[Pybullet] Cylinder shape collision bug? (ok in Gazebo)

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WhereAmI
Posts: 1
Joined: Wed Oct 24, 2018 6:54 pm

[Pybullet] Cylinder shape collision bug? (ok in Gazebo)

Post by WhereAmI » Wed Oct 24, 2018 8:24 pm

See the attach. The gripper does not collide with the cylinder object which is very ridiculous.
I'm using the Bullt3. I also tested this in Gazebo, which works without problem.
--------------- Details -------------
related URDF part of gripper:

Code: Select all

<link name="finger_1_1">
    <inertial>
      <origin xyz="-0.015875 -0.009000 -0.071550"/>
      <mass value="0.1"/>
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
    </inertial>
    <visual>
      <material name="red">
        <color rgba="1 0 0 1.0"/>
      </material>
      <origin xyz="-0.015875 -0.009000 -0.071550"/>
      <geometry>
        <mesh filename="proximal_t42.STL" scale="0.025400 0.025400 0.025400"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.015875 -0.009000 -0.071550"/>
      <geometry>
        <mesh filename="proximal_t42.STL" scale="0.025400 0.025400 0.025400"/>
      </geometry>
    </collision>
    <contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="1.0"/>
      <stiffness value="30000"/>
      <damping value="1"/>
      <contact_cfm value="0.0"/>
      <contact_erp value="1.0"/>
      <spinning_friction value=".001"/>
    </contact>
  </link>
My object URDF:

Code: Select all

<robot name="cyl">
    <link name="cyl_object">
        <inertial>
            <mass value="0.1" />
            <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
        </inertial>
        <visual>
            <geometry>
                <cylinder length="0.1" radius="0.025"/>
            </geometry>
            <material name="Blue" />
        </visual>
        <collision>
            <geometry>
                <cylinder length="0.1" radius="0.025"/>
            </geometry>
        </collision>
        <contact>
            <lateral_friction value="1.0"/>
            <rolling_friction value="1.0"/>
            <stiffness value="30000"/>
            <damping value="0"/>
            <!-- <contact_cfm value="0.0"/>
            <contact_erp value="1.0"/> -->
            <spinning_friction value=".001"/>
        </contact>
    </link>
</robot>
Attachments
bug.png
bug.png (502.72 KiB) Viewed 504 times

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