Recommended physics parameters for a simulation that fails

I'm having a lot of problems trying to create a model of the allegro_hand robot in gazebo. I know that gazebo has some trouble with small pieces, but I have not found a good set of parameters that not collapse the simulation.

Please, check the example here. Probably the key is to set the correct physics engine (ode, dart,... ?) and the correct parameters, but I'm lost in this topic.

If someone can give me some light in this issue I would be grateful.

gazebo model collapsed

Asked by lepalom on 2020-07-22 12:52:23 UTC

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hello, from my experience, I had to increase the joint damping to stabilize the simulation, and also set the parameter implicitSpringDamper to true. When set to false (default), too high damping coefficient also lead to unstable simulation. I also noticed that increasing the mass of lightweighted pieces helped.

By the way i'm using ode. Dart was a little more stable, but it is not as integrated in gazebo as ode (it does not take into account some parameters in sdf/urdf).

Asked by Clément Rolinat on 2020-07-23 09:50:28 UTC