Robot model gazebo mess when play ? [closed]
im trying simulate my simple project with gazebo, i already calculate the inertial componen and i think its correct this is the picture of the inertial in gazebo
there is 8 part component, base and 4 arm, each arm have 2 part, and this the urdf, i simply the file for base and one arm, and i think the problem is the part close together, is this the problem? hope you can help me guys
<link name="dummy" />
<joint name="dummy" type="fixed">
<parent link="dummy" />
<child link="base_link" />
<origin rpy="0 0 0" xyz="0 0 0" />
</joint>
<link name="base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.1" />
<geometry>
<box size="0.125 0.3 0.025" />
</geometry>
<material name="Grey">
<color rgba="0.20 0.20 0.20 1.0" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.1" />
<geometry>
<box size="0.125 0.3 0.025" />
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.1" />
<mass value="1.5" />
<inertia ixx="0.011328125" ixy="0.0" ixz="0.0" iyy="0.00203125" iyz="0.0" izz="0.013203125" />
</inertial>
</link>
<joint name="frbase_coxa" type="revolute">
<axis xyz="1 0 0" />
<limit effort="1000.0" lower="0" upper="3.14" velocity="0.5" />
<origin rpy="0 0 0" xyz="0.0775 0.15 0.1" />
<parent link="base_link" />
<child link="fr_coxa" />
</joint>
<transmission name="t_frbase_coxa">
<type>transmission_interface/SimpleTransmission</type>
<joint name="frbase_coxa">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="m_frbase_coxa">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<link name="fr_coxa">
<visual>
<origin rpy="0 0 0" xyz="0 -0.05 0" />
<geometry>
<box size="0.01 0.1 0.01" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -0.05 0" />
<geometry>
<box size="0.01 0.1 0.01" />
</geometry>
</collision>
<inertial>
<mass value="0.1" />
<origin rpy="0 0 0" xyz="0 -0.05 0" />
<inertia ixx="0.00008416666" ixy="0.0" ixz="0.0" iyy="0.00000166666" iyz="0.0" izz="0.00008416666" />
</inertial>
</link>
<joint name="flbase_coxa" type="revolute">
<axis xyz="1 0 0" />
<limit effort="1000.0" lower="0" upper="3.14" velocity="0.5" />
<origin rpy="0 0 0" xyz="-0.0775 0.15 0.1" />
<parent link="base_link" />
<child link="fl_coxa" />
</joint>
<transmission name="t_flbase_coxa">
<type>transmission_interface/SimpleTransmission</type>
<joint name="flbase_coxa">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="m_flbase_coxa">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<link name="fl_coxa">
<visual>
<origin rpy="0 0 0" xyz="0 -0.05 0" />
<geometry>
<box size="0.01 0.1 0.01" />
</geometry>
</visual> ...
Hey,
I think, this post is more relevant to Gazebo answers
thanks man.