Robot model gazebo mess when play ? [closed]

asked 2020-04-27 02:38:10 -0600

mika_el gravatar image

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

image description

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> ...
(more)
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Closed for the following reason Gazebo Question: The Gazebo community prefers to answer questions at: http://answers.gazebosim.org by mika_el
close date 2020-04-27 03:25:22.325387

Comments

Hey,

I think, this post is more relevant to Gazebo answers

pmuthu2s gravatar image pmuthu2s  ( 2020-04-27 03:10:19 -0600 )edit

thanks man.

mika_el gravatar image mika_el  ( 2020-04-27 03:12:31 -0600 )edit