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The main bug was due to the inertia of the fingers:

  <inertial>
    <mass value="${finger_right_link_mass}"/>
    <inertia ixx="0.00001" ixy="0.000" ixz="0.000" iyy="0.00001" iyz="0.00001" izz="0.00001"/>
  </inertial>

I changed the values to 0.0001 (x10) and the behavior is far more realistic. So i guess that there is some kind of limit there.