robotology/human-gazebo

Import Human Model in Gazebo

MarcoCaianiello opened this issue · 3 comments

MarcoCaianiello commented

If i try to import one of the urdf file in Gazebo, only the Pelvis link spawn.
In line 9 there is the following comment:
To open this model with Gazebo replace the null masses, inertias and dimensions of the 'fake links f1 and f2
I have changed all the values and now all the links spawn correctly. Despite that, the robot is unstable (See Video).

test_urdf.mp4
ne-ak commented

Hello Marco, how did you change those values? I am having problem to understand how to replace them. Thank you in advance.

lrapetti commented

Hello Marco, how did you change those values? I am having problem to understand how to replace them. Thank you in advance.

Hi @ne-ak, I think changing it with something like

<inertial>
            <mass value="0.0001"/>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.0001" iyy="0.0001" izz="0.0001" ixy="0" ixz="0" iyz="0"/>
        </inertial>

for all the link that have currently mass=0, might work (if it doesn't you can try to use 0.001).

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