How did you guys setting <inertial> in URDF? my Robots are Flying away

I’m trying to train my own Robots on rough terrain,
But my robots getting fly away, Quadruped wingged Robot :)
As I know gazebo works like this too when inertia gets wrong

I’m a very new in this area so
do you guys have any tips about setting urdf inertia?

Find this line and check if the gravity is set to -9.81 or not
sim_params.gravity = gymapi.Vec3(0.0, -9.81, 0) or (0.0, 0.0, -9.81)

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Thanks for reply !
I set the gravity to z axis and there were no problems.

I matched my all URDF’s inertial to visual <origin xyz='0 0 0'/> data

   <origin xyz="0 0 0"/>
   <origin xyz="0 0 0"/> #like this

and then it doesn’t fly again.
I used Solidworks → URDF converting method ( RosWiki site )

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