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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.

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