Gazebo | Ignition | Community
Ask Your Question

why do models vibrate when spawned into gazebo?

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

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.

edit retag flag offensive close merge delete

3 Answers

Sort by » oldest newest most voted

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.

edit flag offensive delete link more


Hello. This is a very old question, and I came across it now. Could you please suggest how much damping to add? Approximately what order of magnitude? I dont seem to understand the concept well. I added random damping values, and my jitter did seem to stop, however, I feel like I just used a hack, without modeling the joints correctly. Is there any way for me to get it 'right'? Thanks

Shrutheesh R Iyer gravatar imageShrutheesh R Iyer ( 2020-05-21 11:22:43 -0600 )edit

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.

edit flag offensive delete link more

answered 2020-02-19 09:33:43 -0600

AndyZe gravatar image

For my robot arm, removing the fixed joint between the robot and the world fixed the jitters. I have no idea why.

edit flag offensive delete link more

Question Tools



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

Seen: 3,865 times

Last updated: Feb 20 '18