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answered 2012-02-15 05:34:39 -0500

hsu gravatar image

Hi Kai, the problem is in the fixed joint reduction code in urdf2gazebo parser, ticketed here. A patch has been applied (see ticket), changes will be released with the next patch release. Thanks.

Hi Kai, the problem is in the fixed joint reduction code in urdf2gazebo parser, ticketed here. A patch has been applied (see ticket), changes will be released with the next patch release. Thanks.

One way to see more details about this bug, you can edit your ~/.rosconsole so gazebo is set to DEBUG. Save your model with pseudo link (as t2.urdf), then run:

$ rosrun gazebo urdf2model -f t2.urdf -o t2.model
[DEBUG] [1329326366.171824770]: parsing gazebo extension
[DEBUG] [1329326366.171915322]: TREE: at [pseudo_link]
[DEBUG] [1329326366.171944564]: TREE: at [cube]
[DEBUG] [1329326366.171999736]: TREE:   extension lumping from [cube] to [pseudo_link]
[DEBUG] [1329326366.172026516]:   EXTENSION: Reference lumping from [cube] to [pseudo_link]
[DEBUG] [1329326366.172052313]: ====================================================================
[DEBUG] [1329326366.172074282]: ====================================================================
[DEBUG] [1329326366.172115979]: ====================================================================
[DEBUG] [1329326366.172160533]: ====================================================================
[DEBUG] [1329326366.172188838]: ====================================================================
[DEBUG] [1329326366.172209392]: ====================================================================
[DEBUG] [1329326366.172232357]: TREE:   mass lumping from [cube] to [pseudo_link]
[DEBUG] [1329326366.172264904]: LINK NAME: [pseudo_link] from dMass
[DEBUG] [1329326366.172300103]:      MASS: [0.000010]
[DEBUG] [1329326366.172323848]:        CG: [0.000000 0.000000 0.000000]
[DEBUG] [1329326366.172346809]:         I: [0.001000 0.000000 0.000000]
[DEBUG] [1329326366.172369745]:            [0.000000 0.001000 0.000000]
[DEBUG] [1329326366.172392519]:            [0.000000 0.000000 0.001000]
[DEBUG] [1329326366.172418484]: LINK NAME: [pseudo_link] from urdf::Link
[DEBUG] [1329326366.172463357]:      MASS: [0.000010]
[DEBUG] [1329326366.172500362]:        CG: [0.000000 0.000000 0.000000]
[DEBUG] [1329326366.172522955]:         I: [0.001000 0.000000 0.000000]
[DEBUG] [1329326366.172545376]:            [0.000000 0.001000 0.000000]
[DEBUG] [1329326366.172567982]:            [0.000000 0.000000 0.001000]
[DEBUG] [1329326366.172605268]: LINK NAME: [cube] from dMass
[DEBUG] [1329326366.172644066]:      MASS: [10.000000]
[DEBUG] [1329326366.172665388]:        CG: [5.000000 5.000000 5.000000]
[DEBUG] [1329326366.172687403]:         I: [0.001000 0.000000 0.000000]
[DEBUG] [1329326366.172708925]:            [0.000000 0.001000 0.000000]
[DEBUG] [1329326366.172742261]:            [0.000000 0.000000 0.001000]
[DEBUG] [1329326366.172787083]: LINK NAME: [cube] from urdf::Link
[DEBUG] [1329326366.172824148]:      MASS: [10.000000]
[DEBUG] [1329326366.172845650]:        CG: [5.000000 5.000000 5.000000]
[DEBUG] [1329326366.172867375]:         I: [0.001000 0.000000 0.000000]
[DEBUG] [1329326366.172900337]:            [0.000000 0.001000 0.000000]
[DEBUG] [1329326366.172949061]:            [0.000000 0.000000 0.001000]
[DEBUG] [1329326366.172987833]: debug: 0.000000 0.000000 0.000000
[DEBUG] [1329326366.173022669]: LINK NAME: [cube] from dMass
[DEBUG] [1329326366.173043504]:      MASS: [10.000000]
[DEBUG] [1329326366.173098877]:        CG: [5.000000 5.000000 5.000000]
[DEBUG] [1329326366.173120663]:         I: [0.001000 0.000000 0.000000]
[DEBUG] [1329326366.173142453]:            [0.000000 0.001000 0.000000]
[DEBUG] [1329326366.173164114]:            [0.000000 0.000000 0.001000]
[DEBUG] [1329326366.173195938]: LINK NAME: [cube] from dMass
[DEBUG] [1329326366.173216870]:      MASS: [10.000000]
[DEBUG] [1329326366.173246253]:        CG: [5.000000 5.000000 5.000000]
[DEBUG] [1329326366.173267903]:         I: [0.001000 0.000000 0.000000]
[DEBUG] [1329326366.173288764]:            [0.000000 0.001000 0.000000]
[DEBUG] [1329326366.173310421]:            [0.000000 0.000000 0.001000]
[DEBUG] [1329326366.173331826]: LINK NAME: [pseudo_link] from dMass
[DEBUG] [1329326366.173353029]:      MASS: [10.000010]
[DEBUG] [1329326366.173368923]:        CG: [4.999995 4.999995 4.999995]
[DEBUG] [1329326366.173396407]:         I: [0.002000 0.000000 0.000000]
[DEBUG] [1329326366.173429109]:            [0.000000 0.002000 0.000000]
[DEBUG] [1329326366.173441526]:            [0.000000 0.000000 0.002000]
[DEBUG] [1329326366.173453627]: LINK NAME: [pseudo_link] from urdf::Link
[DEBUG] [1329326366.173473841]:      MASS: [10.000010]
[DEBUG] [1329326366.173490464]:        CG: [0.000000 0.000000 0.000000]
[DEBUG] [1329326366.173513201]:         I: [0.002000 0.000000 0.000000]
[DEBUG] [1329326366.173525548]:            [0.000000 0.002000 0.000000]
[DEBUG] [1329326366.173537423]:            [0.000000 0.000000 0.002000]
[DEBUG] [1329326366.173556422]: adding modified lump group name [lump::cube] to link [pseudo_link]
[DEBUG] [1329326366.173577669]: adding modified lump group name [lump::cube] to link [pseudo_link]
[DEBUG] [1329326366.173597194]: COLLISION LUMPING: link: [pseudo_link] contains [2] collisions
[DEBUG] [1329326366.173610527]:     collision_groups: [default] has [1] Collision objects
[DEBUG] [1329326366.173622451]:     collision_groups: [lump::cube] has [1] Collision objects
[DEBUG] [1329326366.173634672]: BEGIN JOINT LUMPING
[DEBUG] [1329326366.173674939]: pseudo_link has no parent joint
[DEBUG] [1329326366.173696796]: creating default geom for link [pseudo_link]
[DEBUG] [1329326366.173750139]: creating lump geom [lump::cube] for link [pseudo_link]
[DEBUG] [1329326366.173838604]:

Update: just released 1.4.11, should be a day or so before the debs are built.

Hi Kai, the problem is in the fixed joint reduction code in urdf2gazebo parser, ticketed here. A patch has been applied (see ticket), changes will be released with the next patch release. Thanks.

One way to see more details about this bug, you can edit your ~/.rosconsole so gazebo is set to DEBUG. Save your model with pseudo link (as t2.urdf), then run:

$ rosrun gazebo urdf2model -f t2.urdf -o t2.model
[DEBUG] [1329326366.171824770]: parsing gazebo extension
[DEBUG] [1329326366.171915322]: TREE: at [pseudo_link]
[DEBUG] [1329326366.171944564]: TREE: at [cube]
[DEBUG] [1329326366.171999736]: TREE:   extension lumping from [cube] to [pseudo_link]
[DEBUG] [1329326366.172026516]:   EXTENSION: Reference lumping from [cube] to [pseudo_link]
[DEBUG] [1329326366.172052313]: ====================================================================
[DEBUG] [1329326366.172074282]: ====================================================================
[DEBUG] [1329326366.172115979]: ====================================================================
[DEBUG] [1329326366.172160533]: ====================================================================
[DEBUG] [1329326366.172188838]: ====================================================================
[DEBUG] [1329326366.172209392]: ====================================================================
[DEBUG] [1329326366.172232357]: TREE:   mass lumping from [cube] to [pseudo_link]
[DEBUG] [1329326366.172264904]: LINK NAME: [pseudo_link] from dMass
[DEBUG] [1329326366.172300103]:      MASS: [0.000010]
[DEBUG] [1329326366.172323848]:        CG: [0.000000 0.000000 0.000000]
[DEBUG] [1329326366.172346809]:         I: [0.001000 0.000000 0.000000]
[DEBUG] [1329326366.172369745]:            [0.000000 0.001000 0.000000]
[DEBUG] [1329326366.172392519]:            [0.000000 0.000000 0.001000]
[DEBUG] [1329326366.172418484]: LINK NAME: [pseudo_link] from urdf::Link
[DEBUG] [1329326366.172463357]:      MASS: [0.000010]
[DEBUG] [1329326366.172500362]:        CG: [0.000000 0.000000 0.000000]
[DEBUG] [1329326366.172522955]:         I: [0.001000 0.000000 0.000000]
[DEBUG] [1329326366.172545376]:            [0.000000 0.001000 0.000000]
[DEBUG] [1329326366.172567982]:            [0.000000 0.000000 0.001000]
[DEBUG] [1329326366.172605268]: LINK NAME: [cube] from dMass
[DEBUG] [1329326366.172644066]:      MASS: [10.000000]
[DEBUG] [1329326366.172665388]:        CG: [5.000000 5.000000 5.000000]
[DEBUG] [1329326366.172687403]:         I: [0.001000 0.000000 0.000000]
[DEBUG] [1329326366.172708925]:            [0.000000 0.001000 0.000000]
[DEBUG] [1329326366.172742261]:            [0.000000 0.000000 0.001000]
[DEBUG] [1329326366.172787083]: LINK NAME: [cube] from urdf::Link
[DEBUG] [1329326366.172824148]:      MASS: [10.000000]
[DEBUG] [1329326366.172845650]:        CG: [5.000000 5.000000 5.000000]
[DEBUG] [1329326366.172867375]:         I: [0.001000 0.000000 0.000000]
[DEBUG] [1329326366.172900337]:            [0.000000 0.001000 0.000000]
[DEBUG] [1329326366.172949061]:            [0.000000 0.000000 0.001000]
[DEBUG] [1329326366.172987833]: debug: 0.000000 0.000000 0.000000
[DEBUG] [1329326366.173022669]: LINK NAME: [cube] from dMass
[DEBUG] [1329326366.173043504]:      MASS: [10.000000]
[DEBUG] [1329326366.173098877]:        CG: [5.000000 5.000000 5.000000]
[DEBUG] [1329326366.173120663]:         I: [0.001000 0.000000 0.000000]
[DEBUG] [1329326366.173142453]:            [0.000000 0.001000 0.000000]
[DEBUG] [1329326366.173164114]:            [0.000000 0.000000 0.001000]
[DEBUG] [1329326366.173195938]: LINK NAME: [cube] from dMass
[DEBUG] [1329326366.173216870]:      MASS: [10.000000]
[DEBUG] [1329326366.173246253]:        CG: [5.000000 5.000000 5.000000]
[DEBUG] [1329326366.173267903]:         I: [0.001000 0.000000 0.000000]
[DEBUG] [1329326366.173288764]:            [0.000000 0.001000 0.000000]
[DEBUG] [1329326366.173310421]:            [0.000000 0.000000 0.001000]
[DEBUG] [1329326366.173331826]: LINK NAME: [pseudo_link] from dMass
[DEBUG] [1329326366.173353029]:      MASS: [10.000010]
[DEBUG] [1329326366.173368923]:        CG: [4.999995 4.999995 4.999995]
[DEBUG] [1329326366.173396407]:         I: [0.002000 0.000000 0.000000]
[DEBUG] [1329326366.173429109]:            [0.000000 0.002000 0.000000]
[DEBUG] [1329326366.173441526]:            [0.000000 0.000000 0.002000]
[DEBUG] [1329326366.173453627]: LINK NAME: [pseudo_link] from urdf::Link
[DEBUG] [1329326366.173473841]:      MASS: [10.000010]
[DEBUG] [1329326366.173490464]:        CG: [0.000000 0.000000 0.000000]
[DEBUG] [1329326366.173513201]:         I: [0.002000 0.000000 0.000000]
[DEBUG] [1329326366.173525548]:            [0.000000 0.002000 0.000000]
[DEBUG] [1329326366.173537423]:            [0.000000 0.000000 0.002000]
[DEBUG] [1329326366.173556422]: adding modified lump group name [lump::cube] to link [pseudo_link]
[DEBUG] [1329326366.173577669]: adding modified lump group name [lump::cube] to link [pseudo_link]
[DEBUG] [1329326366.173597194]: COLLISION LUMPING: link: [pseudo_link] contains [2] collisions
[DEBUG] [1329326366.173610527]:     collision_groups: [default] has [1] Collision objects
[DEBUG] [1329326366.173622451]:     collision_groups: [lump::cube] has [1] Collision objects
[DEBUG] [1329326366.173634672]: BEGIN JOINT LUMPING
[DEBUG] [1329326366.173674939]: pseudo_link has no parent joint
[DEBUG] [1329326366.173696796]: creating default geom for link [pseudo_link]
[DEBUG] [1329326366.173750139]: creating lump geom [lump::cube] for link [pseudo_link]
[DEBUG] [1329326366.173838604]:
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