I am doing a simulation task where in the first a few seconds, an object has to fall on a plate held by the robot from a very short height (a few cm). However, it seems that the calculation of impact is not correct. After that it is giving weird errors. The logs are
ODESimulator: ODESimulator: Rigid object box energy 5.67279 exceeds threshold 3
ODESimulator: ODESimulator: Rigid object box energy 7674.79 exceeds threshold 3.00246
ODESimulator: ODESimulator: Robotur5 energy 3754.87 exceeds threshold 37.9606
ODESimulator: ODECustomMesh: Triangles penetrate margin 0.0025+0.0025: can't trust contact detector
ODESimulator: ODESimulation: rolling back due to new penetration between bodies plate_link and box
ODESimulator: previously had margin 0.00391427
ODESimulator: ODESimulation: Rolling back at time 0.303 time step halved to 0.0005
ODESimulator: ODESimulation: Rolling back at time 0.303 time step halved to 0.00025
ODESimulator: ODESimulation: Rolling back at time 0.303 time step halved to 0.000125
ODESimulator: ODESimulation: Rolling back at time 0.303 time step halved to 6.25e-05
ODESimulator: ODESimulation: Rolling back at time 0.303 time step halved to 3.125e-05
ODESimulator: ODESimulation: Rolling back at time 0.303 time step halved to 1.5625e-05
ODESimulator: ODESimulation: Rolling back at time 0.303 time step halved to 7.8125e-06
ODESimulator: ODESimulation: Rolling back at time 0.303 time step halved to 3.90625e-06
ODESimulator: ODESimulation: Rolling back at time 0.303 time step halved to 1.95313e-06
ODESimulator: ODESimulation: Rolling back at time 0.303 time step halved to 9.76563e-07
ODESimulator: ODESimulation: Rollback rejected because timestep 9.76563e-07 below minimum threshold 1e-06
ODESimulation: collision plate_link - box changed from no contact to margin 0
ODESimulation: Adaptive sub-step of size 9.76563e-07 is valid, arriving at time 0.303.
ODESimulator: reset time step to 0.000999023
ODESimulator: ODESimulation: Adaptive time step done, arrived at time 0.304
ODESimulator: ODESimulator: Rigid object box energy 3.28698e+08 exceeds threshold 11515.2
ODESimulator: ODESimulator: Robotur5 energy 1.78854e+08 exceeds threshold 5653.5
ODESimulator: ODERobot::SetVelocities: Error, Get/SetVelocities don't match
ODESimulator: dq = 9 0 -20.835 -13.0784 -2.97687 114.474 -1.16815 -13.0039 0 0
ODESimulator: from GetVelocities = 9 0 -20.8349 -3.37868 -1.17843 104.468 -1.03439 -11.93 0 0
ODESimulator: Error: 14.0929
ODESimulator: did you remember to set the robot's configuration?
Press enter to continue...
^CODESimulator: ODESimulation: rolling back due to new penetration between bodies Terrain4 and shoulder_link
ODESimulator: no previous contact
ODESimulator: ODESimulation: Rolling back at time 0.304 time step halved to 0.0005
ODESimulator: ODESimulation: Rolling back at time 0.304 time step halved to 0.00025
ODESimulator: ODESimulation: Rolling back at time 0.304 time step halved to 0.000125
ODESimulator: ODESimulation: Rolling back at time 0.304 time step halved to 6.25e-05
ODESimulator: ODESimulation: Rolling back at time 0.304 time step halved to 3.125e-05
ODESimulation: collision Terrain4 - shoulder_link erased entirely
ODESimulation: Adaptive sub-step of size 3.125e-05 is valid, arriving at time 0.304.
ODESimulator: reset time step to 0.00096875
ODESimulator: ODESimulation: rolling back due to new penetration between bodies Terrain4 and shoulder_link
ODESimulator: no previous contact
ODESimulator: ODESimulation: Rolling back at time 0.304031 time step halved to 0.000484375
ODESimulator: ODESimulation: Rolling back at time 0.304031 time step halved to 0.000242187
ODESimulation: collision Terrain4 - shoulder_link erased entirely
ODESimulation: Adaptive sub-step of size 0.000242187 is valid, arriving at time 0.304031.
ODESimulator: reset time step to 0.000726562
ODESimulator: ODESimulation: Adaptive time step done, arrived at time 0.305
ODESimulator: ODESimulator: Rigid object box energy 3.28698e+08 exceeds threshold 100000
ODESimulator: ODESimulator: Robotur5 energy 9.32313e+08 exceeds threshold 100000
ODESimulator: ODERobot::SetVelocities: Error, Get/SetVelocities don't match
ODESimulator: dq = 9 0 -158.663 -263.492 259.827 -338.916 -84.5102 251.178 0 0
ODESimulator: from GetVelocities = 9 0 -158.548 180.752 123.009 -123.765 34.5131 -201.118 0 0
ODESimulator: Error: 693.614
ODESimulator: did you remember to set the robot's configuration?
Press enter to continue...
The problem setup looks like this
If I want to avoid this impact and just want to let the object rest on the plate, what can I do?