Hello All
Barely getting started with Gazebo (7.0 running on Xenial) and here is my issue:
i am modelling a finger, so very small parts with inertia as low as ixy="3.76912e-12" witch i have read could be the cause of the issue.
If i load the model with the simulation stopped i get a vertical finger.
However as soon as i start the simulation the parts "fall" around the origin. It seems the joint offsets are no longer being applied.
I did a few tests to see if i could debug the issue and got the following results:
Using much larger inertia values the problem disappears (but no longer a realistic model).
If i delete the top two segments and leave just the bottom two (and their joint) the problem does not occur.
If i change simulation steps from the default 0,001000 to 0,000100 the problem stops (but very slow simulation).
Is there anything i can do to get model working with the correct values?
Thank you
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