Unstable trimesh/trimesh collision - Githubissues

gazebosim / gazebo-classic

Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim

http://classic.gazebosim.org/

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Unstable trimesh/trimesh collision #3335

Open kirillin opened 1 year ago

kirillin commented 1 year ago

Environment

OS Version: Ubuntu 20.04
binary, version 11.13.0

Description

Expected behavior: The stacking of the trimeshes on top of each other is stable and does not drift over time. For example, in the case of using primitives (box), it is possible to stack boxes on top of each other and this stack will be stable.
Actual behavior: One trimesh on top of another drifts and falls over time. There is also the distance between trimeses for bullet physics, and it can't changed by tuning the physics parameters.

Steps to reproduce

clone and build the repository https://github.com/kirillin/trimesh_collision_gazebo.git
Launch simulator roslaunch trimesh_collision_gazebo empty_world_ode.launch
Spawn set of trimeshed using rosrun trimesh_collision_gazebo spawn_trimesh.py N, where N is quantity of spawning trimeshes.

Output

The following set of videos demonstrate the strange behavior.

Two trimeses on top of each other: ODE https://youtu.be/ckxjb4EiOtQ BULLET https://youtu.be/8sMwFu1BPjk
Five trimeses on top of each other: ODE https://youtu.be/dACJ0sKAe6s BULLET https://youtu.be/dRhgjdKbDSM