Gazebo | Ignition | Community
Ask Your Question

Revision history [back]

It looks like the contacts between the banana and the table may be unstable. You can inspect them by choosing View -> Transparent and View -> Contacts.

One solution would be to tweak the surface parameters of the banana's collision. Something like this:

    <surface>
      <friction>
        <ode>
          <mu>0.5</mu>
        </ode>
      </friction>
      <contact>
        <ode>
          <min_depth>0.001</min_depth>
          <kp>1e9</kp>
        </ode>
      </contact>
    </surface>