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[Q/A] Query regarding Gazebo foot collision elements #38

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prashanthr05 opened this issue Jul 1, 2020 · 4 comments
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[Q/A] Query regarding Gazebo foot collision elements #38

prashanthr05 opened this issue Jul 1, 2020 · 4 comments

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@prashanthr05
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prashanthr05 commented Jul 1, 2020

Few SDF collision elements here, for the foot seems to be outside the parent tag collision.

  <maxContacts>4</maxContacts>
  <kp>18000000</kp>
  <kd>100</kd>
  <maxVel>100</maxVel>
  <minDepth>0.0001</minDepth>
  <mu1>1</mu1>
  <mu2>1</mu2>
  <fdir1>0 0 0</fdir1>

Also, http://sdformat.org/spec?elem=collision&ver=1.6 specifies max_contacts tag. Moreover, the parameters kp, kd, mu1, etc fall as children of friction->physics_engine (where in this example, physics_engine is a place-holder. eg, physics_engine ode) tags all under surface element.

There seems to be a mismatch between the SDF format and the gazebo reference tags written in the robot URDF file. Is this because we use the SDF tags within a URDF format?

@prashanthr05
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@GiulioRomualdi
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I think that also @diegoferigo may know the answer

@diegoferigo
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Here is the answer: http://gazebosim.org/tutorials?tut=ros_urdf#%3Cgazebo%3EElementsForLinks

@prashanthr05
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prashanthr05 commented Jul 1, 2020

Great, Thanks! That resolved my doubts.

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