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How to change the origin in Gazebo?

asked 2013-12-17 21:41:36 -0600

updated 2013-12-17 21:45:01 -0600


I have problems when to try to load this robot:



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How do you load the model? If from the world file, you can add there the spawning position, you can also add an offset in the robots .sdf file

AndreiHaidu gravatar imageAndreiHaidu ( 2013-12-18 06:04:13 -0600 )edit

I'm insert to Nao from Gazebo and I have problems when use .world file How can I add an offset in the robot .sdf file?

vncntmh gravatar imagevncntmh ( 2013-12-18 18:01:15 -0600 )edit

Is your model given in URDF or SDF format?

scpeters gravatar imagescpeters ( 2013-12-18 18:31:50 -0600 )edit

the model is SDF format

vncntmh gravatar imagevncntmh ( 2013-12-18 20:08:40 -0600 )edit

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answered 2013-12-18 19:48:24 -0600

scpeters gravatar image

If your model is in SDF format, then you can add a <pose> element under the <model> tag which will apply an offset to the robot origin.

For example to raise the robot by 1 meter:

<model name="nao">

<pose>0 0 1 0 0 0</pose>

<link ...


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a lot of thanks!!

vncntmh gravatar imagevncntmh ( 2013-12-18 20:09:09 -0600 )edit

If I want to spawn a multi link robot with an offset on the z direction, do I have to specify the offset for each link or there's a more general command for this that moves the robot all at once?

Carbon Based Lifeform gravatar imageCarbon Based Lifeform ( 2014-04-10 10:37:51 -0600 )edit
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Asked: 2013-12-17 21:41:36 -0600

Seen: 8,517 times

Last updated: Dec 18 '13