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gazebo set values of joint angles beyond the joint limits or `break` when robot contact with ground or some object

Gazebo set values of joint angles beyond the joint limits, and not set the joint states to normal value depend on the current model state, even if the robot has moved to other poses. And sometimes the robot breaks when contact with some object in gazebo!

The following joint angles are too large than the joint limit (-pi, pi):

 header: 
    seq: 14205682
    stamp: 
        secs: 71085
        nsecs: 101000000
      frame_id: ''
    name: ['elbow_joint', 'shoulder_lift_joint', 'shoulder_pan_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']
    position: [-8.51584976541768, -22393.868370150947, -23210.903847882473, -23059.99195414233, 7.4320796024417355, 9.18637489720941]
    velocity: [0.00021875832846863282, 0.00585327683488699, 0.003416905486500389, -0.0001427822974524656, 6.232113829809081e-05, 1.6280227906504893e-06]
    effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

gazebo set values of joint angles beyond the joint limits or `break` when robot contact with ground or some object

Gazebo set values of joint angles beyond the joint limits, and not set the joint states to normal value depend on the current model state, even if the robot has moved to other poses. And sometimes the robot breaks when contact with some object in gazebo!

The following joint angles are too large much larger than the joint limit (-pi, pi):

 header: 
    seq: 14205682
    stamp: 
        secs: 71085
        nsecs: 101000000
      frame_id: ''
    name: ['elbow_joint', 'shoulder_lift_joint', 'shoulder_pan_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']
    position: [-8.51584976541768, -22393.868370150947, -23210.903847882473, -23059.99195414233, 7.4320796024417355, 9.18637489720941]
    velocity: [0.00021875832846863282, 0.00585327683488699, 0.003416905486500389, -0.0001427822974524656, 6.232113829809081e-05, 1.6280227906504893e-06]
    effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]