applying force on joints make the simulation halt.

asked 2023-06-25 07:09:42 -0500

Asif Khan gravatar image

updated 2023-06-26 20:23:39 -0500

azeey gravatar image

I am applying very small forces on the joints on my robot in gazebo. And they are working weirdly when i apply a very small force on it works normal. but as the force increase becomes very unstable and halts the simulation. This happens for every joint.

<joint name='Joint_4' type='revolute'>
 <pose relative_to='Link_3'>0 -0.3258 0.05 0 -0 0</pose>
        <xyz>0 0 -1</xyz>
    <link name='Link_4'>
      <pose relative_to='Joint_4'>0 0 -0.05 0 0 0</pose>
      <!-- <gravity>0</gravity> -->
        <pose>0.002268 -0.081323 0.043708 0 -0 0</pose>
        <mass>0.175</mass> <!-- 0.132175 -->
      <collision name='Link_4_collision'>
        <pose>0 0 0 0 0 0</pose>
            <scale>1 1 1</scale>
              <fdir1>1 0 0</fdir1>
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Do the links in your model have proper inertia values?

azeey gravatar imageazeey ( 2023-06-26 20:25:00 -0500 )edit

Yeah the inertia (purple in gazebo) covers the .stl identically (a box structure). I also tried changing my arm links to simple meshes (boxes without collision) but still didn't help.

Asif Khan gravatar imageAsif Khan ( 2023-07-06 13:00:46 -0500 )edit