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why do models vibrate when spawned into gazebo?

asked 2018-02-20 07:51:37 -0500

hari1234 gravatar image

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.

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answered 2018-02-20 11:54:08 -0500

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.

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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 -0500 )edit
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answered 2018-02-20 08:34:08 -0500

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.

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answered 2020-02-19 09:33:43 -0500

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.

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Asked: 2018-02-20 07:51:37 -0500

Seen: 2,205 times

Last updated: Feb 20 '18