Gazebo 11 ignores links with mass smaller than 1e-5 [closed]
I am not sure if this is a bug or intended behavior. Gazebo 11 ignores a link if it has a small mass value. This link is added to the robot (has mass equal to 1e-5):
<link name="test_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-5"/>
<inertia ixx="1e-9" ixy="1e-9" ixz="1e-9" iyy="1e-9" iyz="1e-9" izz="1e-9"/>
</inertial>
<visual>
<origin xyz="0 1 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.2" />
</geometry>
</visual>
</link>
However, if I change mass value to 1e-6, the link is not displayed any more (neither visually, nor in the list of model links):
<link name="test_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-6"/>
<inertia ixx="1e-9" ixy="1e-9" ixz="1e-9" iyy="1e-9" iyz="1e-9" izz="1e-9"/>
</inertial>
<visual>
<origin xyz="0 1 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.2" />
</geometry>
</visual>
</link>
This seems to be a Gazebo question.
Those are better asked on Gazebo Answers.
If/when you post there, please post a comment here with a link to your post there, so we can keep things connected.
https://answers.gazebosim.org/questio...