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German Larrain  committed dad26ca

bugfix: ERP was not to be modified. Contact-joints's bounce parameter is now 0.9 and ERP is again 0.8

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  • Parent commits 3ecceb9
  • Branches dev-IROS

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Files changed (2)

File ars/model/simulator/collision.py

 	Callback function for the collide() method (in ODE). This function checks if the given geoms
 	do collide and creates contact joints (c_joint) if they do, except if they are connected.
 	"""
-	c_joint_bounce = 0.2
+	c_joint_bounce = 0.9
 	c_joint_mu = 500 # 0-5 = very slippery, 50-500 = normal, 5000 = very sticky
 
 	if (ode.areConnected(geom1.getBody(), geom2.getBody())):

File ars/model/simulator/physics.py

 	def __init__(self, world, space, height, radius, mass=None, density=None):
 		raise Exception("Not available in ODE")
 
-def create_world(gravity = (0.0,-9.81,0.0), ERP = 0.9, CFM = 1E-10):
+def create_world(gravity = (0.0,-9.81,0.0), ERP = 0.8, CFM = 1E-10):
 	""" Create an ODE world object. """
 	world = ode.World()
 	world.setGravity(gravity)