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Make object stick to Robot

asked 2016-10-21 03:16:17 -0500

Lyndwyrm gravatar image

updated 2016-10-26 09:33:29 -0500

I have a robot that has a platform to transport objects. However, if I place a model on top of that platform and move the robot, the object will stay in its place and eventually fall to the floor. Even if I place a Model from the Gazebo library, so I guess there is somethign wrong with the robot.

How do I make my robot sticky?

right now it has these features:

<!-- Link0 -->
<gazebo reference="${name}_link">

the gazebo.urdf.xacro for the robot:

 <?xml version="1.0"?> 
 <robot name="robot_base" xmlns:xacro="">

     <plugin name="gazebo_ros_controller" filename="">


the urdf.xacro for the model:

<?xml version="1.0"?>  
  <xacro:include filename="$(find robot_base)/urdf/robot_base.gazebo.xacro" />
  <xacro:include filename="$(find robot_base)/urdf/robot_base.transmission.xacro" />
  <property name="max_force" value="100.0"/>
  <property name="max_torque" value="100.0"/>
  <property name="max_lin_velocity" value="1.0"/>
  <property name="max_rot_velocity" value="1.0"/>
  <property name="min_position" value="-100.0"/>
  <property name="max_position" value="100.0"/>
  <property name="pi" value="3.14159"/>
  <property name="m" value="400"/> <!--mass of object-->
  <property name="h" value="0.645"/> <!--heigth of object-->
  <property name="l" value="1.204"/> <!--length of object-->
  <property name="w" value="0.72"/> <!--width of object-->

  <xacro:macro name="robot_base_visual_origin">
    <origin xyz="0.542 0 0.065" rpy="0 0 ${pi}"/>
    <material name="Orange"/>
  <xacro:macro name="robot_base_collision_origin">
    <origin xyz="0.542 0 0.0651" rpy="0 0 ${pi}"/>
    <material name="Orange"/>

  <xacro:macro name="robot_base_left_arm_mount_origin">
    <origin xyz="0.417 0.175 0.653" rpy="0 0 -1.5707963267948966"/>
    <!--<origin xyz="0.43 0.18 0.645" rpy="0 0 1.5707963267948966"/>-->
  <xacro:macro name="robot_base_right_arm_mount_origin">
    <origin xyz="0.417 -0.175 0.653" rpy="0 0 -1.5707963267948966"/>
  <xacro:macro name="robot_base_mast_mount_origin">
    <origin xyz="-0.30 0.230 0.645" rpy="0 0 0"/>

  <xacro:macro name="robot_base" params="parent_link name hardware_interface">
    <joint name="${name}_fixed_base_joint" type="fixed">
       <!--<axis xyz="0 0 1"/>
      <limit lower="${min_position}" upper="${max_position}" effort="${max_force}" velocity="${max_lin_velocity}"/>-->
       <child link="${name}_virtual_link_0" />
       <parent link="${parent_link}"/>

    <link name="${name}_virtual_link_0">
        <origin xyz="0 0 0.1" rpy="0 0 0" />
          <box size="0.001 0.001 0.001" />

        <origin xyz="0 0 0.1" rpy="0 0 0" />
          <box size="0.001 0.001 0.001" />


        <mass value="0.001" />
          ixx="0.00000001" ixy="0.0" ixz="0.0"
          iyy="0.00000001" iyz="0.0"
          izz="0.00000001" />


    <joint name="${name}_joint_x" type="prismatic">
       <origin xyz="0 0 0" rpy="0 0 0" />
       <axis xyz="1 0 0"/>
       <limit lower="${min_position}" upper="${max_position ...
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How are you moving your robot? Did you turn on contact visualization and check that the models are indeed touching?

chapulina gravatar imagechapulina ( 2016-10-25 10:26:30 -0500 )edit

I am using postion_controllers/JointTrajectoryController, there are several contacts between the object and the robot. I tried setting the mu coefficients of the object and the robot to Inf, but that didn't change anything.

Lyndwyrm gravatar imageLyndwyrm ( 2016-10-26 05:53:00 -0500 )edit

What version of gazebo are you using? And, can you post your entire model?

nkoenig gravatar imagenkoenig ( 2016-10-26 09:04:42 -0500 )edit

currently using 2.2.3, i hope the model is understandable

Lyndwyrm gravatar imageLyndwyrm ( 2016-10-26 09:31:50 -0500 )edit

1 Answer

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answered 2016-11-03 08:52:25 -0500

Lyndwyrm gravatar image

Created a plugin using Jennifer Buehlers Grasp Plugin as a template.

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Asked: 2016-10-21 03:16:17 -0500

Seen: 709 times

Last updated: Nov 03 '16