Gazebo URDF model vanishes
Hello,
I am trying to make a simple URDF model of a manipulator with 4 links and 3 joints (2 spherical and 1 revolute), but as I launch the model in gazebo, it crashes and all the links overlap at the origin. I tried remaking the model many times altering different values to get to the issue and have observed if I add the joint in the z axis, it crashes. I can add the y and x joints and it has no issues. What confuses me more is that I use the same joint parameters I have used in the first spherical joint.
Am I missing something or doing something wrong? Will appreciate any help and guidance. Here is my URDF file
<?xml version="1.0"?>
<robot name="pend_bot"
xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- <xacro:include filename="$(find robot)/urdf/my_robot.gazebo" /> -->
<!-- <xacro:include filename="$(find robot)/urdf/materials.xacro" /> -->
<!-- <robot name="pendulum_robot"> -->
<link name="world">
</link>
<joint name="base_joint" type="fixed">
<parent link="world"/>
<child link="body_link"/>
<axis xyz="0.0 0.0 0.0"/>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
</joint>
<!-- First Link -->
<link name="body_link">
<visual>
<origin xyz="0 0 0.75" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.1 1.5"/>
</geometry>
</visual>
<!-- <collision>
<origin xyz="0 0 0.75" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.1 1.0"/>
</geometry>
</collision> -->
<inertial>
<origin xyz="0 0 0.75" rpy="0 0 0"/>
<mass value="1"/>
<inertia ixx="0.18833" ixy="0.0" ixz="0.0" iyy="0.18833" iyz="0.0" izz="0.001666667"/>
</inertial>
</link>
<!-- Shoulder Joint -->
<joint name="shoulder_y" type="continuous">
<parent link="body_link"/>
<child link="dummy_link_1"/>
<axis xyz="0 1 0" />
<origin xyz="0.0 0 1.55" rpy="0 0 0"/>
<!-- <limit effort="50" velocity="2.0"/> -->
<dynamics damping="0.2"/>
</joint>
<link name="dummy_link_1">
<inertial>
<mass value="0.025" />
<inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4" />
</inertial>
</link>
<joint name="shoulder_z" type="continuous">
<parent link="dummy_link_1"/>
<child link="dummy_link_2"/>
<axis xyz="0 0 1" />
<dynamics damping="0.2"/>
<!-- <limit effort="50" velocity="2.0"/> -->
</joint>
<link name="dummy_link_2">
<inertial>
<mass value="0.025" />
<inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4" />
</inertial>
</link>
<joint name="shoulder_x" type="continuous">
<parent link="dummy_link_2"/>
<child link="bicep_link"/>
<axis xyz="1 0 0" />
<dynamics damping="0.2"/>
<!-- <limit effort="50" velocity="2.0 ...