search

gazebosim / gazebo-classic

Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim
http://classic.gazebosim.org/
Other
1.18k stars 479 forks source link

Contact parameters soft_erp and soft_cfm do nothing in ODE #2273

Open osrf-migration opened 7 years ago

osrf-migration commented 7 years ago

Original report (archived issue) by Shane Loretz (Bitbucket: Shane Loretz, GitHub: sloretz).

The contact parameters and do nothing in ODE. This can be worked around because they overlap with and . Users looking to set soft_cfm or soft_erp can get the same behavior by setting kp and kd using

kp = erp / (cfm * h)
kd = (1 - erp) / cfm

where h is the size of the time step

I'd expect gazebo to use soft_cfm or soft_erp if they are set. If a user tries to set soft_cfm/soft_erp and kp/kd gazebo should warn that the two pairs of options can't be used at the same time.

osrf-migration commented 7 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).