Including models with different pose has no effect

asked 2021-09-21 10:14:20 -0500

Hello there!

I'm new to Gazebo and the SDF format but by following the tutorials I was able to create models for parts of my hexapod robot. Now I'm trying to assemble some parts to complete a leg. Therefore I followed the corresponding tutorial here. This seemed very simple and it seems like I imported all the files correctly because the parts are appearing in the simulation when I place the Leg model.

The problem I have is that some <pose>-tags seem to be ignored by a model type (Servo).

Does anybody see my mistake?

Thanks in advance!

Here's the code separated by model.sdf files

Leg-Model with working imports but wrong pose:

<?xml version="1.0"?>
<sdf version="1.4">
    <model name="leg">
        <static>true</static>
            <include>
<!--            adapter chassis-leg-->
            <uri>model://adapter_plate</uri>
            <pose>0 0 0 0 0 0</pose>
        </include>

            <include>
<!--            alpha servo-->
                <uri>model://servo</uri>
                <pose>.004 0 0 0 0 0</pose>
            </include>

            <include>
<!--            alpha beta joit adapter-->
            <uri>model://ab_joint_adapter</uri>
            <pose>.030 0 0 0 0 0</pose>
            </include>

            <include>
<!--            beta servo-->
            <uri>model://servo</uri>
            <pose>.056 0 -.014 1.5708 0 0</pose>
            </include>

            <include>
<!--                bg adapter 1-->
                <uri>model://adapter_plate</uri>
                <pose>.104 0 -.014 1.5708 0 0</pose>
            </include>

            <include>
<!--                bg adapter 2-->
                <uri>model://adapter_plate</uri>
                <pose>.108 0 -.014 1.5708 3.1416 0</pose>
            </include>

            <include>
<!--                gammma servo-->
                <uri>model://servo</uri>
                <pose>.124 0 .002 1.5708 1.5708 0 </pose>
            </include>

            <include>
<!--                foot piece-->
                <uri>model://footpiece</uri>
                <pose>.124 0 -.026 0 1.5708 0</pose>
            </include>
    </model>
</sdf>

Adapter-Model:

<?xml version="1.0"?>
<sdf version='1.4'>
    <model name='Servo'>
        <static>true</static>
        <link name='plate'>
            <pose>.002 0 0 0 0 0</pose>

            <collision name='collision'>
                <geometry>
                    <box>
                        <size>.004 .025 .038</size>
                    </box>
                </geometry>
            </collision>

            <visual name="visual">
                <geometry>
                    <box>
                        <size>.004 .025 .038</size>
                    </box>
                </geometry>
            </visual>
        </link>

    </model>
</sdf>

Servo-Model:

<?xml version="1.0"?>
<sdf version='1.4'>
    <model name='Servo'>
        <static>true</static>
        <link name='housing'>
            <pose>.024 0 0 0 0 0</pose>

            <collision name='collision'>
                <geometry>
                    <box>
                        <size>.048 .032 .038</size>
                    </box>
                </geometry>
            </collision>

            <visual name="visual">
                <geometry>
                    <box>
                        <size>.048 .032 .038</size>
                    </box>
                </geometry>
            </visual>
        </link>

        <link name="axel-1">
            <pose>.037 0 .020 0 0 0</pose>

            <collision name="collision">
                <geometry>
                    <cylinder>
                        <radius>.011</radius>
                        <length>.002</length>
                    </cylinder>
                </geometry>
            </collision>

            <visual name="visual">
                <geometry>
                    <cylinder>
                        <radius>.011</radius>
                        <length>.002</length>
                    </cylinder>
                </geometry>
            </visual>
        </link>

        <link name="axel-2">
            <pose>.037 0 -.020 0 0 0</pose>

            <collision name="collision">
                <geometry>
                    <cylinder>
                        <radius>.011</radius>
                        <length>.002</length>
                    </cylinder>
                </geometry>
            </collision>

            <visual name="visual">
                <geometry>
                    <cylinder>
                        <radius>.011</radius>
                        <length>.002</length>
                    </cylinder>
                </geometry>
            </visual>
        </link>
    </model>
</sdf>

AB-Joint-Adapter-Model:

<?xml version="1.0"?>
<sdf version='1.4'>
    <model name='AB-Joint-Adapter'>
        <static>true</static>

        <link name="main-plate">
            <pose>.0335 0 0 0 0 0 0</pose>

            <collision name="collision">
                <geometry>
                    <box>
                        <size>.007 .048 .048</size>
                    </box ...
(more)
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