Model collapses when Physics is on

asked 2015-11-16 14:25:01 -0500

yah130s gravatar image

updated 2015-11-18 02:32:51 -0500

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Or see the video how it goes.

Model keeps standing when physics is off upon the launch. So I suspect it's related to how either model file handles physics or how the model is spawned may be wrong. I do want to use physics so turning it off is not an option.

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Launch file. Using ROS Indigo and Gazebo 2.2.6

Update) I haven't dug much but as @AndreiHaidu's suggestion, I incremented by frame (video). At some point collapse happens all of sudden.

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somehow large forces are applied to the robot so they end up "imploding" in 0,0,0 , you can visualize this by starting the simulation paused and stepping into the simulation. Probably links are self colliding, or the inertia's are wrong, or joints cross their limits

AndreiHaidu gravatar imageAndreiHaidu ( 2015-11-16 14:59:35 -0500 )edit

HI, I did the same as you and finally narrowed down that it the problem is in the arms. when the forearm is vertical the physics implodes. I think that it's a matter of inertia on the L/RForeArn links

marguedas gravatar imagemarguedas ( 2015-11-18 05:07:18 -0500 )edit