Simulating Small Robots in Gazebo [closed]

asked 2012-06-07 10:20:50 -0500

Mor gravatar image

updated 2012-06-07 10:29:04 -0500

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 <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/> 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?

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Closed for the following reason question is off-topic or not relevant. Please see for more details. by tfoote
close date 2015-03-03 01:51:40.493509



@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.

Arkapravo gravatar image Arkapravo  ( 2012-06-08 06:36:11 -0500 )edit

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.

Mor gravatar image Mor  ( 2012-06-08 07:30:37 -0500 )edit

Hello, Mor, if you are still working on this, what ranges are your calculated inertia elements?

SL Remy gravatar image SL Remy  ( 2012-06-14 07:55:11 -0500 )edit

Please ask gazebo questions at

tfoote gravatar image tfoote  ( 2015-03-03 01:51:29 -0500 )edit