#manipulation-task

Trade-off between ERP/CFM parameter preservation and DART stiffness parameter re-tuning for stiff Gazebo manipulation models

This examination assesses the feasibility of migrating ODE-tuned stiff-contact models to DART in Gazebo Harmonic while preserving contact force magnitudes and controller compatibility. Gazebo's <physics> SDF element switches between ODE and DART engines, but the two encode contact stiffness differently. ODE uses ERP and CFM to soften constraints, while