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Importing models on gazebo

I have a model that I consists of a shelf and some boxes in it. image description

I made this model on other programs like blender or google sketchup and imported on gazebo as Collada file.

I'm facing two issue on the gazebo model:

  1. On importing the collada file from any other software no texture is applied.

  2. The figure shows the collision of my model. That is correct. However, when my robot bump against one of the box it does not move. My model is set static.

This is my sdf file:

   <?xml version='1.0'?>
   <sdf version='1.6'>
   <model name='blender_shelf'>
     <link name='link_0'>
     <pose frame=''>0 0 0 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
           <ixx>0.166667</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
           <iyy>0.166667</iyy>
           <iyz>0</iyz>
           <izz>0.166667</izz>
        </inertia>
      </inertial>
   <visual name='visual'>
    <pose frame=''>0 0 0 0 -0 0</pose>
    <geometry>
      <mesh>
        <uri>/home/bruno/tests/blender_files/populated-_shelf.dae</uri>
        <scale>1 1 1</scale>
      </mesh>
    </geometry>
    <material>
      <lighting>1</lighting>
      <script>
        <uri>file://media/materials/scripts/gazebo.material</uri>
        <name>Gazebo/Grey</name>
      </script>
      <ambient>0.3 0.3 0.3 1</ambient>
      <diffuse>0.7 0.7 0.7 1</diffuse>
      <specular>0.01 0.01 0.01 1</specular>
      <emissive>0 0 0 1</emissive>
    </material>
    <cast_shadows>1</cast_shadows>
    <transparency>0</transparency>
  </visual>
  <collision name='collision'>
    <laser_retro>0</laser_retro>
    <max_contacts>10</max_contacts>
    <pose frame=''>0 0 0 0 -0 0</pose>
    <geometry>
      <mesh>
        <uri>/home/bruno/tests/blender_files/populated-_shelf.dae</uri>
      </mesh>
    </geometry>
    <surface>
      <friction>
        <ode>
          <mu>1</mu>
          <mu2>1</mu2>
          <fdir1>0 0 0</fdir1>
          <slip1>0</slip1>
          <slip2>0</slip2>
        </ode>
        <torsional>
          <coefficient>1</coefficient>
          <patch_radius>0</patch_radius>
          <surface_radius>0</surface_radius>
          <use_patch_radius>1</use_patch_radius>
          <ode>
            <slip>0</slip>
          </ode>
        </torsional>
      </friction>
      <bounce>
        <restitution_coefficient>0</restitution_coefficient>
         <threshold>1e+06</threshold>
      </bounce>
      <contact>
        <collide_without_contact>0</collide_without_contact>
        <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
        <collide_bitmask>1</collide_bitmask>
        <ode>
          <soft_cfm>0</soft_cfm>
          <soft_erp>0.2</soft_erp>
          <kp>1e+13</kp>
          <kd>1</kd>
          <max_vel>0.01</max_vel>
          <min_depth>0</min_depth>
        </ode>
        <bullet>
          <split_impulse>1</split_impulse>
          <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
          <soft_cfm>0</soft_cfm>
          <soft_erp>0.2</soft_erp>
          <kp>1e+13</kp>
          <kd>1</kd>
        </bullet>
      </contact>
    </surface>
  </collision>
</link>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>