unstable fingers

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Joined: 21 Apr 2021, 18:59

unstable fingers

Post by frankhu »

I used the URDF importer to import the Fetch robot, but the finger will be really unstable once the simulation start. That is, the finger will jump to a random place around the hand.

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Re: unstable fingers

Post by coppelia »

Hello, and sorry for the late reply...

an URDF model can be very loosely specified, and there is generally no information about values related to a specific physics engine. But in general if your objects are dancing around, try to adjust somewhat the values of masses and inertias according to design considerations 7 and 8. Additionally, make sure that adjacent shapes are not constantly colliding with each other. If they are, you can adjust their local respondable masks.


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