Static friction ignored when using implicit spring damper

asked 2020-03-17 10:53:32 -0600

patrick gravatar image

I have a URDF model that uses prismatic joints with very high friction and damping. As I understood it, friction corresponds to the static friction, and this works in when loaded into gazebo.

The simulation requires quite high iterations on the solver and a small time step to be stable. Therefore I set the 'implicitSpringDamper' tag to true. This worked very well, but unfortunately the static friction seems to be ignored now.

Is there a way to use static friction with the implicitSpringDamper set to true?

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