As fast hacks I can think of:
Try giving it more torque to the wheels
Add a low body so the contact point is lower.

On Sun, Mar 2, 2008 at 1:30 PM, JJLDJ <> wrote:


I'm fairly new to Gazebo and am trying to develop a box-pushing system. I'm
using a recent SVN version (272), but can update if necessary.

So far I've managed to get the standard Pioneer robot moving around
predictably and have placed some 1x1x1 boxes in its path. The robot will
push the box, but very, very slowly. It looks like the robot may be making
contact with the box too high, and is thus tipping the box slightly away
from it, which is causing it to be pushed at an angle that tries to force it
into the ground. I suspect that that may be the cause of the slow-down, but
am not sure how to tell or how to work around it. I tried modifying the
model, but I was getting all sorts of strange effects and wanted to get some
advice before spending more time on that angle.

I wasn't able to figure out how to affect the frictional coefficients, but
neither playing with the masses of the robot and/or box, nor changing the
gravitational force seemed to help with the problem.

Any thoughts on the matter would be much appreciated. If anyone knows of any
working examples or any relevant documentation, that would be great as well.

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Jordi Polo Carres
NLP laboratory - NAIST