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model falls when spawned in gazebo

asked 2017-08-20 00:56:41 -0500

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Hi, I have model (humanoid leg) with many revolute and fixed joint with gravity on. when I spawn the model then all the revolute joints start to rotate and model falls down on the ground. May be the gravity does this all but I am not sure about it. I want my model to be stationary when loaded (simulation must be on). Are there any constraint which could be applied for this requirement. please help me to sort out this. thanks

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answered 2017-08-21 07:13:49 -0500

longwoo gravatar image

updated 2017-08-21 23:54:58 -0500

  1. Set all the revolute joints to be fixed joints or add pid controller in each revolute joints.
  2. Try to fix body in the air, for example , set a fixed joint between world link and pelvis link
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that is not what i want. I have to make motion between the links to move it. we have to give some stiffness values for joints.

mukesh_148 gravatar imagemukesh_148 ( 2017-08-21 13:10:56 -0500 )edit
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Asked: 2017-08-20 00:56:41 -0500

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Last updated: Aug 21 '17