Setting high damping breaks model
I've come across a problem in my models that I'd like an explanation for. For any given joint, if I set damping too high all the parts lock to the origin. I'm guessing this is because it uses damping in some calculation, and it cannot be solved for. Is there a way I can calculate before hand how high is too high for damping?
#I have isolated the issue in the below URDF.
<robot
name="test_bot">
<link
name="chassis">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="0.1" />
<inertia
ixx="0.1"
ixy="0"
ixz="0"
iyy="0.1"
iyz="0"
izz="0.1" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<box size="1 1 1"/>
</geometry>
<material
name="">
<color
rgba="1 1 0 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<box size="1 1 1"/>
</geometry>
</collision>
</link>
<link
name="front_left_wheel">
<inertial>
<origin
xyz="0 0 0.5"
rpy="0 0 0" />
<mass
value="0.1" />
<inertia
ixx="0.1"
ixy="0"
ixz="0"
iyy="0.1"
iyz="0"
izz="0.1" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<box size="1 1 1"/>
</geometry>
<material
name="">
<color
rgba="0.2 0.2 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<box size="1 1 1"/>
</geometry>
</collision>
</link>
<joint
name="front_left_axel"
type="continuous">
<origin
xyz="0 0 1"/>
rpy="0 0 0" />
<parent
link="chassis" />
<child
link="front_left_wheel" />
<axis
xyz="0 0 1" />
<dynamics damping="200" friction="0.5"/>
</joint>
</robot>
add a comment