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### object rotate itself after I put it in the gazebo

Hello,

This question is a continuation of a question past. I modified the inertial to solve the rotation problem in the past, but this will cause a wrong action of banana.

I tried to modify the surface parameters, but can't find suitable parameters. After I choose the View -> Transparent and View -> Contacts, the banana rotate as the gif show. As you can see from the gif, the contact point of the banana flicker all the time. Is this normal?

The xml format model file is below:

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from Banana.xacro                   | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="Banana" xmlns:xacro="http://ros.org/wiki/xacro">
<material name="yellow">
<color rgba="1 0.4 0 1"/>
</material>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0014177 4.15280000000162E-06 0.026526"/>
<mass value="0.11082"/>
<inertia ixx="2.48347659000621E-05" ixy="1.68484882757417E-06" ixz="-1.05360215654521E-06" iyy="0.000186690109925898" iyz="-1.13501975389491E-08" izz="0.000175609996584435"/>
</inertial>
<visual>
<origin rpy="1.5707963267949 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://object_description/meshes/Banana.STL"/>
</geometry>
<material name="yellow"/>
</visual>
<collision>
<origin rpy="1.5707963267949 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://object_description/meshes/Banana.STL"/>
</geometry>
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
<contact>
<ode>
<min_depth>0.001</min_depth>
<!--            <kp>1e9</kp>-->
<soft_cfm>0.2</soft_cfm>
<soft_erp>0.4</soft_erp>
</ode>
</contact>
</surface>
</collision>
<gazebo reference="base">
<material>Gazebo/Yellow</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
</robot>


### object rotate itself after I put it in the gazebo

Hello,

This question is a continuation of a question past. I modified the inertial to solve the rotation problem in the past, but this will cause a wrong action of banana.

I tried to modify the surface parameters, but can't find suitable parameters. After I choose the View -> Transparent and View -> Contacts, the banana rotate as the gif show. As you can see from the gif, the contact point of the banana flicker all the time. Is this normal?

The xml format model file is below:

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from Banana.xacro                   | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="Banana" xmlns:xacro="http://ros.org/wiki/xacro">
<material name="yellow">
<color rgba="1 0.4 0 1"/>
</material>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0014177 4.15280000000162E-06 0.026526"/>
<mass value="0.11082"/>
<inertia ixx="2.48347659000621E-05" ixy="1.68484882757417E-06" ixz="-1.05360215654521E-06" iyy="0.000186690109925898" iyz="-1.13501975389491E-08" izz="0.000175609996584435"/>
</inertial>
<visual>
<origin rpy="1.5707963267949 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://object_description/meshes/Banana.STL"/>
</geometry>
<material name="yellow"/>
</visual>
<collision>
<origin rpy="1.5707963267949 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://object_description/meshes/Banana.STL"/>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
<contact>
<ode>
<min_depth>0.001</min_depth>
<!--            <kp>1e9</kp>-->
<soft_cfm>0.2</soft_cfm>
<soft_erp>0.4</soft_erp>
</ode>
</contact>
</surface>
</collision>
<gazebo reference="base">
<material>Gazebo/Yellow</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
</robot>


### object rotate itself after I put it in the gazebo

Hello,

This question is a continuation of a question past. I modified the inertial to solve the rotation problem in the past, but this will cause a wrong action of banana.

I tried to modify the surface parameters, but can't find suitable parameters. After I choose the View -> Transparent and View -> Contacts, the banana rotate as the gif show. As you can see from the gif, the contact point of the banana flicker all the time. Is this normal?

The xml format model file is below:

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from Banana.xacro                   | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="Banana" xmlns:xacro="http://ros.org/wiki/xacro">
<material name="yellow">
<color rgba="1 0.4 0 1"/>
</material>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0014177 4.15280000000162E-06 0.026526"/>
<mass value="0.11082"/>
<inertia ixx="2.48347659000621E-05" ixy="1.68484882757417E-06" ixz="-1.05360215654521E-06" iyy="0.000186690109925898" iyz="-1.13501975389491E-08" izz="0.000175609996584435"/>
</inertial>
<visual>
<origin rpy="1.5707963267949 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://object_description/meshes/Banana.STL"/>
</geometry>
<material name="yellow"/>
</visual>
<collision>
<origin rpy="1.5707963267949 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://object_description/meshes/Banana.STL"/>
</geometry>
<max_contacts>10</max_contacts>
<max_contacts>
10
</max_contacts>
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
<contact>
<ode>
<min_depth>0.001</min_depth>
<!--            <kp>1e9</kp>-->
<soft_cfm>0.2</soft_cfm>
<soft_erp>0.4</soft_erp>
</ode>
</contact>
</surface>
</collision>
<gazebo reference="base">
<material>Gazebo/Yellow</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
</robot>


### object rotate itself after I put it in the gazebo

Hello,

This question is a continuation of a question past. I modified the inertial to solve the rotation problem in the past, but this will cause a wrong action of banana.

I tried to modify the surface parameters, but can't find suitable parameters. After I choose the View -> Transparent and View -> Contacts, the banana rotate as the gif show. As you can see from the gif, the contact point of the banana flicker all the time. Is this normal?normal? The gif seems can't play online, it needs to be download.

The xml format model file is below:

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from Banana.xacro                   | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="Banana" xmlns:xacro="http://ros.org/wiki/xacro">
<material name="yellow">
<color rgba="1 0.4 0 1"/>
</material>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0014177 4.15280000000162E-06 0.026526"/>
<mass value="0.11082"/>
<inertia ixx="2.48347659000621E-05" ixy="1.68484882757417E-06" ixz="-1.05360215654521E-06" iyy="0.000186690109925898" iyz="-1.13501975389491E-08" izz="0.000175609996584435"/>
</inertial>
<visual>
<origin rpy="1.5707963267949 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://object_description/meshes/Banana.STL"/>
</geometry>
<material name="yellow"/>
</visual>
<collision>
<origin rpy="1.5707963267949 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://object_description/meshes/Banana.STL"/>
</geometry>
<max_contacts>
10
</max_contacts>
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
<contact>
<ode>
<min_depth>0.001</min_depth>
<!--            <kp>1e9</kp>-->
<soft_cfm>0.2</soft_cfm>
<soft_erp>0.4</soft_erp>
</ode>
</contact>
</surface>
</collision>
<gazebo reference="base">
<material>Gazebo/Yellow</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
</robot>


### object rotate itself after I put it in the gazebo

Hello,

This question is a continuation of a question past. I modified the inertial to solve the rotation problem in the past, but this will cause a wrong action of banana.

I tried to modify the surface parameters, but can't find suitable parameters. After I choose the View -> Transparent and View -> Contacts, the banana rotate as the gifvideo show. As you can see from the gif, the contact point of the banana flicker all the time. Is this normal? The gif seems can't play online, it needs to be download.

The xml format model file is below:

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from Banana.xacro                   | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="Banana" xmlns:xacro="http://ros.org/wiki/xacro">
<material name="yellow">
<color rgba="1 0.4 0 1"/>
</material>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0014177 4.15280000000162E-06 0.026526"/>
<mass value="0.11082"/>
<inertia ixx="2.48347659000621E-05" ixy="1.68484882757417E-06" ixz="-1.05360215654521E-06" iyy="0.000186690109925898" iyz="-1.13501975389491E-08" izz="0.000175609996584435"/>
</inertial>
<visual>
<origin rpy="1.5707963267949 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://object_description/meshes/Banana.STL"/>
</geometry>
<material name="yellow"/>
</visual>
<collision>
<origin rpy="1.5707963267949 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://object_description/meshes/Banana.STL"/>
</geometry>
<max_contacts>
10
</max_contacts>
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
<contact>
<ode>
<min_depth>0.001</min_depth>
<!--            <kp>1e9</kp>-->
<soft_cfm>0.2</soft_cfm>
<soft_erp>0.4</soft_erp>
</ode>
</contact>
</surface>
</collision>
<gazebo reference="base">
<material>Gazebo/Yellow</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
</robot>


### object rotate itself after I put it in the gazebo

Hello,

This question is a continuation of a question past. I modified the inertial to solve the rotation problem in the past, but this will cause a wrong action of banana.

I tried to modify the surface parameters, but can't find suitable parameters. After I choose the View -> Transparent and View -> Contacts, the banana rotate as the videogif show. As you can see from the gif, the contact point of the banana flicker all the time. Is this normal? The gif seems can't play online, it needs to be download.download. The inertial box of the banana is as the video shows.

The xml format model file is below:

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from Banana.xacro                   | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="Banana" xmlns:xacro="http://ros.org/wiki/xacro">
<material name="yellow">
<color rgba="1 0.4 0 1"/>
</material>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0014177 4.15280000000162E-06 0.026526"/>
<mass value="0.11082"/>
<inertia ixx="2.48347659000621E-05" ixy="1.68484882757417E-06" ixz="-1.05360215654521E-06" iyy="0.000186690109925898" iyz="-1.13501975389491E-08" izz="0.000175609996584435"/>
</inertial>
<visual>
<origin rpy="1.5707963267949 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://object_description/meshes/Banana.STL"/>
</geometry>
<material name="yellow"/>
</visual>
<collision>
<origin rpy="1.5707963267949 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://object_description/meshes/Banana.STL"/>
</geometry>
<max_contacts>
10
</max_contacts>
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
<contact>
<ode>
<min_depth>0.001</min_depth>
<!--            <kp>1e9</kp>-->
<soft_cfm>0.2</soft_cfm>
<soft_erp>0.4</soft_erp>
</ode>
</contact>
</surface>
</collision>