sdf robot model slippery, slides no friction

Question

Hello I got an issue with a humanoid robot modeled in sdf format. The model itself is fine. However, my problem is the model slips, slides, and can't stay in place as soon as i move a joint (via plugin of window).

The model plug in is not the problem in this case.

I tried inserting the tags, tags but they don'e work. I suspect I need a separate world plugin but i am not sure about this since the model already has a plugin.

You anyone please advise?

Thank you

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Originally posted by nordegren on Gazebo Answers with karma: 1 on 2013-01-30

Post score: 1

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Original comments

Comment by nkoenig on 2013-01-30:
Please post your SDF files, and tell us what version of Gazebo you're using.

Comment by nordegren on 2013-02-03:
i am using Gazebo I am not comfortable posting the whole sdf file. Can i post an sdf file that has only the lower body, that is with links (visual + collision) and joints?

Comment by nordegren on 2013-02-06:
thank you hsu i will saw the mu values and they are way higher than what i have, in fact these values are crazy high. i will post some of the code for the links and joints once i figure how to properly use this website.

Comment by nordegren on 2013-02-07:
here is a sample of a link

Comment by nordegren on 2013-02-07:\

.030 -.090 .010 0 0 0 1.5 1.00.00.01.00.01.0 .300 .120 .020 model:// --> 0.3Comment by nordegren on 2013-02-07:\

.030 -.090 .010 0 0 0 1.5 1.00.00.01.00.01.0 .300 .120 .020 model:// --> 0.3Comment by nordegren on 2013-02-07:\

.030 -.090 .010 0 0 0 1.5 1.00.00.01.00.01.0 .300 .120 .020 model:// --> 0.3Comment by nkoenig on 2013-03-07:
It will be hard to debug your problem without a complete SDF file. We can take this offline so that you don't have to post a complete SDF. Please contact me using [email protected]

Answer 1

Ideally, it will be sufficient if you can post a simple (stripped down) version of the model that others can use to reproduces the problem.

Here is an example of usage of friction (not a terribly good one because we are using a very large mu as the place holder until we get better contact properties). But in general, contact friction should have an effect in simulation.

It's possible the problem might be more than just contact; for example you can isolate the issue by turning off controllers/plugins to see if friction behavior changes.

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Originally posted by hsu with karma: 1873 on 2013-02-05

This answer was ACCEPTED on the original site

Post score: 0