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Body falls through the object its placed on, if Kp, and Kd parameters are varied.

Hi Everyone,

I'm not sure if this is an ODE question and if it belongs on this forum, but please do redirect me to the right forum if this is the wrong place for this question.

I was trying to model the interaction between two soft-bodies in Gazebo using the ODE physics simulator. In a simple sense, my model is like a rubber ball placed on a soft-sponge (rectangular in shape).

I was tweaking the Kp and Kd parameters(which are within the ODE tags) of the SDF files of both objects to see if I was able to get the right interaction. When I kept the Kd values very low, the rubber ball would simply fall through the sponge to hit the ground (the sponge is suspended in air ), however, if the Kd is very high, the sponge behaves like a rigid body. How can I allow the ball to sink into the sponge, and yet not fall through the sponge?

Thanks! :)

Body falls through the object its placed on, if Kp, Kp and Kd parameters are varied.

Hi Everyone,

I'm not sure if this is an ODE question and if it belongs on this forum, but please do redirect me to the right forum if this is the wrong place for this question.

I was trying to model the interaction between two soft-bodies in Gazebo using the ODE physics simulator. In a simple sense, my model is like a rubber ball placed on a soft-sponge (rectangular in shape).

I was tweaking the Kp and Kd parameters(which are within the ODE tags) of the SDF files of both objects to see if I was able to get the right interaction. When I kept the Kd values very low, the rubber ball would simply fall through the sponge to hit the ground (the sponge is suspended in air ), however, if the Kd is very high, the sponge behaves like a rigid body. How can I allow the ball to sink into the sponge, and yet not fall through the sponge?

Thanks! :)