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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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Problem in using the model in Gazebo #6

Closed vatsalkshah closed 5 years ago

vatsalkshah commented 5 years ago

The model falls from the sky when I spawn it and then bounces back and the breaks. How should I fix this? As mentioned, I have changed the values of masses and inertia of fake links to 0.0001 and 0.1 respectively. Should I change it to something else? Also, what is the purpose of fake links?

yeshasvitirupachuri commented 5 years ago

@vatsalkshah I believe that the initial spawning position is not correct. Start gazebo in pause mode by using the argument -u e.g. gazebo -u and then check the initial position of the model. Alternatively, press space bar to pause gazebo and reset gazebo. This will show where the initial position of the model is.

yeshasvitirupachuri commented 5 years ago

what is the purpose of fake links?

The purpose of the fake links are to create a spherical joint by combining 3 rotational joints together through the fake links.

vatsalkshah commented 5 years ago

@Yeshasvitvs Still the problem persists. the model is spawning in the sky. This is the repo where I have saved the edited file ( https://github.com/vatsalkshah/Edinburgh_summer/blob/master/human_urdf/urdf/human1.urdf ). Do I need to make any changes to it or the launch file?

yeshasvitirupachuri commented 5 years ago

@vatsalkshah please post a gif or a video link showing the behaviour

vatsalkshah commented 5 years ago

@Yeshasvitvs This is the video of the problem

Screencast from 24-06-19 16_22_55

yeshasvitirupachuri commented 5 years ago

@vatsalkshah add -u in the args on line https://github.com/vatsalkshah/Edinburgh_summer/blob/master/human_urdf/launch/human.launch#L5

Moreover, note that the urdf doesn't have any control boards. This is the reason the model is exploding when you are trying to launch it with gazebo_ros package.

vatsalkshah commented 5 years ago

Thanks a lot. I'll implement the controller.