STL mesh rotates indefinitely

Discussion in 'Simulation' started by Martin Hwasser, Jun 1, 2018.

  1. Hi! I'm using an STL file from the YCB dataset and it's strangely sliding/rotating. I've attached a model including the relevant STL file to demonstrate this behavior.

    I assume this has to do with the non-convex shape of the mesh. I've tried specifying high sliding and torsional friction and the object stops moving and starts shaking instead. Any suggestions what could be the issue here?
     

    Attached Files:

  2. Hi,

    I am encountering the same problem. Changing the the sliding and torsional friction and the solref and solimp parameters is no no avail. Did you manage to fix your problem? If so, what did you do?

    EDIT:
    I found the problem. I initially specified this in the xml file:

    <option cone="elliptic" impratio="10">
    <geom friction="1 1 1" solimp="0.99 0.99 0.5" solref="0.1 2"/>
    </option>
    and thought that it would affect all geoms that I specified but that was not the case. Instead, I had to specify the friction for each individual geom like this:

    <geom type="mesh" mesh="wilson_golf_ball" conaffinity="1" condim="6" friction="1 1 1"/>
    and then the objects stopped rolling indefinitely.

    Best.
    Jens
     
    Last edited: May 5, 2019