Launching URDF model in gazebo, when I press the "run" key, the model is in chaos? How to solve the problem?

Archive Gazebo Help
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2018-03-15%2020%3A27%3A23%E5%B1%8F%E5%B9%95%E6%88%AA%E5%9B%BE
2018-03-15%2020%3A27%3A23%E5%B1%8F%E5%B9%95%E6%88%AA%E5%9B%BE680×461 14.7 KB

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In Rviz ,the URDF model can run well, and every joint runs well.

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As far as I know, there may be several reasons for it.
What do you mean by chaos? Twitching behavior?
Maybe it would be useful if you could provide the URDF of the robot.

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/neuoid transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 1 Thank you for your reply. Above is a part of the URDF file. When I press the "run" key in Gazebo, the coordinate of each joint comes together. So every link is in chaos. Thanks.