[ODE] Ground Surface Parameters

[Kuldip]

Hi all,


I am using ODE for the simulation of a walking robot. Noe sometimes, the leg 
of the robot gets interpenitrated into the ground, very liitle bit thought. 
But it is quite visible. Plz help me out in this. The parameter are set as 
follows....



static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
dBodyID b1,b2;
dContact contact;
b1 = dGeomGetBody(o1);
b2 = dGeomGetBody(o2);
contact.surface.mode=dContactApprox1; //dContactSoftERP | dContactSoftCFM | 
dContactApprox1 | dContactSlip1 | dContactSlip2 ;
contact.surface.mu = 0.4;// dInfinity;
 contact.surface.slip1 = 0.01;
 contact.surface.slip2 = 0.01;
 contact.surface.soft_erp = 0.2;
 contact.surface.soft_cfm = 0.002;
if (dCollide (o1,o2,0,&contact.geom,sizeof(dContactGeom)))
{
  dJointID c = dJointCreateContact (world,contactgroup,&contact);
  dJointAttach (c,b1,b2);
}

}

Thanks
Kuldip