[Q/A] Query regarding Gazebo foot collision elements

[prashanthr05]

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]

cc @nunoguedelha @traversaro @GiulioRomualdi

[GiulioRomualdi]

I think that also @diegoferigo may know the answer

[diegoferigo]

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

[prashanthr05]

Great, Thanks! That resolved my doubts.