Real-Time Physics Simulation Forum 2021-01-27T14:46:53+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/13151 2021-01-27T14:46:53+00:00 2021-01-27T14:46:53+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=43273#p43273 <![CDATA[Objects pushed away without collision when approached by robot]]> Here is a video where the problem is recorded, below is an example urdf of the cube that is being pushed away.

Would anyone please have any idea what might be causing this or how to even debug such thing? I wonder if it could be a bad combination of restitution and friction values of the cube urdf, but the object starts moving before it is in any collision with the robot.

Thank you.

Cube urdf:

Code: 

<?xml version="1.0" ?><robot name="cube_holes">  <link name="baseLink">    <contact>            <restitution value="0.5" />            <rolling_friction value="0.03"/>            <spinning_friction value="0.03"/>    </contact>    <inertial>      <origin rpy="0 0 0" xyz="0.0001 0.0 0.0"/>       <mass value="10.084"/>       <inertia ixx="0.0053" ixy="9e-05" ixz="0.00014" iyy="0.00534" iyz="0.0003" izz="0.00155"/>    </inertial>    <visual>      <origin rpy="0 0 0" xyz="0.0001 0.0 0.0"/>      <geometry>        <box size="0.06 0.06 0.06" />      </geometry>       <material name="black">        <color rgba="0 0 0 1"/>      </material>    </visual>    <collision concave="yes">      <origin rpy="0 0 0" xyz="0.0001 0.0 0.0"/>      <geometry> <box size="0.06 0.06 0.06" />      </geometry>    </collision>  </link></robot>

Statistics: Posted by sejnogab — Wed Jan 27, 2021 2:46 pm

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