运行模拟后，机器人模型掉落在地板上 [英] Robot Model drops off the floor after running the simulation

问题描述

我从ROS中的URDF导入了webots仿真中的模型.该机器人是带有3个脚轮的三轮车驱动器.我遵循了webots样式指南中的车轮样式，并进行了相应的更改. 我的问题是，当我运行模拟时，机器人的车轮掉落在地板上并且无法移动.只是底盘在地板上，车轮垂下.

I imported a model in webots simulation from URDFs in ROS. The robot is a tricycle drive with 3 castor wheels. I have followed the wheel style as in the webots style guide and changed accordingly. My problem is that when I run the simulation the robot's wheels drops off the floor and is not able to move. Just chassis is on the floor and the wheels hangs down.

推荐答案

您的机器人可能太笨重，无法进行物理配置.

Your robot is probably too heavy for the physics configuration.

您可以通过更改WorldInfo节点的字段值来解决此问题( https://www .cyberbotics.com/doc/reference/worldinfo ). 以下是重要字段:

You can fix this by changing the fields values of the WorldInfo node (https://www.cyberbotics.com/doc/reference/worldinfo). Here are the important fields:

• ERP :您可能想增加默认值，该默认值适用于小型和轻型物体(尝试将其设置为〜0.6)
• basicTimeStep :在这里，您可以将默认值减小为16(甚至8)，这将使模拟运行稍微慢一些，因为它计算的步数更多，但稳定性更高.
• contactProperties :您可能需要添加一个接触属性，以定义地板与机器人的车轮之间的接触属性(以增加摩擦力并减少接触的海绵状).
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• ERP: you probably want to increase the default value which works fine for small and light objects (try setting it to ~0.6)
• basicTimeStep: here you might decrease the default value to 16 (or even 8) this will make the simulation runs slightly slower because it computes more steps but much more stable.
• contactProperties: You probably need to add a contact property defining the properties of the contact between the floor and your robot's wheels (to increase the friction, and decrease the spongyness of the contact).

以下是联系人属性的示例:

Here is an example of contact properties:

ContactProperties {
  material2 "MyRobotWheelContactMaterial"
  coulombFriction [
    8
  ]
  softCFM 1e-5
}

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