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set gravity on each object Gazebo7

asked 2016-09-30 07:34:06 -0500

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I am tryng to set the gravity on each individual objects in gazebo. I am spawning a robot model that needs to have 0 gravity. But The objects it needs to interact with need to have gravity,so they don't float away. I am not sure how to accomplish this I can turn on/off gravity for the entire world, but not individual models. Here is my world file,

    <?xml version="1.0" ?>
  <sdf version="1.4">
    <world name="default">




        <pose>0 10 0 0 0 0</pose>
         <gravity>0 0 -9.81</gravity>


      <gravity>0 0 0</gravity>


I would greatly appreciate any guidance.

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lol i see u

Peter Mitrano gravatar imagePeter Mitrano ( 2016-10-02 11:15:44 -0500 )edit

2 Answers

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answered 2016-10-02 11:29:45 -0500

One should probably switch from disabling gravity, to making the robot static. It's still a temporary solution, but static is meant to be at the robot level, not world level. Having different gravity on different objects is a pretty bizarre request.

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answered 2018-06-01 17:07:12 -0500

Miriam gravatar image

You can activate the gravity of each link in your robot in the SDF file and the self collide too, At the end of the inertial tags in each link you can put this code:


But if your model was made only with gazebo (no with ROS URDF) this may be not your real problem; you may have issues with the inertia of your robot, because, gazebo uses to activate gravity by itself in all the models, or you can have misplaced the center of mass in your links.

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Asked: 2016-09-30 07:34:06 -0500

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Last updated: Jun 01 '18