Help troubleshooting this SDF model
Hello, it has taken me a while to sift through the API docs and the other SDF samples, but I'm still not able to quite get this ball-on-beam sdf functioning as expected. The previous version was highly unstable prev version.
The current version doesn't isn't controllable. Maybe a gearbox is needed? Maybe I shouldn't actually try to use a real object that can leave the surface of the beam?
https://github.com/slremy/ballonbeam
Any suggestions?
For reference, here's one clip of the model in the wild.. https://www.youtube.com/watch?v=y5Hmr...
Maybe you can try to add some friction on your upper_joint. If you want an accurate model, you will also have to set the inertial matrix for your links.
You can visualize the inertia matrices by right-clicking on the model, and selecting View->Inertia. The purple boxes should roughly match the collision/visual objects. Ref: http://sdformat.org/spec?ver=1.6&elem=link#link_inertial