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How to spawn a model on ROS Groovy Gazebo without falling down?

I use ROS Groovy and ubuntu 12.04.

I can successfully adding a table on gazebo.

I also can spawn a coke_can object stable without falling down on a table.

But when I spawn the testtubeshelf.urdf, it fall down everytime.

How to fix it?

Thank you~

The following is the details.

coke_can.urdf :

<robot name="coke_can_model">
  <link name="coke_can">
    <inertial>
      <mass value="0.1" />
      <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
      <origin xyz="0 0 0.06" /> 
      <inertia  ixx="0.1" ixy="0.0"  ixz="0.0"  iyy="0.1"  iyz="0.0"  izz="0.1" />
    </inertial>
    <visual>
      <!-- visual origin is defined w.r.t. link local coordinate system -->
      <origin xyz="0 0 -0.18" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://sam_pr2_lab_auto_scene_6/urdf/coke_can.dae" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <!-- collision origin is defined w.r.t. link local coordinate system -->
      <origin xyz="0 0 -0.18" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://sam_pr2_lab_auto_scene_6/urdf/coke_can.dae" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
  </link>
  <gazebo reference="coke_can">
    <material>Gazebo/Red</material>
    <turnGravityOff>false</turnGravityOff>
    <kp>100000000.0</kp>
    <kd>1000000.0</kd>
  </gazebo>
</robot>

Here is the dae file link.

testtubeshelf.urdf :

<robot name="test_tube_shelf_model">
  <link name="test_tube_shelf">
    <inertial>
      <mass value="0.1" />
      <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
      <origin xyz="0 0 0.06" /> 
      <inertia  ixx="0.1" ixy="0.0"  ixz="0.0"  iyy="0.1"  iyz="0.0"  izz="0.1" />
    </inertial>
    <visual>
      <!-- visual origin is defined w.r.t. link local coordinate system -->
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://sam_pr2_lab_auto_scene_6/urdf/test_tube_shelf.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <!-- collision origin is defined w.r.t. link local coordinate system -->
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://sam_pr2_lab_auto_scene_6/urdf/test_tube_shelf.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
  </link>
  <gazebo reference=" test_tube_shelf ">
    <material>Gazebo/Red</material>
    <turnGravityOff>false</turnGravityOff>
    <kp>100000000.0</kp>
    <kd>1000000.0</kd>
  </gazebo>
</robot>

testtubeshelf.dae :

<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
  <asset>
    <contributor>
      <author>Blender User</author>
      <authoring_tool>Blender 2.65.0 r52859</authoring_tool>
    </contributor>
    <created>2014-07-25T10:15:56</created>
    <modified>2014-07-25T10:15:56</modified>
    <unit name="meter" meter="1"/>
    <up_axis>Z_UP</up_axis>
  </asset>
  <library_images/>
  <library_effects/>
  <library_geometries>
    <geometry id="Square_Rack-mesh" name="Square Rack">
      <mesh>
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246 86 246 86 247 174 247 173 247 63 248 175 248 80 248 80 249 175 249 174 249 95 250 176 250 63 250 63 251 176 251 175 251 98 252 177 252 95 252 95 253 177 253 176 253 103 254 178 254 98 254 98 255 178 255 177 255 42 256 179 256 103 256 103 257 179 257 178 257 42 258 55 258 179 258 179 259 55 259 180 259 55 260 91 260 180 260 180 261 91 261 181 261 181 262 91 262 90 262 182 263 181 263 90 263 182 264 90 264 9 264 183 265 182 265 9 265 183 266 9 266 96 266 184 267 183 267 96 267 184 268 96 268 66 268 185 269 184 269 66 269 185 270 66 270 88 270 186 271 185 271 88 271 186 272 88 272 89 272 187 273 186 273 89 273 187 274 89 274 74 274 171 275 187 275 74 275 75 276 47 276 188 276 189 277 75 277 188 277 47 278 46 278 190 278 188 279 47 279 190 279 44 280 191 280 46 280 46 281 191 281 190 281 43 282 192 282 44 282 44 283 192 283 191 283 73 284 193 284 43 284 43 285 193 285 192 285 78 286 194 286 73 286 73 287 194 287 193 287 100 288 195 288 78 288 78 289 195 289 194 289 99 290 196 290 100 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333 217 333 217 334 104 334 94 334 218 335 217 335 94 335 218 336 94 336 93 336 219 337 218 337 93 337 219 338 93 338 10 338 220 339 219 339 10 339 220 340 10 340 92 340 221 341 220 341 92 341 221 342 92 342 54 342 222 343 221 343 54 343 222 344 54 344 53 344 223 345 222 345 53 345 223 346 53 346 41 346 207 347 223 347 41 347 116 348 118 348 119 348 121 349 116 349 120 349 120 350 116 350 119 350 122 351 116 351 121 351 123 352 116 352 122 352 124 353 116 353 123 353 125 354 116 354 124 354 126 355 116 355 125 355 127 356 116 356 126 356 128 357 116 357 127 357 129 358 116 358 128 358 130 359 116 359 129 359 131 360 116 360 130 360 132 361 116 361 131 361 133 362 116 362 132 362 117 363 116 363 133 363 134 364 136 364 137 364 139 365 134 365 138 365 138 366 134 366 137 366 140 367 134 367 139 367 141 368 134 368 140 368 142 369 134 369 141 369 143 370 134 370 142 370 144 371 134 371 143 371 145 372 134 372 144 372 146 373 134 373 145 373 147 374 134 374 146 374 148 375 134 375 147 375 149 376 134 376 148 376 150 377 134 377 149 377 151 378 134 378 150 378 135 379 134 379 151 379 152 380 154 380 155 380 157 381 152 381 156 381 156 382 152 382 155 382 158 383 152 383 157 383 159 384 152 384 158 384 160 385 152 385 159 385 161 386 152 386 160 386 162 387 152 387 161 387 163 388 152 388 162 388 164 389 152 389 163 389 165 390 152 390 164 390 166 391 152 391 165 391 167 392 152 392 166 392 168 393 152 393 167 393 169 394 152 394 168 394 153 395 152 395 169 395 170 396 172 396 173 396 175 397 170 397 174 397 174 398 170 398 173 398 176 399 170 399 175 399 177 400 170 400 176 400 178 401 170 401 177 401 179 402 170 402 178 402 180 403 170 403 179 403 181 404 170 404 180 404 182 405 170 405 181 405 183 406 170 406 182 406 184 407 170 407 183 407 185 408 170 408 184 408 186 409 170 409 185 409 187 410 170 410 186 410 171 411 170 411 187 411 188 412 190 412 191 412 193 413 188 413 192 413 192 414 188 414 191 414 194 415 188 415 193 415 195 416 188 416 194 416 196 417 188 417 195 417 197 418 188 418 196 418 198 419 188 419 197 419 199 420 188 420 198 420 200 421 188 421 199 421 201 422 188 422 200 422 202 423 188 423 201 423 203 424 188 424 202 424 204 425 188 425 203 425 205 426 188 426 204 426 189 427 188 427 205 427 206 428 208 428 209 428 211 429 206 429 210 429 210 430 206 430 209 430 212 431 206 431 211 431 213 432 206 432 212 432 214 433 206 433 213 433 215 434 206 434 214 434 216 435 206 435 215 435 217 436 206 436 216 436 218 437 206 437 217 437 219 438 206 438 218 438 220 439 206 439 219 439 221 440 206 440 220 440 222 441 206 441 221 441 223 442 206 442 222 442 207 443 206 443 223 443</p>
        </polylist>
      </mesh>
      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
    </geometry>
  </library_geometries>
  <library_visual_scenes>
    <visual_scene id="Scene" name="Scene">
      <node id="Square_Rack" name="Square_Rack" type="NODE">
        <translate sid="location">0 -2.353208 0</translate>
        <rotate sid="rotationZ">0 0 1 0</rotate>
        <rotate sid="rotationY">0 1 0 0</rotate>
        <rotate sid="rotationX">1 0 0 0</rotate>
        <scale sid="scale">0.1 0.1 0.1</scale>
        <instance_geometry url="#Square_Rack-mesh"/>
      </node>
    </visual_scene>
  </library_visual_scenes>
  <scene>
    <instance_visual_scene url="#Scene"/>
  </scene>
</COLLADA>

I spawn coke_can.urdf by:

rosrun gazebo spawn_model -urdf -file `rospack find sam_pr2_lab_auto_scene_6`/urdf/coke_can.urdf -model coke_can_1 -x 0.7 -z 0.6

I spawn testtubeshelf.urdf by:

rosrun gazebo spawn_model -urdf -file `rospack find sam_pr2_lab_auto_scene_6`/urdf/test_tube_shelf.urdf -model test_tube_shelf -x 0.7 -z 1.0

Asked by sam on 2014-08-02 06:10:06 UTC

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