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I solved the problem myself. The problem was that the links were missing <origin> tags (only the collision and visual tags had origin tags, but not the links themselves). Here's the fixed model file (I also added joints and inertials for all links, but the problem addressed in my question was solved by adding the origin tags):

<gazebo version="1.0">
  <model name="race_table2" static="true">
  <link name="surface">
    <inertial mass="15.0">
      <inertia ixx="0.2134666666666667" ixy="0" ixz="0" iyy="0.2666666666666667" iyz="0" izz="0.053466666666666676"/>
    </inertial>
    <origin pose="0 0 0.69 0 0 0"/>

    <collision name="collision">
      <geometry>
        <box size="1.6 0.8 0.04"/>
      </geometry>
    </collision>
    <visual name="visual">
      <geometry>
        <box size="1.6 0.8 0.04"/>
      </geometry>
      <material script="Gazebo/Wood"/>
    </visual>
  </link>

  <joint name="front_left_leg_joint" type="revolute">
    <parent link="surface"/>
    <child link="front_left_leg"/>
    <axis xyz="0 0 1">
      <limit lower="0.0000" upper="0.0000"/>
    </axis>
  </joint>

  <link name="front_left_leg">
    <inertial mass="1.0">
      <inertia ixx="0.038633333" ixy="0" ixz="0" iyy="0.038633333" iyz="0" izz="0.0002"/>
    </inertial>
    <origin pose="0.78 0.38 0.34 0 0 0"/>
    <collision name="collision">
      <geometry>
        <cylinder radius="0.02" length="0.68"/>
      </geometry>
    </collision>
    <visual name="visual">
      <geometry>
        <cylinder radius="0.02" length="0.68"/>
      </geometry>
      <material script="Gazebo/Grey"/>
    </visual>
  </link>

  <joint name="front_right_leg_joint" type="revolute">
    <parent link="surface"/>
    <child link="front_right_leg"/>
    <axis xyz="0 0 1">
      <limit lower="0.0000" upper="0.0000"/>
    </axis>
  </joint>

  <link name="front_right_leg">
    <inertial mass="1.0">
      <inertia ixx="0.038633333" ixy="0" ixz="0" iyy="0.038633333" iyz="0" izz="0.0002"/>
    </inertial>
    <origin pose="0.78 -0.38 0.34 0 0 0"/>
    <collision name="collision">
      <geometry>
        <cylinder radius="0.02" length="0.68"/>
      </geometry>
    </collision>
    <visual name="visual">
      <geometry>
        <cylinder radius="0.02" length="0.68"/>
      </geometry>
      <material script="Gazebo/Grey"/>
    </visual>
  </link>

  <joint name="back_right_leg_joint" type="revolute">
    <parent link="surface"/>
    <child link="back_right_leg"/>
    <axis xyz="0 0 1">
      <limit lower="0.0000" upper="0.0000"/>
    </axis>
  </joint>

  <link name="back_right_leg">
    <inertial mass="1.0">
      <inertia ixx="0.038633333" ixy="0" ixz="0" iyy="0.038633333" iyz="0" izz="0.0002"/>
    </inertial>
    <origin pose="-0.78 -0.38 0.34 0 0 0"/>
    <collision name="collision">
      <geometry>
        <cylinder radius="0.02" length="0.68"/>
      </geometry>
    </collision>
    <visual name="visual">
      <geometry>
        <cylinder radius="0.02" length="0.68"/>
      </geometry>
      <material script="Gazebo/Grey"/>
    </visual>
  </link>

  <joint name="back_left_leg_joint" type="revolute">
    <parent link="surface"/>
    <child link="back_left_leg"/>
    <axis xyz="0 0 1">
      <limit lower="0.0000" upper="0.0000"/>
    </axis>
  </joint>

  <link name="back_left_leg">
    <inertial mass="1.0">
      <inertia ixx="0.038633333" ixy="0" ixz="0" iyy="0.038633333" iyz="0" izz="0.0002"/>
    </inertial>
    <origin pose="-0.78 0.38 0.34 0 0 0"/>
    <collision name="collision">
      <geometry>
        <cylinder radius="0.02" length="0.68"/>
      </geometry>
    </collision>
    <visual name="visual">
      <geometry>
        <cylinder radius="0.02" length="0.68"/>
      </geometry>
      <material script="Gazebo/Grey"/>
    </visual>
  </link>
</model>
</gazebo>