Hello !
I'm trying to run a simple scenario with ignition where there are multiple spheres falling on the ground and colliding with each other but after a little time (it seems there are too much collisions) ignition crash and I have the message :
ODE INTERNAL ERROR 1: assertion "aabbBound >= dMinIntExact && aabbBound < dMaxIntExact" failed in collide() [collision_space.cpp:460]
I tested with different versions of ignition (citadel, dome, edifice) with ubuntu 20.04 but I just get the same error and I also can't find the file collision_space.cpp.
Does anyone have such problem? Any solutions? Or maybe ignition can't support this type of simulation ?
My world looks like this :
<sdf version="1.7">
<world name="4">
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<gravity>0 0 -9.8</gravity>
<include>
<uri>model://floor_r1_i1</uri>
</include>
<include>
<uri>model://sphere_r4_i1</uri>
</include>
<include>
<uri>model://sphere_r4_i2</uri>
</include>
<include>
<uri>model://sphere_r4_i3</uri>
</include>
<include>
<uri>model://sphere_r4_i4</uri>
</include>
<include>
<uri>model://sphere_r4_i5</uri>
</include>
<include>
<uri>model://sphere_r4_i6</uri>
</include>
<include>
<uri>model://sphere_r4_i7</uri>
</include>
<include>
<uri>model://sphere_r4_i8</uri>
</include>
<include>
<uri>model://sphere_r4_i9</uri>
</include>
<include>
<uri>model://sphere_r4_i10</uri>
</include>
<include>
<uri>model://sphere_r4_i11</uri>
</include>
<include>
<uri>model://sphere_r4_i12</uri>
</include>
<include>
<uri>model://sphere_r4_i13</uri>
</include>
<include>
<uri>model://sphere_r4_i14</uri>
</include>
<include>
<uri>model://sphere_r4_i15</uri>
</include>
<include>
<uri>model://sphere_r4_i16</uri>
</include>
<include>
<uri>model://sphere_r4_i17</uri>
</include>
<include>
<uri>model://sphere_r4_i18</uri>
</include>
<include>
<uri>model://sphere_r4_i19</uri>
</include>
<include>
<uri>model://sphere_r4_i20</uri>
</include>
<include>
<uri>model://sphere_r4_i21</uri>
</include>
<include>
<uri>model://sphere_r4_i22</uri>
</include>
<include>
<uri>model://sphere_r4_i23</uri>
</include>
<include>
<uri>model://sphere_r4_i24</uri>
</include>
<include>
<uri>model://sphere_r4_i25</uri>
</include>
<include>
<uri>model://sphere_r4_i26</uri>
</include>
<include>
<uri>model://sphere_r4_i27</uri>
</include>
<include>
<uri>model://sphere_r4_i28</uri>
</include>
<include>
<uri>model://sphere_r4_i29</uri>
</include>
<include>
<uri>model://sphere_r4_i30</uri>
</include>
</world>
And sphere object is :
<model name="sphere_r4_i1">
<link name="sphere_link">
<inertial>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
</collision>
<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
<material>
<ambient>0 0 1 1</ambient>
<diffuse>0 0 1 1</diffuse>
<specular>0 0 1 1</specular>
</material>
</visual>
</link>
<pose> insert different pose here </pose>
</model>
With different pose for each
Thanks !
Originally posted by Defim on Gazebo Answers with karma: 1 on 2021-06-09
Post score: 0
Original comments
Comment by Jose Luis Rivero on 2021-06-16:
could you please attach the world you are using to generate the error?
Comment by Defim on 2021-06-18:
I added the world I am using in the question
Comment by Defim on 2021-06-21:
Thank you for your answer I think this is indeed the same problem but (I'm sorry I'm a beginner) I don't know how to install the repository dart to be used by ignition
Comment by AndrejOrsula on 2021-06-23:
One way is to remove you current DART version (e.g. sudo apt-get remove libdart*) and then build/install the fork from source (link to instructions is in README of the repository). If your Ignition uses a different version of DART, then you need to also build Ignition from source (instruction are on http://ignitionrobotics.org) while specifying the correct version of the DART in CMakeLists.txt of ign-physics.
I am not sure, but there might be an easier solution if the binaries are available.
Comment by Defim on 2021-06-23:
Thank you it works !