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my collision is not working

Hello everyone, I am new to gazebo, so I am not very familiar with gazebo.

My problem is about collision. I have put on <collision> tag in my urdf-file ( a hand model ), but the little finger still can run into my Palm. The following is my code, and I record the video. https://gist.github.com/pythongo1/11dea9ba511ab75edcfb4ea4eba161b3

This is the video.

https://youtu.be/rfyfUmKTd70

Thank you for your answer. Thanks.

my collision is not working

Hello everyone, I am new to gazebo, so I am not very familiar with gazebo.

My problem is about collision. I have put on <collision> tag in my urdf-file ( a hand model ), but the little finger still can run into my Palm. The following is my code, and I record the video. video.

https://gist.github.com/pythongo1/11dea9ba511ab75edcfb4ea4eba161b3

This is the video.

https://youtu.be/rfyfUmKTd70

Thank you for your answer. Thanks.

my collision is not working

Hello everyone, I am new to gazebo, so I am not very familiar with gazebo.

My problem is about collision. I have put on <collision> tag in my urdf-file ( a hand model ), but the little finger still can run into my Palm. The following is my code, and I record the video.code.

https://gist.github.com/pythongo1/11dea9ba511ab75edcfb4ea4eba161b3

This is the video.

https://youtu.be/rfyfUmKTd70

Thank you for your answer. Thanks.

my collision is not working

Hello everyone, I am new to gazebo, so I am not very familiar with gazebo.

My problem is about collision. I have put on <collision> tag in my urdf-file ( a hand model ), but the little finger still can run into my Palm. Palm.

The following is my code.

https://gist.github.com/pythongo1/11dea9ba511ab75edcfb4ea4eba161b3

This is the video.

https://youtu.be/rfyfUmKTd70

Thank you for your answer. Thanks.

my collision is not working

Hello everyone, I am new to gazebo, so I am not very familiar with gazebo.

My problem is about collision. I have put on <collision> tag in my urdf-file ( a hand model ), but the little finger still can run into my Palm.

The following is my code.code. <link name="hand_base">

https://gist.github.com/pythongo1/11dea9ba511ab75edcfb4ea4eba161b3

This is the video.

https://youtu.be/rfyfUmKTd70

Thank you for your answer. Thanks.

my collision is not working

Hello everyone, I am new to gazebo, so I am not very familiar with gazebo.

My problem is about collision. I have put on <collision> tag in my urdf-file ( a hand model ), but the little finger still can run into my Palm.

The following is my code. code.

<link name="hand_base">name="hand_base"> is my palm, <link name="finger5"> is the little finger's first part, <link name="finger5_1"> is the little finger's second part.

https://gist.github.com/pythongo1/11dea9ba511ab75edcfb4ea4eba161b3

This is the video.

https://youtu.be/rfyfUmKTd70

Thank you for your answer. Thanks.

my collision is not working

Hello everyone, I am new to gazebo, so I am not very familiar with gazebo.

My problem is about collision. I have put on <collision> tag in my urdf-file ( a hand model ), but the little finger still can run into my Palm.

The following is my code.

<link name="hand_base"> is my palm, <link name="finger5"> is the little finger's first part, <link name="finger5_1"> is the little finger's second part.

https://gist.github.com/pythongo1/11dea9ba511ab75edcfb4ea4eba161b3

https://gist.github.com/pythongo1/11dea9ba511ab75edcfb4ea4eba161b3

This is the video.

https://youtu.be/rfyfUmKTd70

Thank you for your answer. Thanks.

my collision is not working

Hello everyone, I am new to gazebo, so I am not very familiar with gazebo.

My problem is about collision. I have put on <collision> tag in my urdf-file ( a hand model ), but the little finger still can run into my Palm.

The following is my code.

<link name="hand_base"> is my palm, <link name="finger5"> is the little finger's first part, <link name="finger5_1"> is the little finger's second part.

https://gist.github.com/pythongo1/11dea9ba511ab75edcfb4ea4eba161b3

https://gist.github.com/pythongo1/11dea9ba511ab75edcfb4ea4eba161b3
  <!-- real hand base -->

<link name="hand_base"> <visual> <origin xyz="0 0.061515 0" rpy="0 0 0"/> <geometry> <mesh filename="package://rrbot_description/meshes/hand_base_group_version8_final.dae" scale="1 1 1"/> </geometry> <material name="black"/> </visual>

<collision>
  <origin xyz="0 0.061515 0" rpy="0 0 0"/>
  <geometry>
  <!-- for big a bit --> <!-- <box size="0.05 0.1 0.01"/> -->
  <mesh filename="package://rrbot_description/meshes/hand_base_group_version8_final.dae" scale="1 1 1"/>
  </geometry>
</collision>

<inertial>
  <origin xyz="0 0 0"/>
  <mass value="1"/>
  <inertia
  ixx="0.01" ixy="0.0" ixz="0.0"
  iyy="0.01" iyz="0.0"
  izz="0.01"/>
</inertial>

</link>

<joint name="hand_base_to_finger5" type="continuous"> <parent link="hand_base"/> <child link="finger5"/> <origin xyz="-0.03075 0.1099 -0.005841" rpy="0 ${2*PI/360*7} ${2*PI/360*6}"/>

<axis xyz="1 0 0"/>                    <!-- origin 1 0 0 -->
<limit effort="30" velocity="1"/>

</joint>

<link name="finger5"> <visual> <origin xyz="0 0.019427 0"/> <geometry> <mesh filename="package://rrbot_description/meshes/finger5_shell.dae" scale="1 1 1"/> </geometry> <material name="black"/> </visual>

<collision>
  <origin xyz="0 0.019427 0"/>
  <geometry>
    <!-- <box size="0.008 0.0355 0.008"/> -->
    <mesh filename="package://rrbot_description/meshes/finger5_shell.dae" scale="1 1 1"/>
  </geometry>
</collision>

<inertial>
  <origin xyz="0 0 0"/>
  <mass value="1"/>
  <inertia
  ixx="0.01" ixy="0.0" ixz="0.0"
  iyy="0.01" iyz="0.0"
  izz="0.01"/>
</inertial>

</link>

<joint name="finger5_to_finger5_1" type="continuous"> <parent link="finger5"/> <child link="finger5_1"/> <origin xyz="0 0.0355 0" rpy="0 0 0"/>

<axis xyz="1 0 0"/>
<limit effort="30" velocity="1"/>

</joint>

<link name="finger5_1"> <visual> <origin xyz="0 0.017182 0" rpy="0 0 0"/> <geometry> <mesh filename="package://rrbot_description/meshes/finger5_end.dae" scale="1 1 1"/> </geometry> <material name="black"/> </visual>

<collision>
  <origin xyz="0 0.017182 0" rpy="0 0 0"/>   <!-- xyz="0 0.018125 0" no rpy -->
  <geometry>
    <mesh filename="package://rrbot_description/meshes/finger5_end.dae" scale="1 1 1"/>
  </geometry>  <!-- <box size="0.008 0.03625 0.008"/> -->
</collision>

<inertial>
  <origin xyz="0 0 0"/>
  <mass value="1"/>
  <inertia
  ixx="0.01" ixy="0.0" ixz="0.0"
  iyy="0.01" iyz="0.0"
  izz="0.01"/>
</inertial>

</link>

This is the video.

https://youtu.be/rfyfUmKTd70

Thank you for your answer. Thanks.

my collision is not working

Hello everyone, I am new to gazebo, so I am not very familiar with gazebo.

My problem is about collision. I have put on <collision> tag in my urdf-file ( a hand model ), but the little finger still can run into my Palm.

The following is my code.

<link name="hand_base"> is my palm, <link name="finger5"> is the little finger's first part, <link name="finger5_1"> is the little finger's second part.

https://gist.github.com/pythongo1/11dea9ba511ab75edcfb4ea4eba161b3

  <!-- real hand base -->

<link name="hand_base"> <visual> <origin xyz="0 0.061515 0" rpy="0 0 0"/> <geometry> <mesh filename="package://rrbot_description/meshes/hand_base_group_version8_final.dae" scale="1 1 1"/> </geometry> <material name="black"/> </visual>

</visual>

    <collision>
   <origin xyz="0 0.061515 0" rpy="0 0 0"/>
   <geometry>
  <!-- for big a bit --> <!-- <box size="0.05 0.1 0.01"/> -->
   <mesh filename="package://rrbot_description/meshes/hand_base_group_version8_final.dae" scale="1 1 1"/>
   </geometry>
 </collision>

 <inertial>
   <origin xyz="0 0 0"/>
   <mass value="1"/>
  <inertia
      <inertia ixx="0.01" ixy="0.0" ixz="0.0"
  ixz="0.0" iyy="0.01" iyz="0.0"
  iyz="0.0" izz="0.01"/>
 </inertial>

</link>

</link> <joint name="hand_base_to_finger5" type="continuous"> <parent link="hand_base"/> <child link="finger5"/> <origin xyz="-0.03075 0.1099 -0.005841" rpy="0 ${2*PI/360*7} ${2*PI/360*6}"/>

${2*PI/360*6}"/>

    <axis xyz="1 0 0"/>                    <!-- origin 1 0 0 -->
 <limit effort="30" velocity="1"/>

</joint>

</joint> <link name="finger5"> <visual> <origin xyz="0 0.019427 0"/> <geometry> <mesh filename="package://rrbot_description/meshes/finger5_shell.dae" scale="1 1 1"/> </geometry> <material name="black"/> </visual>

</visual>

    <collision>
   <origin xyz="0 0.019427 0"/>
   <geometry>
    <!-- <box size="0.008 0.0355 0.008"/> -->
     <mesh filename="package://rrbot_description/meshes/finger5_shell.dae" scale="1 1 1"/>
   </geometry>
 </collision>

 <inertial>
   <origin xyz="0 0 0"/>
   <mass value="1"/>
  <inertia
      <inertia ixx="0.01" ixy="0.0" ixz="0.0"
  ixz="0.0" iyy="0.01" iyz="0.0"
  iyz="0.0" izz="0.01"/>
 </inertial>

</link>

</link> <joint name="finger5_to_finger5_1" type="continuous"> <parent link="finger5"/> <child link="finger5_1"/> <origin xyz="0 0.0355 0" rpy="0 0 0"/>

0"/>

    <axis xyz="1 0 0"/>
 <limit effort="30" velocity="1"/>

</joint>

</joint> <link name="finger5_1"> <visual> <origin xyz="0 0.017182 0" rpy="0 0 0"/> <geometry> <mesh filename="package://rrbot_description/meshes/finger5_end.dae" scale="1 1 1"/> </geometry> <material name="black"/> </visual>

</visual>

    <collision>
   <origin xyz="0 0.017182 0" rpy="0 0 0"/>   <!-- xyz="0 0.018125 0" no rpy -->
   <geometry>
     <mesh filename="package://rrbot_description/meshes/finger5_end.dae" scale="1 1 1"/>
   </geometry>  <!-- <box size="0.008 0.03625 0.008"/> -->
 </collision>

 <inertial>
   <origin xyz="0 0 0"/>
   <mass value="1"/>
  <inertia
      <inertia ixx="0.01" ixy="0.0" ixz="0.0"
  ixz="0.0" iyy="0.01" iyz="0.0"
  iyz="0.0" izz="0.01"/>
 </inertial>
  </link>

</link>

This is the video.

https://youtu.be/rfyfUmKTd70

Thank you for your answer. Thanks.

my collision is not working

Hello everyone, I am new to gazebo, so I am not very familiar with gazebo.

My problem is about collision. I have put on <collision> tag in my urdf-file ( a hand model ), but the little finger still can run into my Palm.

The following is my code.

<link name="hand_base"> is my palm, <link name="finger5"> is the little finger's first part, <link name="finger5_1"> is the little finger's second part.

https://gist.github.com/pythongo1/11dea9ba511ab75edcfb4ea4eba161b3

  <link name="hand_base">
    <visual>
       <origin xyz="0 0.061515 0" rpy="0 0 0"/>
      <geometry>
       <mesh filename="package://rrbot_description/meshes/hand_base_group_version8_final.dae" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>

    <collision>
      <origin xyz="0 0.061515 0" rpy="0 0 0"/>
      <geometry>
       <mesh filename="package://rrbot_description/meshes/hand_base_group_version8_final.dae" scale="1 1 1"/>
      </geometry>
    </collision>

    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="1"/>
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
    </inertial>
  </link>


   <joint name="hand_base_to_finger5" type="continuous">
    <parent link="hand_base"/>
    <child link="finger5"/>
     <origin xyz="-0.03075 0.1099 -0.005841" rpy="0 ${2*PI/360*7} ${2*PI/360*6}"/>

    <axis xyz="1 0 0"/>         
    <limit effort="30" velocity="1"/>
  </joint>

  <link name="finger5">
    <visual>
      <origin xyz="0 0.019427 0"/>
      <geometry>
         <mesh filename="package://rrbot_description/meshes/finger5_shell.dae" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>

    <collision>
      <origin xyz="0 0.019427 0"/>
      <geometry>
         <mesh filename="package://rrbot_description/meshes/finger5_shell.dae" scale="1 1 1"/>
      </geometry>
    </collision>

    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="1"/>
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
    </inertial>
  </link>

   <joint name="finger5_to_finger5_1" type="continuous">
    <parent link="finger5"/>
    <child link="finger5_1"/>
    <origin xyz="0 0.0355 0" rpy="0 0 0"/>

    <axis xyz="1 0 0"/>
    <limit effort="30" velocity="1"/>
  </joint>
 
  <link name="finger5_1">
    <visual>
      <origin xyz="0 0.017182 0" rpy="0 0 0"/>   
      <geometry>
        <mesh filename="package://rrbot_description/meshes/finger5_end.dae" scale="1 1 1"/>
      </geometry>  
      <material name="black"/>
    </visual>

    <collision>
      <origin xyz="0 0.017182 0" rpy="0 0 0"/>   
      <geometry>
        <mesh filename="package://rrbot_description/meshes/finger5_end.dae" scale="1 1 1"/>
      </geometry>  
    </collision>

    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="1"/>
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
    </inertial>
  </link>

This is the video.

https://youtu.be/rfyfUmKTd70

Thank you for your answer. Thanks.

my collision is not working

Hello everyone, I am new to gazebo, so I am not very familiar with gazebo.

My problem is about collision. I have put on <collision> tag in my urdf-file ( a hand model ), but the little finger still can run into my Palm.

The following is my code.code, and the bottom is the video.

<link name="hand_base"> is my palm, <link name="finger5"> is the little finger's first part, <link name="finger5_1"> is the little finger's second part.

https://gist.github.com/pythongo1/11dea9ba511ab75edcfb4ea4eba161b3

  <link name="hand_base">
    <visual>
      <origin xyz="0 0.061515 0" rpy="0 0 0"/>
      <geometry>
      <mesh filename="package://rrbot_description/meshes/hand_base_group_version8_final.dae" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>

    <collision>
      <origin xyz="0 0.061515 0" rpy="0 0 0"/>
      <geometry>
      <mesh filename="package://rrbot_description/meshes/hand_base_group_version8_final.dae" scale="1 1 1"/>
      </geometry>
    </collision>

    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="1"/>
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
    </inertial>
  </link>


  <joint name="hand_base_to_finger5" type="continuous">
    <parent link="hand_base"/>
    <child link="finger5"/>
    <origin xyz="-0.03075 0.1099 -0.005841" rpy="0 ${2*PI/360*7} ${2*PI/360*6}"/>

    <axis xyz="1 0 0"/>        
    <limit effort="30" velocity="1"/>
  </joint>

  <link name="finger5">
    <visual>
      <origin xyz="0 0.019427 0"/>
      <geometry>
        <mesh filename="package://rrbot_description/meshes/finger5_shell.dae" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>

    <collision>
      <origin xyz="0 0.019427 0"/>
      <geometry>
        <mesh filename="package://rrbot_description/meshes/finger5_shell.dae" scale="1 1 1"/>
      </geometry>
    </collision>

    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="1"/>
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
    </inertial>
  </link>

  <joint name="finger5_to_finger5_1" type="continuous">
    <parent link="finger5"/>
    <child link="finger5_1"/>
    <origin xyz="0 0.0355 0" rpy="0 0 0"/>

    <axis xyz="1 0 0"/>
    <limit effort="30" velocity="1"/>
  </joint>

  <link name="finger5_1">
    <visual>
      <origin xyz="0 0.017182 0" rpy="0 0 0"/>   
      <geometry>
        <mesh filename="package://rrbot_description/meshes/finger5_end.dae" scale="1 1 1"/>
      </geometry>  
      <material name="black"/>
    </visual>

    <collision>
      <origin xyz="0 0.017182 0" rpy="0 0 0"/>   
      <geometry>
        <mesh filename="package://rrbot_description/meshes/finger5_end.dae" scale="1 1 1"/>
      </geometry>  
    </collision>

    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="1"/>
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
    </inertial>
  </link>

This is the video.

https://youtu.be/rfyfUmKTd70

Thank you for your answer. Thanks.