Physics in Gazebo

General 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