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why do models vibrate when spawned into gazebo?

asked 2018-02-20 07:51:37 -0600

hari1234 gravatar image

So many times as i've realized , why are the robots moving / vibrating themselfs inside gazebo? This is not good for a simulator... how can this be removed? For example right now i was watching this valkyrine robot in gazebo, and it is vibrating everything like it is afraid of something. so i asked right now.

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answered 2018-02-20 11:54:08 -0600

Piggybacking off @Raskkii's answer.

Some practical steps you can take to reduce/eliminate jitter:

  • Check that your inertia matrices are realistic.
  • Add damping to your links/joints.
  • Add a small mindDepth value (~0.001) to links.
  • Add a maxVel value.
  • If applicable, make sure joint motors/forces are realistic.

This related question-answer might also interest you.

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answered 2018-02-20 08:34:08 -0600

Raskkii gravatar image

The video in question is sped up so while it looks like the robot is shaking quite violently, it is actually not that bad.

Generally, there are multiple reasons that can cause a robot to vibrate: bad inertia matrices, bad physics settings, problems with joints etc. The more complex the robot is the more difficult it is to prevent it from vibrating.

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Asked: 2018-02-20 07:51:37 -0600

Seen: 953 times

Last updated: Feb 20 '18