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There are a few parameters you can use to stabilize contacts. There are many factors that affect contact stability, some come from your robot controller and some from the physics engines.

See for example this world: https://bitbucket.org/osrf/gazebo/src/c2bc0849e68ba3b2f30ffae4249f41c086324f17/test/worlds/contact_stability.world?at=default&fileviewer=file-view-default

Or the drcsim example.

We can take this offline or if you want to offer your model and world as a test case for future integration test? John

There are a few parameters you can use to stabilize contacts. There are many factors that affect contact stability, some come from your robot controller and some from the physics engines.

See for example this world: https://bitbucket.org/osrf/gazebo/src/c2bc0849e68ba3b2f30ffae4249f41c086324f17/test/worlds/contact_stability.world?at=default&fileviewer=file-view-default

Or the drcsim example.

We can take this offline or if you want to offer (by creating an issue). Best case scenario is that your model and world or some subset of your model that demonstrates the unstable-ness is added to our integration test suite as a test case an example of how to create stable contacts for future integration test? simulation modelers to follow.

John