Simulating Small Robots in Gazebo
Hi there, I'm Trying to simulate a model of DarwinOp (an small size humanoid robot). Right now I'm writing URDF files for the robot but I noticed that gazebo doesn't like small robots. From URDF tutorial :
When using realtime controllers, inertia elements of zero (or almost zero) like
can cause the robot model to collapse without warning, and all links will appear with their origins coinciding with the world origin.
I've tested the partial model in gazebo and saw some weird behaviors (e.g robot flying around or collapsing to the origin).
Is there any solution to that?
Asked by Mor on 2012-06-07 10:20:50 UTC
Comments
@Mor Hi, I understand that DarwinOp is 2.8kg, 45.5 cm tall with 20 DOF - it should be very much possible to work out a simulation in gazebo. I will suggest that you consider completing the URDF and then trying it out.
Asked by Arkapravo on 2012-06-08 06:36:11 UTC
Hi @Arkapravo. I have the URDF model ready actually, but the problem is that inertia properties of DarwinOP are much lower than the example in the tutorial, which means that unusual behavior could happen.
Asked by Mor on 2012-06-08 07:30:37 UTC
Hello, Mor, if you are still working on this, what ranges are your calculated inertia elements?
Asked by SL Remy on 2012-06-14 07:55:11 UTC
Please ask gazebo questions at http://answers.gazebosim.org
Asked by tfoote on 2015-03-03 02:51:29 UTC