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I realized why i get this assertion: gazebo creates other link names (some hack to use URDF with DH conventions) checked by

gz sdf -p model.urdf > models.sdf

After using the correct link names, it launches and I can observe the contacts with

gz topic -e /gazebo/default/grasping/contacts

But still, no fixed joint is added in the simulation as I would have expected. Anyone who can explain the gripper tag for me please? :)

I realized why i get this assertion: gazebo creates other link names (some hack to use URDF with DH conventions) checked by

gz sdf -p model.urdf > models.sdf

After using the correct link names, it launches and I can observe the contacts with

gz topic -e /gazebo/default/grasping/contacts

wrench { body_1_name: "gripper_model::moved_with_q12::moved_with_q12_fixed_joint_lump__inner_jaw_collision" body_1_id: 20 body_2_name: "Wood_Log::link_0::collision" body_2_id: 46 body_1_wrench { force { x: 22126.307460241038 y: -25543.127831681646 z: 2009.67790021516 } torque { x: -5672.71425322889 y: -5714.5659828432763 z: -10176.590835338162 } } body_2_wrench { force { x: -33757.213203980529 y: -1566.588043136891 z: 2014.9504007453961 } torque { x: 354.69985180830543 y: -7656.83515862313 z: -10.634448792365738 } } }

It seems that some __fixed_joint__ was added. But still, no fixed joint is added in the simulation as I would have expected. the object moves inside the gripper. Anyone who can explain the gripper tag for me please? :) :)

I realized why i get this assertion: gazebo creates other link names (some hack to use URDF with DH conventions) checked by

gz sdf -p model.urdf > models.sdf

After using the correct link names, it launches and I can observe the contacts with

gz topic -e /gazebo/default/grasping/contacts

wrench { body_1_name: "gripper_model::moved_with_q12::moved_with_q12_fixed_joint_lump__inner_jaw_collision" body_1_id: 20 body_2_name: "Wood_Log::link_0::collision" body_2_id: 46 body_1_wrench { force { x: 22126.307460241038 y: -25543.127831681646 z: 2009.67790021516 } torque { x: -5672.71425322889 y: -5714.5659828432763 z: -10176.590835338162 } } body_2_wrench { force { x: -33757.213203980529 y: -1566.588043136891 z: 2014.9504007453961 } torque { x: 354.69985180830543 y: -7656.83515862313 z: -10.634448792365738 } } }

It seems that some __fixed_joint__ fixed_joint_lump was added. But still, the object moves inside the gripper. Anyone who can explain the gripper tag for me please? :)

I realized why i get this assertion: gazebo creates other link names (some hack to use URDF with DH conventions) checked by

gz sdf -p model.urdf > models.sdf

After using the correct link names, it launches and I can observe the contacts with

gz topic -e /gazebo/default/grasping/contacts

wrench { body_1_name: "gripper_model::moved_with_q12::moved_with_q12_fixed_joint_lump__inner_jaw_collision" body_1_id: 20 body_2_name: "Wood_Log::link_0::collision" body_2_id: 46 body_1_wrench { force { x: 22126.307460241038 y: -25543.127831681646 z: 2009.67790021516 } torque { x: -5672.71425322889 y: -5714.5659828432763 z: -10176.590835338162 } } body_2_wrench { force { x: -33757.213203980529 y: -1566.588043136891 z: 2014.9504007453961 } torque { x: 354.69985180830543 y: -7656.83515862313 z: -10.634448792365738 } } }

It seems that some fixed_joint_lump was added. But still, the object moves inside the gripper. gripper and no __fixed_joint__ seems to be added. Anyone who can explain the gripper tag for me please? :)