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robotology / human-gazebo

URDF models of humans created to perform human robot interaction experiments.
GNU Lesser General Public License v2.1
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URDF for Gazebo #18

Open ehthas opened 3 years ago

ehthas commented 3 years ago

Hi,

I am trying to use the human_Subject01_66dof_colored. It was mentioned in the urdf file to replace the null masses, inertia and dimensions of the fake links f1 and f2 for using the model in Gazebo.

I used the same masses, inertia for the actual link on the fake links. Initially it was all collapsing. Then I added gazebo plugin of gazebo_ros_control and associated library in the urdf (at the end before the tag ). I also gave the z value to be equal to the height of hip from ground (z = 0.91) and the model stood up fine. But when I tried to make the moveit package along with the plugin it didnt work. So I made a copy of the urdf, removed the gazebo plugin loaded it in moveit and made left and right arm groups and generated its moveit config.

Next, I spawned the robot with gazebo_ros_control plugin in gazebo and then when I was trying to launch the move_group files from the generated moveit_config it says the robot model is different.

Currently I have added transmission tags with each joint, also have added position controller through a yaml file and still the robot collapses and I am being unable to figure out to have a urdf being spawned in gazebo and for which I can make a moveit_package that I can control afterwards through python code.

Guidance requested please

Thank you

Best Regards Hasan

lrapetti commented 3 years ago

Dear @ehthas, unfortunately we do not have experience of controlling the generated human models using moveit package, and the purpose of this repository is limited to provide urdf models of humans.

I don't know if that can be useful for you, but in https://github.com/robotology/human-gazebo/tree/master/legacy you can find instead the configuration files that were used in order to control the human model in Gazebo, but using the yarp (https://www.yarp.it) framework.