Fix bullet-featherstone collisions #387
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Signed-off-by: Michael X. Grey <grey@openrobotics.org>
Signed-off-by: Michael X. Grey <grey@openrobotics.org>
Signed-off-by: Michael X. Grey <grey@openrobotics.org>
Signed-off-by: Michael X. Grey <grey@openrobotics.org>
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@@ Coverage Diff @@
## ahcorde/add-bullet-featherstone/shapesFeatures #387 +/- ##
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ahcorde
requested changes
Jul 19, 2022
| double mu = 1.0; | ||
| double mu2 = 1.0; | ||
| double restitution = 0.0; | ||
| // double mu = 1.0; |
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Right, I was experimenting with the default parameters to see how they impact the collision behavior. I've returned them back to their default values here 862411b
Signed-off-by: Michael X. Grey <grey@openrobotics.org>
2 tasks
…shapesFeatures' into bullet-featherstone-collisions
…azebosim/gz-physics into bullet-featherstone-collisions
ahcorde
approved these changes
Jul 20, 2022
mjcarroll
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Sep 16, 2022
* Added Shapes Features to bullet-featherstone * make linters happy * Improve implementation * make linters happy * Fix bullet-featherstone collisions (#387) * Fixed collision issues * Improved joints in bullet featherstone Signed-off-by: ahcorde <ahcorde@gmail.com> Signed-off-by: Michael X. Grey <grey@openrobotics.org> Signed-off-by: Michael Carroll <michael@openrobotics.org> Co-authored-by: Michael X. Grey <grey@openrobotics.org> Co-authored-by: Michael Carroll <michael@openrobotics.org>
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This PR fixes collisions for bullet-featherstone, and also updates the CMakeLists.txt to be compatible with the latest main branches of gz-cmake.
I've tested these changes with a modified
shapes.sdf. The first modification is to raise up the shapes by 1.0m to make the collision behavior more clear. Doing that results in most of the shapes just dropping through the plane.It looks to me like Bullet's
btStaticPlaneShapeis only able to detect collisions with boxes. I think this would qualify as an unexpected behavior that could negatively impact users, so we may want to consider replacing instances ofPlaneShapewith a big box instead.When I further modify
shapes.sdfto use a big box for the ground plane, I get these two results:I haven't found any pattern for when/why the ellipsoid drops. I run the simulation with the exact same SDF repeatedly and I'd estimate the ellipsoid drops through the ground ~80% of the time. That's an awfully large false negative, so I don't think we should just ignore it. We may want to declare that ellipsoid shapes aren't supported for bullet-featherstone if we can't solve the failure to detect the collision.