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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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Import Human Model in Gazebo #27

Open MarcoCaianiello opened 2 years ago

MarcoCaianiello commented 2 years ago

If i try to import one of the urdf file in Gazebo, only the Pelvis link spawn. In line 9 there is the following comment: To open this model with Gazebo replace the null masses, inertias and dimensions of the 'fake links f1 and f2 I have changed all the values and now all the links spawn correctly. Despite that, the robot is unstable (See Video).

https://user-images.githubusercontent.com/62465893/157412296-91ad12fe-6e38-4e0a-8292-981735ddf05b.mp4

ne-ak commented 8 months ago

Hello Marco, how did you change those values? I am having problem to understand how to replace them. Thank you in advance.

traversaro commented 8 months ago

fyi @MarcoCaianiello @lrapetti @CarlottaSartore

lrapetti commented 8 months ago

Hello Marco, how did you change those values? I am having problem to understand how to replace them. Thank you in advance.

Hi @ne-ak, I think changing it with something like

<inertial>
            <mass value="0.0001"/>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.0001" iyy="0.0001" izz="0.0001" ixy="0" ixz="0" iyz="0"/>
        </inertial>

for all the link that have currently mass=0, might work (if it doesn't you can try to use 0.001).