About the Maintainer: Jose Luis Rivero is the current maintainer of this site. He has been a robotics DevOps/Infrastructure Engineer for the last 15 years with a special focus on the ROS and Gazebo projects while working for Open Robotics/Open Source Robotics Foundation. Currently a PMC (Project Management Committee) member for the Gazebo and Infrastructure projects for the Open Source Robotics Alliance and a Debian Maintainer. Also a co-founder of Honu Robotics.
Physics in Gazebo
Suggest editsGeneral Phsyics concepts
Understanding Gazebo Physics
Main introduction to how Gazebo Physics is designed and implemented
The Gazebo TPE (Trivial Physics Engine)
Details and information on Gazebo TPE
DART physics engine (default in Gazebo)
Contact coefficients and parameters
Issue with pointers for the support of mu, mu2, slip1, slip2, fdir, restitution, collide_bitmask in SDFormat.
Error Reduction Parameter (ERP) and Constraint Force Mixing (CFM) in DART
Issue with information about ERP and CFM in DART and gz-physics
Joints
Joint mimic constraint
Enforces a linear relationship between the output position of two joint axes (previosly known in Gazebo Classic as gearbox joint)
Tools
Automatically Computing Moments of Inertia for SDFormat Links
Automatic computation of Moments of Inertia for SDFormat Links in simulation
Mass-based auto inertia calculation
Specify object mass in SDFormat and Gazebo automatically computes density and inertial parameters, simplifying object creation
LookupWheelSlip system for dynamic friction
Uses RGB lookup maps to dynamically adjust material friction based on texture colors. Create oil slicks or variable terrain friction easily
Documentation Index
Community-curated resources
Gazebo is open-source licensed under
Apache 2.0
Follow Gazebo
