Comments (1)
mxgrey
commented on August 11, 2024
This is most likely an internal Gazebo/physics issue rather than anything we're doing with RMF. If I understand correctly, when model states start to get populated with NaNs, Gazebo might fall back to just placing the model at the origin.
NaNs happen when the physics can't manage to solve the constraints in a numerically stable way. Doubling the step size can easily make the physics constraints numerically unstable. I think we'll have to accept that we can't use the caddy model when we want the step size to be 0.02. Personally I never fiddle with the step size because of precisely this kind of issue.
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