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Inserted model changes it's pose automatically

asked 2019-03-19 08:35:31 -0500

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Hello, I want to demonstrate pick and place in gazebo. For that i have created warehouse environment in gazebo.

I have converted 3D point clouds to meshes with the help of Meshlab and added the .dae mesh in Gazebo. I initially added the object to the gazebo and then saved the world as .sdf file and then i used previously saved world file to launch gazebo. In below image the white box you see is the object i want to pick.

image description

The problem is : When i launch gazebo and spawn the objects into it, the object changes it's pose automatically, I fetch the pose of the object by making a service call to gazebo/get_model_states and feed this pose to my pick place script. As object changes their position when i try to pick the object robot collides with the object.

I have already tried to use gazebo_msgs/set_model_pose service call to reset the object position after launching gazebo. Even after resetting position object change their position till the time robot reaches to grasp it.

Can anyone tell how to make object stationary without making them static??

Below is my model.sdf file for reference

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="kaffee">
    <link name="link">
      <inertial>
      <pose>0 0 0.0175 0 0 0</pose>
        <mass>0.3</mass>
      <inertia>
        <ixx>0.000234852</ixx>
        <ixy>0.0</ixy>
        <ixz>0.0</ixz>
        <iyy>0.000077182</iyy>
        <iyz>0.0</iyz>
        <izz>0.000273415</izz>
      </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <mesh>
        <uri>model://kaffee/meshes/kaffee.dae</uri>
      </mesh>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh>
            <uri>model://kaffee/meshes/kaffee.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
  </model>
</sdf>
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answered 2019-03-19 12:04:20 -0500

chapulina gravatar image

Can anyone tell how to make object stationary without making them static??

You could make a fixed joint from the robot's base to the world like this:

<model...
  ...
  <joint name="fixed" type="fixed">
    <parent>world</parent>
    <child>link</child>
  </joint>
</model>
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Asked: 2019-03-19 08:35:31 -0500

Seen: 68 times

Last updated: Mar 19