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I can confirm from a lot of tests that the ratio between mass and inertia is crucial in the Gazebo physics. I had a problem with my robot collapsing, it also ended up being caused by inertia issues. The answer http://answers.ros.org/question/216092/problem-with-the-robot-model-having-spasms/ covers a lot of solutions.
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I can confirm from a lot of tests that the ratio between mass and inertia is crucial in the Gazebo physics.
I had a problem with my robot collapsing, it also ended up being caused by inertia issues.
The answer http://answers.ros.org/question/216092/problem-with-the-robot-model-having-spasms/ here covers a lot of solutions.
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