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Fix Robot base to ground

hi. I want to model inverted pendulum. i fix body with distance to ground and revolute joint and another link as a bar. but it fixed to grounf with a lot of distance!!! here is my code : <robot name="InvertedPendulum"> <link name="world"/> <link name="InvPendulum__Base"> <inertial> <mass value="2"/> <origin xyz="0 0 2" rpy="0 0 0"/> <inertia ixx="0.333333" ixy="0" ixz="0" iyy="0.333333" iyz="0" izz="0.333333"/> </inertial> <collision name="InvPendulum__collision"> <origin xyz="0 0 2" rpy="0 0 0"/> <geometry> <box size="0.5 0.025 0.25"/> </geometry> </collision> <visual name="InvPendulum__visual"> <origin xyz="0 0 2" rpy="0 0 0"/> <geometry> <box size="0.5 0.25 0.25"/> </geometry> </visual> </link> <link name="InvPendulum__Bar"> <inertial> <mass value="2"/> <origin xyz="0 0 -0.75" rpy="0 0 0"/> <inertia ixx="0.385417" ixy="0" ixz="0" iyy="0.385417" iyz="0" izz="0.0208333"/> </inertial> <collision name="InvPendulum__collision"> <origin xyz="0 0 -0.75" rpy="0 0 0"/> <geometry> <box size="0.1 0.1 1.5"/> </geometry> </collision> <visual name="InvPendulum__visual"> <origin xyz="0 0 -0.75" rpy="0 0 0"/> <geometry> <box size="0.1 0.1 1.5"/> </geometry> </visual> </link> <joint name="InvPendulum__RevJoint" type="revolute"> <parent link="InvPendulum__Base"/> <child link="InvPendulum__Bar"/> <origin xyz="0 0 2" rpy="0 0 0"/> <axis xyz="0 -1 0"/> <limit lower="-1.79769e+308" upper="1.79769e+308" effort="-1.0" velocity="-1.0"/> </joint> <joint name="fix" type="fixed"> <parent link="world"/> <child link="InvPendulum__Base"/> <origin xyz="0 0 0" rpy="0 0 0"/> </joint> </robot>

I think it is kind of bug. please help me. thanks

Fix Robot base to ground

hi. I want to model inverted pendulum. i fix body with distance to ground and revolute joint and another link as a bar. but it fixed to grounf with a lot of distance!!! here is my code : image description <robot name="InvertedPendulum"> <link name="world"/> <link name="InvPendulum__Base"> <inertial> <mass value="2"/> <origin xyz="0 0 2" rpy="0 0 0"/> <inertia ixx="0.333333" ixy="0" ixz="0" iyy="0.333333" iyz="0" izz="0.333333"/> </inertial> <collision name="InvPendulum__collision"> <origin xyz="0 0 2" rpy="0 0 0"/> <geometry> <box size="0.5 0.025 0.25"/> </geometry> </collision> <visual name="InvPendulum__visual"> <origin xyz="0 0 2" rpy="0 0 0"/> <geometry> <box size="0.5 0.25 0.25"/> </geometry> </visual> </link> <link name="InvPendulum__Bar"> <inertial> <mass value="2"/> <origin xyz="0 0 -0.75" rpy="0 0 0"/> <inertia ixx="0.385417" ixy="0" ixz="0" iyy="0.385417" iyz="0" izz="0.0208333"/> </inertial> <collision name="InvPendulum__collision"> <origin xyz="0 0 -0.75" rpy="0 0 0"/> <geometry> <box size="0.1 0.1 1.5"/> </geometry> </collision> <visual name="InvPendulum__visual"> <origin xyz="0 0 -0.75" rpy="0 0 0"/> <geometry> <box size="0.1 0.1 1.5"/> </geometry> </visual> </link> <joint name="InvPendulum__RevJoint" type="revolute"> <parent link="InvPendulum__Base"/> <child link="InvPendulum__Bar"/> <origin xyz="0 0 2" rpy="0 0 0"/> <axis xyz="0 -1 0"/> <limit lower="-1.79769e+308" upper="1.79769e+308" effort="-1.0" velocity="-1.0"/> </joint> <joint name="fix" type="fixed"> <parent link="world"/> <child link="InvPendulum__Base"/> <origin xyz="0 0 0" rpy="0 0 0"/> </joint> </robot>

I think it is kind of bug. please help me. thanks

Fix Robot base to ground

hi. I want to model inverted pendulum. i fix body with distance to ground and revolute joint and another link as a bar. but it fixed to grounf with a lot of distance!!! here is my code : image description I think it is kind of bug. please help me. thanksthanks![

image description