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Nondeterministic ball bounce

Hello,

I am getting different behaviors with exactly the same execution and world settings. As you can see in this video , I reset the world every time and launch the ball with exactly the same velocity. This happens when launching the ball against any kind of surface (not only this board).

Ball model.sdf file:

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="basketball">
    <static>false</static>
    <self_collide>true</self_collide>
    <link name="ball">
      <inertial>
        <mass>0.25</mass>
        <!-- inertia based on solid sphere 2/5 mr^2 -->
        <inertia>
          <ixx>0.00169</ixx>
          <iyy>0.00169</iyy>
          <izz>0.00169</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <visual name="visual">
        <geometry>
          <sphere>
            <radius>0.13</radius>
          </sphere>
        </geometry>
      </visual>
      <collision name="collision">
        <geometry>
          <sphere>
            <radius>0.13</radius>
          </sphere>
        </geometry>
        <surface>
          <bounce>
            <restitution_coefficient>0.5</restitution_coefficient>
            <threshold>0.1</threshold>
          </bounce>
          <contact>
            <ode>
              <max_vel>5</max_vel>
              <min_depth>0.0001</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
    </link>
  </model>
</sdf>

Nondeterministic ball bounce

Hello,

I am getting different behaviors with exactly the same execution and world settings. As you can see in this video , I reset the world every time and launch the ball with exactly the same velocity. This happens when launching the ball against any kind of surface (not only this board).

Ball model.sdf file:

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="basketball">
    <static>false</static>
    <self_collide>true</self_collide>
    <link name="ball">
      <inertial>
        <mass>0.25</mass>
        <!-- inertia based on solid sphere 2/5 mr^2 -->
        <inertia>
          <ixx>0.00169</ixx>
          <iyy>0.00169</iyy>
          <izz>0.00169</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <visual name="visual">
        <geometry>
          <sphere>
            <radius>0.13</radius>
          </sphere>
        </geometry>
      </visual>
      <collision name="collision">
        <geometry>
          <sphere>
            <radius>0.13</radius>
          </sphere>
        </geometry>
        <surface>
          <bounce>
            <restitution_coefficient>0.5</restitution_coefficient>
            <threshold>0.1</threshold>
          </bounce>
          <contact>
            <ode>
              <max_vel>5</max_vel>
              <min_depth>0.0001</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
    </link>
  </model>
</sdf>

Nondeterministic ball bounce

Hello,

I am getting different behaviors with exactly the same execution and world settings. As you can see in this video , I reset the world every time and launch the ball with exactly the same velocity. This happens when launching the ball against any kind of surface (not only this board).

Update: more videos: vid2, vid3.

Ball model.sdf file:

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="basketball">
    <static>false</static>
    <self_collide>true</self_collide>
    <link name="ball">
      <inertial>
        <mass>0.25</mass>
        <!-- inertia based on solid sphere 2/5 mr^2 -->
        <inertia>
          <ixx>0.00169</ixx>
          <iyy>0.00169</iyy>
          <izz>0.00169</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <visual name="visual">
        <geometry>
          <sphere>
            <radius>0.13</radius>
          </sphere>
        </geometry>
      </visual>
      <collision name="collision">
        <geometry>
          <sphere>
            <radius>0.13</radius>
          </sphere>
        </geometry>
        <surface>
          <bounce>
            <restitution_coefficient>0.5</restitution_coefficient>
            <threshold>0.1</threshold>
          </bounce>
          <contact>
            <ode>
              <max_vel>5</max_vel>
              <min_depth>0.0001</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
    </link>
  </model>
</sdf>

Nondeterministic ball bounce

Hello,

I am getting different behaviors with exactly the same execution and world settings. As you can see in this video , I reset the world every time and launch the ball with exactly the same velocity. This happens when launching the ball against any kind of surface (not only this board).

Update: more videos: vid2, vid3.

Ball model.sdf file:

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="basketball">
    <static>false</static>
    <self_collide>true</self_collide>
    <link name="ball">
      <inertial>
        <mass>0.25</mass>
        <!-- inertia based on solid sphere 2/5 mr^2 -->
        <inertia>
          <ixx>0.00169</ixx>
          <iyy>0.00169</iyy>
          <izz>0.00169</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <visual name="visual">
        <geometry>
          <sphere>
            <radius>0.13</radius>
          </sphere>
        </geometry>
      </visual>
      <collision name="collision">
        <geometry>
          <sphere>
            <radius>0.13</radius>
          </sphere>
        </geometry>
        <surface>
          <bounce>
            <restitution_coefficient>0.5</restitution_coefficient>
            <threshold>0.1</threshold>
          </bounce>
          <contact>
            <ode>
              <max_vel>5</max_vel>
              <min_depth>0.0001</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
    </link>
  </model>
</sdf>