Robot foot penetrates heightmap

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Original report (archived issue) by Siyuan Feng (Bitbucket: siyuanfeng).

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Hi,

I am testing walking on vrc task 2, and I noticed the foot could penetrate the height map, which is a serious issue for development. This is tested on drcsim 2.5, gazebo 1.7. I used the default gazebo simulation parameters, but I did changed the texture rendering. Some short pauses are added between footsteps to make symptoms more visible.

Here are some videos,
http://www.youtube.com/watch?v=JJCM1J6zjIk
http://www.youtube.com/watch?v=hNGmeutAuec
http://www.youtube.com/watch?v=Ra4s0gKMOvE

Thanks!
Siyuan

[osrf-migration]

Original comment by Siyuan Feng (Bitbucket: siyuanfeng).

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• Edited issue description

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Original comment by Thomas Koletschka (Bitbucket: thomasko).

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duplicate of #638

nice vids though :) btw today i also noticed in the rubble area that the feet were a few cm below the ground (i.e. a bug in addition to the ones on just the edges of terrain).
@nkoenig is working on it I think, not sure how far he's gotten yet - forgot to test collision on his current heightmap's edges today.

[osrf-migration]

Original comment by Siyuan Feng (Bitbucket: siyuanfeng).

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Hmm,
Although I am not sure if this is what you encountered, sometimes the foot would rest on plane that seems to be parallel to the terrain but underneath it.

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed state from "new" to "duplicate"

Duplicate of #638.

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• set version to "all"