roboticsphysics-enginewebots

Robot Model drops off the floor after running the simulation


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.


Solution

  • Your robot is probably too heavy for the physics configuration.

    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:

    Here is an example of contact properties:

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