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NAO model falls when I start simulation

asked 2019-06-12 19:33:07 -0500

sheila gravatar image

Hi, I am relatively new to ROS but I have successfully put my NAO model into Gazebo (using the V6 URDF file). I have added controllers.

Everything works good until I start the simulation, at which time gravity is applied. My nao model falls to the ground in one piece. I have set my PID values to 0 and I have set friction and damping to 0. Before setting these value to 0, I had them at some default (values from a different simulator) and this caused my model to collapse into it's different parts, breaking the model apart.

If someone can provide me with some advice on how to resolve this issue, that would be great!

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answered 2019-06-20 09:08:53 -0500

kumpakri gravatar image

Questions for you:

  • What does it mean "Everything works good until I start the simulation"? How does it "work"? I'm confused because you write "until I start the simulation", indicating, that the simulation was either paused before or not started yet. So what "worked" when the simulation was paused or shut down?
  • What PID values result in the robot falling behavior? Did you try any other values? Can you try other? Maybe start with only P regulator. (k_i = 0, k_d=0, k_p = a, where a is some positive number)
  • What controller type do you use?
  • What are the physical properties of the robot? (link mass, inerial matrix, joint friction, joint force limits, ...) Do they make sense?
  • When you launch the simulation, what does it print about controllers on the terminal? Does it say it's loaded? What controllers it prints as loaded? What controllers do you expect to be loaded? (show us the controller yaml and launch file?)
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Asked: 2019-06-12 19:33:07 -0500

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Last updated: Jun 20 '19