Flickering Contact Points

asked 2022-05-30 13:14:56 -0500

abed gravatar image

Hey Guys,

I am trying to simulate a robotic hand in gazebo 11. I am specifically trying to detect the contact between this hand and the external environment. My problem is that the contact points that are generated on the hand are flickering and I need them to be perfectly stable. I tried playing around with the collision parameters: kp, kd, min_depth, erp .... but with no avail. Any help will be appreciated. Thanks in advance!

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Are there any other contacts in the system? Specifically, how is the robot arm fixed in space? If the base of the robot is resting on the ground, there might be flickering due to the contacts there.

Another thing to check is that the inertia parameters of the robot are reasonable.

azeey gravatar imageazeey ( 2022-06-02 09:58:36 -0500 )edit