gz-physics icon indicating copy to clipboard operation
gz-physics copied to clipboard
verified publisher icon gazebosim

Cylinder and capsule sinking through plane

Open srmainwaring opened this issue 1 year ago • 1 comments

Environment

  • OS Version: macOS Sonoma 14.5
  • Source build: gz-physics7 (a068d3f7)

Description

  • Expected behavior: the cylinder and capsule should not pass through the ground plane.
  • Actual behavior: the cylinder and capsule slowly sink.

Steps to reproduce

  1. run gz sim -v4 -s -r shapes.sdf and gz sim -v4 -g (two commands on macOS).
  2. use the rotation tool to tip the cylinder and capsule to the side.
  3. raise both objects to ensure there is no initial intersection.

Output

cylinder-collision

srmainwaring avatar Sep 20 '24 06:09 srmainwaring

I'm able to reproduce this on the Capule but not the cylinder on Ubuntu. For the capsule shape, I filed an issue on DART a while ago (https://github.com/dartsim/dart/issues/1654), but there hasn't been any update.

azeey avatar Dec 16 '24 23:12 azeey