A few years ago, Trivial Physics Engine (TPE) was announced for Gazebo Sim.
I don't seem to find any documentation though.
Would anyone know of a project that uses this? Drone swarm simulation maybe?
I can't seem to find any examples with imported URDFs (the universal robot examples don't seem to have any physics settings beyond joint inertias etc).
My robot has mass from the urdf:
But it seems ...