WIll Gazebo Collision Allow you to Simulate Gears
Very simply put, the question is whether or not the Gazebo physics simulator can simulate gears by using collision between the teeth.
This is a very simple question I cannot seem to get a straight answer to by looking at other posts on the same topic on this site. I have been trying to get this working for a while.
These are the posts I have explored
https://answers.gazebosim.org/questio...
https://answers.gazebosim.org/questio...
I am trying to get the claw on the end of this robot arm into Gazebo sim. http://www.eezyrobots.it/eba_mk2.html
I intended to make it work by driving the gear with an effort controller and making the clawfinger joints "continuous" (https://wiki.ros.org/urdf/XML/joint), allowing the collision of gear teeth to perform the actuation of the fingers. (Not sure how gzsdf abstracts the "continuous" tag in URDF).
Even when not driving the effort controller, it seems that the gear teeth do not prevent the claw fingers from rotating around their axes, indicating to me that the collision between gear teeth is not being processed.
I may create a simple ROS2 package to attempt to test this in isolation, but if someone more informed could spare be the time by definitively informing me that this feature is not supported, that would be a big help. If anyone could point me to an example where gears via collision are used to actuate free revolute joints, that would be an even bigger help.
