[ODE] Actuated arm get stuck into static entities

[Tanguy Fautre]

Megan Fox wrote:
> If you drop a normal dynamic entity (like a box) into the world, does
> it interact properly with the other static objects?
> 
> Can you, for instance, knock a box around the world with your servo
> arm, so long as you don't touch the static world?
> 
> -Megan Fox
>


Dynamic (non-actuated) entities seems to interact properly with other 
static objects.

But I tried the servo arm with a dynamic box as you suggested, and 
somtimes the arm gets stuck into the box (even sometimes when the box is 
not touching anything else!)

I took some screenshots to illustrate the "stuck" situations I 
identified so far (the red dots shows the contact joints):

http://users.telenet.be/tfautre/arm_stuck_01.png
http://users.telenet.be/tfautre/arm_stuck_02.png
http://users.telenet.be/tfautre/arm_stuck_03.png


Note: I already tried enabling or disabling dWorldSetAutoDisableFlag(). 
But I'm explicitly enabling the arm body when actuating it anyway.

Regards,

Tanguy


> On 6/13/05, Tanguy Fautre <tanguy.fautre at spaceapplications.com> wrote:
> 
>>Hello,
>>
>>
>>I have a single arm that is attached to the world by a hinge.
>>This hinge is motorized and controlled by a servo-motor (inspired by
>>http://ode.org/cgi-bin/wiki.pl?ServoSimulation).
>>
>>But whenever the arm touches a collision plane (or any other static
>>entities), the arm gets stuck and won't move anymore no matter what I do
>>with the motor (like if the collision joint won't let go of it) .
>>
>>What could I possibly be doing wrong? Any solution?
>>
>>
>>Regards,
>>
>>Tanguy