Low mass link issue, physics parameter tuning?

asked 2017-07-20 16:28:58 -0500

AlexandreB gravatar image

I have problems with creating model with links with low mass (< 0.001). As a result, I get sliding model or misbehaving joints (bouncing or broken). As soon as I increase the mass of the link to 1g or above, the model behaves perfectly. I imagine that I need to tune the physics parameter but I'm not sure here to start. Anyone as experience with the physics options?

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Have you adjusted the inertia accordingly?

chapulina gravatar imagechapulina ( 2017-07-20 17:24:31 -0500 )edit

Yes inertia was set with respect to the link's shape, volume and a the density of the material (expanded polystyrene).

AlexandreB gravatar imageAlexandreB ( 2017-07-20 17:57:00 -0500 )edit

I think the inertia's order of magnitude will be quite low in this case... Here's a relevant issue: https://bitbucket.org/osrf/gazebo/issues/1646

chapulina gravatar imagechapulina ( 2017-07-21 11:23:24 -0500 )edit

I've looked at issue 1646 and 169 but unfortunately I did find any solution the working with small mass objects. Any other leads?

AlexandreB gravatar imageAlexandreB ( 2017-07-28 14:20:58 -0500 )edit