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pcg_gazebo.simulation.physics

pcg_gazebo.simulation.physics

Bullet

Bullet(self,
       max_step_size=0.001,
       real_time_factor=1,
       real_time_update_rate=1000,
       max_contacts=20,
       min_step_size=0.0001,
       iters=50,
       sor=1.3,
       cfm=0,
       erp=0.2,
       contact_surface_layer=0.001,
       split_impulse=10_,
       split_impulse_penetration_threshold=11__)

ODE

ODE(self,
    max_step_size=0.001,
    real_time_factor=1,
    real_time_update_rate=1000,
    max_contacts=20,
    min_step_size=0.0001,
    iters=50,
    sor=1.3,
    type='quick',
    precon_iters=0,
    use_dynamic_moi_rescaling=False,
    friction_model=10____________,
    cfm=11,
    erp=12,
    contact_surface_layer=13__,
    contact_max_correcting_vel=14)

Physics

Physics(self,
        max_step_size=0.001,
        real_time_factor=1,
        real_time_update_rate=1000,
        max_contacts=20,
        engine='ode',
        name='default_physics',
        default=False)

Simbody

Simbody(self,
        max_step_size=0.001,
        real_time_factor=1,
        real_time_update_rate=1000,
        max_contacts=20,
        min_step_size=0.0001,
        accuracy=0.001,
        max_transient_velocity=0.01,
        stiffness=100000000.0,
        dissipation=100,
        plastic_coef_restitution=0.5,
        plastic_impact_velocity=10,
        static_friction=11,
        dynamic_friction=12,
        viscous_friction=13,
        override_impact_capture_velocity=14__,
        override_stiction_transition_velocity=15__)