Re: [PlayerStage-Gazebo] Box Pushing in Gazebo

[Nate K. <nk...@us...>]

Hello,

The latest SVN version of gazebo has friction implemented.

To set the friction coefficient of a geom use:

<geom>

  <mu1>0.5</mu1>

</geom>

Play with the values for the desired effect: 1.0 will allow the box to
be pushed easily and it won't continue to slide.

-nate


On Sat, Mar 1, 2008 at 9:14 PM, Jordi Polo <mu...@gm...> wrote:
>
> 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 <jj...@jj...> wrote:
>
> >
> > Greetings,
> >
> > 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.
> >
> > Thanks
> > --
> > View this message in context:
> http://www.nabble.com/Box-Pushing-in-Gazebo-tp15784114p15784114.html
> > Sent from the playerstage-gazebo mailing list archive at Nabble.com.
> >
> >
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>
> --
> Jordi Polo Carres
> NLP laboratory - NAIST
> http://www.bahasara.org
>
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