physics-tuning
CommunityTune Gazebo physics for stable simulations.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
Tune Gazebo physics settings to resolve instability, jitter, tunneling, and unrealistic dynamics in Gazebo simulations.
Core Features & Use Cases
- Step Size Tuning: adjust max_step_size for accuracy vs. performance.
- Solver & Collision Config: configure DART solver, collision detectors, and contact parameters.
- Real-Time Factor optimization: diagnose and improve real-time factor (RTF) for Gazebo runs.
- Inertia, Friction & Mass Distribution: calibrate inertia, friction, and mass distribution for realism.
- Common Problems & Fixes: help identify and fix stability issues and performance bottlenecks.
Quick Start
Begin by lowering max_step_size to 0.001 and iteratively adjust solver parameters while observing the real-time factor and stability in your Gazebo world.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: physics-tuning Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#physics-tuning Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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