Recommended physics parameters for a simulation that fails

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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).