gazebo contact settings

[jacknlliu]

Gazebo contact settings for robotic contact tasks simulation.

[jacknlliu]

contact parameters for collision of link:

<surface>
    <contact>
        <ode>
            <soft_erp>  0.5    </soft_erp>
            <kp>        1e+05  </kp>
            <kd>        10000  </kd>
            <max_vel>   1      </max_vel>
            <min_depth> 0      </min_depth>
        </ode>
    </contact>
    <friction>
        <ode>
            <mu>  1  </mu>
            <mu2> 1  </mu2>
            <slip1> 0.000001 </slip1>
            <slip2> 0.000001 </slip2>
        </ode>
    </friction>
</surface>

physics settings for joint

<dynamics>
    <damping>0.000000</damping>
    <friction>0.000000</friction>
    <spring_reference>0</spring_reference>
    <spring_stiffness>0</spring_stiffness>
</dynamics>

[jacknlliu]

physics engine settings for grasping in gazebo

<physics type="ode"> 
    <gravity>0 0 -9.8</gravity> 
    <ode> 
    <solver> 
        <type>quick</type> 
        <iters>50</iters> 
        <precon_iters>0</precon_iters> 
        <sor>1.300000</sor> 
    </solver> 
    <constraints> 
        <cfm>0.000000</cfm> 
        <erp>0.200000</erp> 
        <contact_max_correcting_vel>100.000000</contact_max_correcting_vel> 
        <contact_surface_layer>0.001000</contact_surface_layer> 
    </constraints> 
    </ode> 
</physics> 

Reference

• physics properties settings for grasping in gazebo world