Model collapses when Physics is on
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.
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.
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
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