# Revision history [back]

### Gazebo cannot load the model as rviz

Hello guys,

I just found that the model exported from SOLIDWORKS sw2urdf plugin could not display/load correctly in Gazebo. There are totally four links of the robot and only the base and the first link were in their desired positions, while the rest just lay on the ground. I am sure that I set the transmission label and collision label in the urdf file.

This problem does not occur in rviz and I could even adjust the state of joints in the GUI. Therefore I suppose this might be the problem of Gazebo?

BTW, I have disabled the controller plugin in the urdf file, otherwise, Gazebo would be stuck at the "Preparing the world" stage and be black. Is that the issue of the controller?

Env: VMWare Ubuntu 18.04 + ROS Melodic + Gazebo 9