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RethinkRobotics / baxter_common

ROS Messages and robot description files for the Baxter Research Robot

Home Page:www.rethinkrobotics.com/sdk

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Baxter needs damping

davetcoleman opened this issue · comments

commented

All tags that look like this:

     <dynamics damping="0.0" friction="0.0"/>

Should have damping. From my guess-and-checking:

     <dynamics damping="0.7" friction="0.0"/>

Is a good value. Note: friction is not used in gazebo.

Otherwise Baxter wiggles around continuously in Gazebo.