Objects are spinning on the spot

[homerAtUniKoblenz]

Hey,

we are experiencing the issue that objects in the simulator are spinning on their own. The smaller/lighter the object the faster they spin. Video recording of the behaviour: https://cloud.uni-koblenz.de/s/PKAapcNapByiJsy

Is this a known issue?

Thanks Team Homer@UniKoblenz

[yosuke]

Hi, Thank you for the feedback. That is one of the biggest problems we have in the current version. The small object on the table or the floor is bouncing and we have to adjust the bounce and friction parameters to fix this problem, but we still not find a good parameter yet. We will let you know once it is fixed.

[yosuke]

This describes the same problem:

https://answers.gazebosim.org//question/21944/banana-rotates-by-itself-in-gazebo-i-dont-know-why/

Things worth try:

• Adjust contact parameters. http://gazebosim.org/tutorials?tut=physics_params&cat=physics
• Multiply inertia parameter as written in the comment.

[yosuke]

Looks like adding these contact parameters will do the job.

        <surface>
            <contact>
                <ode>
                    <kp>1e15</kp>
                    <kd>1e13</kd>
                </ode>
            </contact>
        </surface>

[yosuke]

Done updating Docker image.

This problem should be fixed now by docker-compose pull