Robot model falls down in Gazebo when setting <transmission> as EffortJointInterface
Robot model collapses in Gazebo when setting <transmission>
as EffortJointInterface
. How to fix this? Any advice will be appreciated.
And below's the content of the urdf file
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot name="arm">
<link name="world" />
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://arm_description/meshes/base_link.STL" />
</geometry>
<material name="3143">
<color rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://arm_description/meshes/base_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.52E-03 -0.01E-03 20.01E-03" rpy="0 0 0" />
<mass value="1.25" />
<inertia ixx="3000.53E-06" ixy="-2.36E-06" ixz="-15.68E-06"
iyy="3039.39E-06" iyz="0.05E-06"
izz="5609.85E-06" />
</inertial>
</link>
<joint name="joint_0" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="world" />
<child link="base_link" />
</joint>
<link name="J1_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://arm_description/meshes/J1_link.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://arm_description/meshes/J1_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-2.92E-03 0.04E-03 -68.53E-03" rpy="0 0 0" />
<mass value="8.62" />
<inertia ixx="31417.22E-06" ixy="-7.17E-06" ixz="1741.59E-06"
iyy="31776.39E-06" iyz="-13.11E-06"
izz="13349.46E-06" />
</inertial>
</link>
<joint name="J1_joint" type="revolute">
<origin xyz="0 0 0.141" rpy="0 0 0" />
<parent link="base_link" />
<child link="J1_link" />
<axis xyz="0 0 1" />
<limit lower="-3.1416" upper="3.1416" effort="200" velocity="6.1416" />
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
<safety_controller k_position="200.0" k_velocity="200.0" soft_lower_limit="-3.6" soft_upper_limit="3.6"/>
</joint>
<link name="J2_Link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://arm_description/meshes/J2_Link.STL" />
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://arm_description/meshes/J2_Link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-200.85E-03 0 132.08E-03" rpy="0 0 0" />
<mass value="14.09" />
<inertia ixx="43424.6E-06" ixy="-17.37E-06" ixz="-52659.14E-06"
iyy="1117037.51E-06" iyz="-9.59E-06"
izz="1093506 ...
Hi @mug, can you post the complete
urdf
file please@osilva I just update the question and paste the urdf.