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Model 'bouncing' off the ground in Gazebo #2

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joaocandre opened this issue Aug 29, 2022 · 0 comments
Open

Model 'bouncing' off the ground in Gazebo #2

joaocandre opened this issue Aug 29, 2022 · 0 comments

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@joaocandre
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I understand this repository is quite old and likely not actively maintained anymore, but I'm experiencing a strange issue when simulating the DARwIn-OP in Gazebo:

darwin_gazebo-2022-08-30_00.45.54.webm

Are the link/body masses and inertia matrices accurately set in the URDF model? This behavior is definitely not experienced in the real robot, it's too heavy for that.
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@joaocandre