1 -y -2 -model ball1
I've also tried a few different tags for the restitution coefficient including:
<surface>
...
<bounce restitution_coefficient="0.5" threshold="0.00"/>
...
</surface>
And:
<surface>
...
<bounce>
<restitution_coefficient="1"/>
</bounce>
...
</surface>
and:
<surface>
...
<bounce>
<restitution_coefficient> 1 </restitution_coefficient>
</bounce>
</surface>
@Ben B which URDF code worked finally?