gazebo model embed in each other when contact [closed]

asked 2019-03-28 09:07:00 -0600

TouchDeeper gravatar image

Hi, I want to simulate a banana put in the bowl, the result is below: image description

As you can see, The banana and bow embed in each other and the banana and bow will vibrate until the banana and bowl separate. The urdf of banana is below, the bowl is the model come with gazebo:

<?xml version="1.0" ?>
<robot name="Banana" xmlns:xacro="http://ros.org/wiki/xacro">
  <material name="yellow">
        <color rgba="1 0.4 0 1"/>
  </material>
  <link name="virtual_link">
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <box size="0.001 0.001 0.001" />
                </geometry>
            </visual>
  </link>
  <joint name="virtual_joint" type="fixed">
            <origin xyz="0 0 0" rpy="0 0 0" />        
            <parent link="virtual_link"/>
            <child link="Banana" />
  </joint>


  <link
    name="Banana">
    <inertial>
      <origin
        xyz="0.0014177 4.15280000000162E-06 0.026526"
        rpy="0.0 0.0 0.0" />
      <mass
        value="0.11082" />
      <inertia
        ixx="2.48347659000621E-04"
        ixy="1.68484882757417E-05"
        ixz="-1.05360215654521E-05"
        iyy="0.000186690109925898E+01"
        iyz="1.13501975389491E-07"
        izz="0.000175609996584435E+01" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="1.5707963267949 0 0" />
      <geometry>
        <mesh
          filename="package://object_description/meshes/Banana.STL" />
      </geometry>
      <material name="yellow" />
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="1.5707963267949 0 0" />
      <geometry>
        <mesh
          filename="package://object_description/meshes/Banana.STL" />
      </geometry>
      <surface>
        <friction>
          <ode>
            <mu>0.5</mu>
          </ode>
        </friction>
        <contact>
          <ode>
            <min_depth>0.001</min_depth>
            <kp>1e9</kp>
          </ode>
        </contact>
      </surface>
    </collision>
  </link>
  <gazebo reference="Banana">
            <material>Gazebo/Yellow</material>
  </gazebo>

</robot>

Can you provide some advice, thanks a lot!

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Closed for the following reason Gazebo Question: The Gazebo community prefers to answer questions at: http://answers.gazebosim.org by jayess
close date 2019-04-06 18:39:08.093265

Comments

You should post this over at http://answers.gazebosim.org/questions/ , since this is not a Gazebo and not a ROS problem. You will get better answers there.

fvd gravatar imagefvd ( 2019-04-01 00:37:22 -0600 )edit