In gazebo my robot links are not holding up

asked 2018-03-06 23:52:54 -0600

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<robot name="Robot_assembly2">
      <link name="base">
        <inertial>
          <origin xyz="-3.7824E-18 -7.5864E-15 0.020632" rpy="0 0 0"/>
          <mass value="2.4186"/>
          <inertia ixx="0.0040034" ixy="8.6853E-20" ixz="8.0992E-19" iyy="0.016492" iyz="1.9197E-15" izz="0.012529"/>
        </inertial>
        <visual>
          <origin xyz="0 0 0" rpy="0 0 0"/>
          <geometry>
            <mesh filename="package://Robot_assembly2/meshes/base.STL"/>
          </geometry>
          <material name="">
            <color rgba="0.2 0.2 0.2 1"/>
          </material>
        </visual>
        <collision>
          <origin xyz="0 0 0" rpy="0 0 0"/>
          <geometry>
            <mesh filename="package://Robot_assembly2/meshes/base.STL"/>
          </geometry>
        </collision>
      </link>
      <link name="link1">
        <inertial>
          <origin xyz="2.5208E-35 0.050229 3.6325E-14" rpy="0 0 0"/>
          <mass value="0.031556"/>
          <inertia ixx="2.7339E-05" ixy="-3.2154E-38" ixz="-2.9506E-39" iyy="1.5722E-06" iyz="-1.8636E-17" izz="2.7339E-05"/>
        </inertial>
        <visual>
          <origin xyz="0 0 0" rpy="0 0 0"/>
          <geometry>
            <mesh filename="package://Robot_assembly2/meshes/link1.STL"/>
          </geometry>
          <material name="">
            <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://Robot_assembly2/meshes/link1.STL"/>
          </geometry>
        </collision>
      </link>
      <joint name="link1" type="fixed">
        <origin xyz="0 0.048493 0.005" rpy="1.5708 0 0"/>
        <parent link="base"/>
        <child link="link1"/>
        <axis xyz="0 0 0"/>
      </joint>
      <link name="link2">
        <inertial>
          <origin xyz="-0.001961 0.019256 -0.064355" rpy="0 0 0"/>
          <mass value="0.12795"/>
          <inertia ixx="0.00018898" ixy="-4.2714E-07" ixz="-1.5502E-06" iyy="0.0001704" iyz="-5.7612E-05" izz="4.5883E-05"/>
        </inertial>
        <visual>
          <origin xyz="0 0 0" rpy="0 0 0"/>
          <geometry>
            <mesh filename="package://Robot_assembly2/meshes/link2.STL"/>
          </geometry>
          <material name="">
            <color rgba="0.89804 0.91765 0.92941 1"/>
          </material>
        </visual>
        <collision>
          <origin xyz="0 0 0" rpy="0 0 0"/>
          <geometry>
            <mesh filename="package://Robot_assembly2/meshes/link2.STL"/>
          </geometry>
        </collision>
      </link>
      <joint name="link2" type="revolute">
        <origin xyz="0 0.0845 0" rpy="0 -0.12217 0"/>
        <parent link="link1"/>
        <child link="link2"/>
        <axis xyz="0 1 0"/>
        <limit lower="-1.57" upper="1.57" effort="0" velocity="0.1"/>
      </joint>
      <link name="link3">
        <inertial>
          <origin xyz="0.024914 6.8688E-06 -0.044332" rpy="0 0 0"/>
          <mass value="0.093862"/>
          <inertia ixx="1.9335E-05" ixy="-1.0227E-09" ixz="1.3381E-06" iyy="2.8845E-05" iyz="5.4567E-10" izz="1.6683E-05"/>
        </inertial>
        <visual>
          <origin xyz="0 0 0" rpy="0 0 0"/>
          <geometry>
            <mesh filename="package://Robot_assembly2/meshes/link3.STL"/>
          </geometry>
          <material name="">
            <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://Robot_assembly2/meshes/link3.STL"/>
          </geometry>
        </collision>
      </link>
      <joint name="link3" type="revolute">
        <origin xyz="0.018422 0.010507 -0.098595" rpy="0 0.12217 0"/>
        <parent link="link2"/>
        <child link="link3"/>
        <axis xyz="1 0 0"/>
        <limit lower="-1.57" upper="1.57" effort="0" velocity="0.1"/>
      </joint>
      <link name="link4">
        <inertial>
          <origin xyz="-0.020897 0.00048312 -0.028141" rpy="0 ...
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Comments

How is the arm supposed to look like? Could you post a reference picture?

Tim Stadtmann gravatar imageTim Stadtmann ( 2018-03-08 07:57:39 -0600 )edit