Objects sinking through floor

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Objects sinking through floor

Rein Appeldoorn
Hi,

I'm working on a simulation of an autonomous football table. When I model
the ball, it's sinking through the floor. Because the geometry of the ball
is quite small (radius of 0.015), this sinking is not acceptable. Strange
enough, when I check the other objects, they're all sinking a little bit.
Does anybody have an explanation for this?

A thing I can do is scale up all models, this makes the relative errors much
less. Does anybody got experience with this fact? Is scaling a good
solution?

Thanks in advance!

Regards,

Rein
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Re: Objects sinking through floor

John Hsu-2
Hi,

you can check to see if contactSurfaceLayer is small, e.g.

<contactSurfaceLayer>0</contactSurfaceLayer>

in addition, you might want to make sure <CFM> is 0.

hope this helps.

John

On Wed, Jun 8, 2011 at 11:00 AM, Rein Appeldoorn <[hidden email]> wrote:

> Hi,
>
> I'm working on a simulation of an autonomous football table. When I model
> the ball, it's sinking through the floor. Because the geometry of the ball
> is quite small (radius of 0.015), this sinking is not acceptable. Strange
> enough, when I check the other objects, they're all sinking a little bit.
> Does anybody have an explanation for this?
>
> A thing I can do is scale up all models, this makes the relative errors
> much
> less. Does anybody got experience with this fact? Is scaling a good
> solution?
>
> Thanks in advance!
>
> Regards,
>
> Rein
>
> ------------------------------------------------------------------------------
> EditLive Enterprise is the world's most technically advanced content
> authoring tool. Experience the power of Track Changes, Inline Image
> Editing and ensure content is compliant with Accessibility Checking.
> http://p.sf.net/sfu/ephox-dev2dev
> _______________________________________________
> Playerstage-gazebo mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>



--
John Hsu, Ph.D.
Senior Research Engineer
Willow Garage Inc.
+1-650-475-2809
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Re: Objects sinking through floor

Rein Appeldoorn
I checked those two parameters but nothing changes. Is this a known fact or
is this just something weird? Here is the world file I'm using:

-----------------------------------------------------------------------------------

<?xml version="1.0"?>

<gazebo:world
    xmlns:xi="http://www.w3.org/2001/XInclude"
    xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
    xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"

    xmlns:sensor="
http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
    xmlns:window="
http://playerstage.sourceforge.net/gazebo/xmlschema/#window"
    xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param"

    xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
    xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
    xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"

    xmlns:interface="
http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
    xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
    xmlns:rendering="
http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
    xmlns:controller="
http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
    xmlns:physics="
http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" >

    <verbosity>5</verbosity>

    <physics:ode>
        <stepTime>0.005</stepTime>
        <gravity>0 0 -9.8</gravity>
        <cfm>0</cfm>
        <erp>0.8</erp>
        <quickStep>true</quickStep>
        <quickStepIters>100</quickStepIters>
        <quickStepW>1.3</quickStepW>
        <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
        <contactSurfaceLayer>0.0</contactSurfaceLayer>
        <updateRate>0</updateRate>
    </physics:ode>

    <rendering:gui>
        <type>fltk</type>
        <size>800 600</size>
        <pos>0 0</pos>
    </rendering:gui>

    <rendering:ogre>
        <ambient>0.8 0.8 0.8 1.0</ambient>
        <sky>
            <material>Gazebo/CloudySky</material>
        </sky>
        <grid>false</grid>
        <shadowTechnique>stencilModulative</shadowTechnique>
    </rendering:ogre>

    <!-- The Ground Plane -->
    <model:physical name="groundplane_model">
        <xyz>0 0 0</xyz>
        <rpy>0 0 0</rpy>
        <static>true</static>

        <body:plane name="ground_plane_body">
            <geom:plane name="ground_plane_geom">
                <normal>0 0 1</normal>
                <size>1000 1000</size>
                <segments>100 100</segments>
                <uvTile>100 100</uvTile>
                <material>Gazebo/GrassFloor</material>
                <mu1>109999.0</mu1>
                <mu2>1000.0</mu2>
            </geom:plane>
        </body:plane>
    </model:physical>
    <!-- End Ground Plane -->

    <!-- The Ball Model -->
    <model:physical name="ball_model">
        <xyz>0.025 0 1</xyz>
        <static>false</static>

        <body:sphere name="ball_body">
            <geom:sphere name="ball_geom">
                <xyz>0 0 0</xyz>
                <size>0.015</size>
                <mass>0.02</mass>

                <visual>
                    <size>0.03 0.03 0.03</size>
                    <mesh>unit_sphere</mesh>
                    <material>Gazebo/White</material>
                </visual>
                <mu1>109999.0</mu1>
            </geom:sphere>
        </body:sphere>
    </model:physical>
    <!-- End Ball Model -->


    <!-- The White Point light -->
    <model:renderable name="point_white">
        <xyz>-3 0 5</xyz>
        <static>true</static>
        <light>
            <type>point</type>
            <diffuseColor>0.8 0.8 0.8</diffuseColor>
            <specularColor>0.1 0.1 0.1</specularColor>
            <range>20</range>

            <!-- Constant(0-1) Linear(0-1) Quadratic -->
            <attenuation>0.3 0.01 0</attenuation>
        </light>
    </model:renderable>
    <!-- End White Point light -->

</gazebo:world>

-----------------------------------------------------------------------------------

Do you guys get the same behavior? If so, is there any fix or a way to get
rid of this?

Thanks in advance!

Rein

On Wed, Jun 8, 2011 at 8:33 PM, John Hsu <[hidden email]> wrote:

> Hi,
>
> you can check to see if contactSurfaceLayer is small, e.g.
>
> <contactSurfaceLayer>0</contactSurfaceLayer>
>
> in addition, you might want to make sure <CFM> is 0.
>
> hope this helps.
>
> John
>
> On Wed, Jun 8, 2011 at 11:00 AM, Rein Appeldoorn <[hidden email]>
> wrote:
>
> > Hi,
> >
> > I'm working on a simulation of an autonomous football table. When I model
> > the ball, it's sinking through the floor. Because the geometry of the
> ball
> > is quite small (radius of 0.015), this sinking is not acceptable. Strange
> > enough, when I check the other objects, they're all sinking a little bit.
> > Does anybody have an explanation for this?
> >
> > A thing I can do is scale up all models, this makes the relative errors
> > much
> > less. Does anybody got experience with this fact? Is scaling a good
> > solution?
> >
> > Thanks in advance!
> >
> > Regards,
> >
> > Rein
> >
> >
> ------------------------------------------------------------------------------
> > EditLive Enterprise is the world's most technically advanced content
> > authoring tool. Experience the power of Track Changes, Inline Image
> > Editing and ensure content is compliant with Accessibility Checking.
> > http://p.sf.net/sfu/ephox-dev2dev
> > _______________________________________________
> > Playerstage-gazebo mailing list
> > [hidden email]
> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >
>
>
>
> --
> John Hsu, Ph.D.
> Senior Research Engineer
> Willow Garage Inc.
> +1-650-475-2809
>
> ------------------------------------------------------------------------------
> EditLive Enterprise is the world's most technically advanced content
> authoring tool. Experience the power of Track Changes, Inline Image
> Editing and ensure content is compliant with Accessibility Checking.
> http://p.sf.net/sfu/ephox-dev2dev
> _______________________________________________
> Playerstage-gazebo mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>
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Re: Objects sinking through floor

Kamil Muszyński
Hello,

here is a sample ball model I'm using for my simulations. Notice the
<kd> and <kp> params and try to play with their values - they control
how much force
is applied to this specific ball model to prevent it from sinking:

<body:sphere name = "ball_body">
        <dampingFactor>0.0001</dampingFactor>
        <xyz>0 0 0</xyz>
        <rpy>0 0 0</rpy>
        <geom:sphere name = "ball_geom">
                <xyz>0 0 0.01</xyz>
                <rpy>0 0 0 </rpy>
                <size>0.02</size>
                <mu1>0.3</mu1>
                <kp>2e6</kp>
                <kd>2e6</kd>
                <bounce>120</bounce>
                <bounceVel>0.5</bounceVel>
               
                <slip1>0.7</slip1>
                <slip2>0.7</slip2>
                       
                <mass>0.045</mass>
                <visual>
                        <scale>0.02 0.02 0.02</scale>
                        <mesh>unit_sphere</mesh>
                        <material>Gazebo/Robocup_orange</material>
                </visual>
        </geom:sphere>
</body:sphere>


Also global parameters like step time, erp and cfm does matter, I'm
using those values:
<stepTime>0.002</stepTime>
<erp>0.9</erp>
<cfm>0.01</cfm>

I hope that will help you,

Best regards,
Kamil Muszyński


2011/6/9 Rein Appeldoorn <[hidden email]>:

> I checked those two parameters but nothing changes. Is this a known fact or
> is this just something weird? Here is the world file I'm using:
>
> -----------------------------------------------------------------------------------
>
> <?xml version="1.0"?>
>
> <gazebo:world
>    xmlns:xi="http://www.w3.org/2001/XInclude"
>    xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
>    xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
>
>    xmlns:sensor="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
>    xmlns:window="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#window"
>    xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param"
>
>    xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
>    xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
>    xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
>
>    xmlns:interface="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
>    xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
>    xmlns:rendering="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
>    xmlns:controller="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
>    xmlns:physics="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" >
>
>    <verbosity>5</verbosity>
>
>    <physics:ode>
>        <stepTime>0.005</stepTime>
>        <gravity>0 0 -9.8</gravity>
>        <cfm>0</cfm>
>        <erp>0.8</erp>
>        <quickStep>true</quickStep>
>        <quickStepIters>100</quickStepIters>
>        <quickStepW>1.3</quickStepW>
>        <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
>        <contactSurfaceLayer>0.0</contactSurfaceLayer>
>        <updateRate>0</updateRate>
>    </physics:ode>
>
>    <rendering:gui>
>        <type>fltk</type>
>        <size>800 600</size>
>        <pos>0 0</pos>
>    </rendering:gui>
>
>    <rendering:ogre>
>        <ambient>0.8 0.8 0.8 1.0</ambient>
>        <sky>
>            <material>Gazebo/CloudySky</material>
>        </sky>
>        <grid>false</grid>
>        <shadowTechnique>stencilModulative</shadowTechnique>
>    </rendering:ogre>
>
>    <!-- The Ground Plane -->
>    <model:physical name="groundplane_model">
>        <xyz>0 0 0</xyz>
>        <rpy>0 0 0</rpy>
>        <static>true</static>
>
>        <body:plane name="ground_plane_body">
>            <geom:plane name="ground_plane_geom">
>                <normal>0 0 1</normal>
>                <size>1000 1000</size>
>                <segments>100 100</segments>
>                <uvTile>100 100</uvTile>
>                <material>Gazebo/GrassFloor</material>
>                <mu1>109999.0</mu1>
>                <mu2>1000.0</mu2>
>            </geom:plane>
>        </body:plane>
>    </model:physical>
>    <!-- End Ground Plane -->
>
>    <!-- The Ball Model -->
>    <model:physical name="ball_model">
>        <xyz>0.025 0 1</xyz>
>        <static>false</static>
>
>        <body:sphere name="ball_body">
>            <geom:sphere name="ball_geom">
>                <xyz>0 0 0</xyz>
>                <size>0.015</size>
>                <mass>0.02</mass>
>
>                <visual>
>                    <size>0.03 0.03 0.03</size>
>                    <mesh>unit_sphere</mesh>
>                    <material>Gazebo/White</material>
>                </visual>
>                <mu1>109999.0</mu1>
>            </geom:sphere>
>        </body:sphere>
>    </model:physical>
>    <!-- End Ball Model -->
>
>
>    <!-- The White Point light -->
>    <model:renderable name="point_white">
>        <xyz>-3 0 5</xyz>
>        <static>true</static>
>        <light>
>            <type>point</type>
>            <diffuseColor>0.8 0.8 0.8</diffuseColor>
>            <specularColor>0.1 0.1 0.1</specularColor>
>            <range>20</range>
>
>            <!-- Constant(0-1) Linear(0-1) Quadratic -->
>            <attenuation>0.3 0.01 0</attenuation>
>        </light>
>    </model:renderable>
>    <!-- End White Point light -->
>
> </gazebo:world>
>
> -----------------------------------------------------------------------------------
>
> Do you guys get the same behavior? If so, is there any fix or a way to get
> rid of this?
>
> Thanks in advance!
>
> Rein
>
> On Wed, Jun 8, 2011 at 8:33 PM, John Hsu <[hidden email]> wrote:
>
>> Hi,
>>
>> you can check to see if contactSurfaceLayer is small, e.g.
>>
>> <contactSurfaceLayer>0</contactSurfaceLayer>
>>
>> in addition, you might want to make sure <CFM> is 0.
>>
>> hope this helps.
>>
>> John
>>
>> On Wed, Jun 8, 2011 at 11:00 AM, Rein Appeldoorn <[hidden email]>
>> wrote:
>>
>> > Hi,
>> >
>> > I'm working on a simulation of an autonomous football table. When I model
>> > the ball, it's sinking through the floor. Because the geometry of the
>> ball
>> > is quite small (radius of 0.015), this sinking is not acceptable. Strange
>> > enough, when I check the other objects, they're all sinking a little bit.
>> > Does anybody have an explanation for this?
>> >
>> > A thing I can do is scale up all models, this makes the relative errors
>> > much
>> > less. Does anybody got experience with this fact? Is scaling a good
>> > solution?
>> >
>> > Thanks in advance!
>> >
>> > Regards,
>> >
>> > Rein
>> >
>> >
>> ------------------------------------------------------------------------------
>> > EditLive Enterprise is the world's most technically advanced content
>> > authoring tool. Experience the power of Track Changes, Inline Image
>> > Editing and ensure content is compliant with Accessibility Checking.
>> > http://p.sf.net/sfu/ephox-dev2dev
>> > _______________________________________________
>> > Playerstage-gazebo mailing list
>> > [hidden email]
>> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>> >
>>
>>
>>
>> --
>> John Hsu, Ph.D.
>> Senior Research Engineer
>> Willow Garage Inc.
>> +1-650-475-2809
>>
>> ------------------------------------------------------------------------------
>> EditLive Enterprise is the world's most technically advanced content
>> authoring tool. Experience the power of Track Changes, Inline Image
>> Editing and ensure content is compliant with Accessibility Checking.
>> http://p.sf.net/sfu/ephox-dev2dev
>> _______________________________________________
>> Playerstage-gazebo mailing list
>> [hidden email]
>> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>>
> ------------------------------------------------------------------------------
> EditLive Enterprise is the world's most technically advanced content
> authoring tool. Experience the power of Track Changes, Inline Image
> Editing and ensure content is compliant with Accessibility Checking.
> http://p.sf.net/sfu/ephox-dev2dev
> _______________________________________________
> Playerstage-gazebo mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>

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Re: Objects sinking through floor

Rein Appeldoorn
Hi,

Thanks, when I play with kp and kd, I can prevent the ball from sinking. Now
another thing what is different from my ball model and yours:

Is it right that you set the parameters of a ball with a radius of 0.02 as
follows:

<size>0.02</size>
<visual>
    <size>0.04 0.04 0.04</size>
</visual>

When I check this in my gazebo-simulation, it seems to be right. But in your
model you use: <scale> instead of <size>, is this right?

It's really weird because the examples use both (simpleshapes.world /
pioneer2dx.world).

Thanks,

Rein



here is a sample ball model I'm using for my simulations. Notice the

> <kd> and <kp> params and try to play with their values - they control
> how much force
> is applied to this specific ball model to prevent it from sinking:
>
> <body:sphere name = "ball_body">
>         <dampingFactor>0.0001</dampingFactor>
>         <xyz>0 0 0</xyz>
>        <rpy>0 0 0</rpy>
>         <geom:sphere name = "ball_geom">
>                 <xyz>0 0 0.01</xyz>
>                 <rpy>0 0 0 </rpy>
>                 <size>0.02</size>
>                <mu1>0.3</mu1>
>                <kp>2e6</kp>
>                <kd>2e6</kd>
>                <bounce>120</bounce>
>                <bounceVel>0.5</bounceVel>
>
>                <slip1>0.7</slip1>
>                <slip2>0.7</slip2>
>
>                <mass>0.045</mass>
>                <visual>
>                        <scale>0.02 0.02 0.02</scale>
>                        <mesh>unit_sphere</mesh>
>                        <material>Gazebo/Robocup_orange</material>
>                </visual>
>        </geom:sphere>
> </body:sphere>
>
>
> Also global parameters like step time, erp and cfm does matter, I'm
> using those values:
> <stepTime>0.002</stepTime>
> <erp>0.9</erp>
> <cfm>0.01</cfm>
>
> I hope that will help you,
>
> Best regards,
> Kamil Muszyński
>
>
> 2011/6/9 Rein Appeldoorn <[hidden email]>:
> > I checked those two parameters but nothing changes. Is this a known fact
> or
> > is this just something weird? Here is the world file I'm using:
> >
> >
> -----------------------------------------------------------------------------------
> >
> > <?xml version="1.0"?>
> >
> > <gazebo:world
> >    xmlns:xi="http://www.w3.org/2001/XInclude"
> >    xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz
> "
> >    xmlns:model="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
> >
> >    xmlns:sensor="
> > http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
> >    xmlns:window="
> > http://playerstage.sourceforge.net/gazebo/xmlschema/#window"
> >    xmlns:param="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#param"
> >
> >    xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body
> "
> >    xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom
> "
> >    xmlns:joint="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
> >
> >    xmlns:interface="
> > http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
> >    xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
> >    xmlns:rendering="
> > http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
> >    xmlns:controller="
> > http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
> >    xmlns:physics="
> > http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" >
> >
> >    <verbosity>5</verbosity>
> >
> >    <physics:ode>
> >        <stepTime>0.005</stepTime>
> >        <gravity>0 0 -9.8</gravity>
> >        <cfm>0</cfm>
> >        <erp>0.8</erp>
> >        <quickStep>true</quickStep>
> >        <quickStepIters>100</quickStepIters>
> >        <quickStepW>1.3</quickStepW>
> >        <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
> >        <contactSurfaceLayer>0.0</contactSurfaceLayer>
> >        <updateRate>0</updateRate>
> >    </physics:ode>
> >
> >    <rendering:gui>
> >        <type>fltk</type>
> >        <size>800 600</size>
> >        <pos>0 0</pos>
> >    </rendering:gui>
> >
> >    <rendering:ogre>
> >        <ambient>0.8 0.8 0.8 1.0</ambient>
> >        <sky>
> >            <material>Gazebo/CloudySky</material>
> >        </sky>
> >        <grid>false</grid>
> >        <shadowTechnique>stencilModulative</shadowTechnique>
> >    </rendering:ogre>
> >
> >    <!-- The Ground Plane -->
> >    <model:physical name="groundplane_model">
> >        <xyz>0 0 0</xyz>
> >        <rpy>0 0 0</rpy>
> >        <static>true</static>
> >
> >        <body:plane name="ground_plane_body">
> >            <geom:plane name="ground_plane_geom">
> >                <normal>0 0 1</normal>
> >                <size>1000 1000</size>
> >                <segments>100 100</segments>
> >                <uvTile>100 100</uvTile>
> >                <material>Gazebo/GrassFloor</material>
> >                <mu1>109999.0</mu1>
> >                <mu2>1000.0</mu2>
> >            </geom:plane>
> >        </body:plane>
> >    </model:physical>
> >    <!-- End Ground Plane -->
> >
> >    <!-- The Ball Model -->
> >    <model:physical name="ball_model">
> >        <xyz>0.025 0 1</xyz>
> >        <static>false</static>
> >
> >        <body:sphere name="ball_body">
> >            <geom:sphere name="ball_geom">
> >                <xyz>0 0 0</xyz>
> >                <size>0.015</size>
> >                <mass>0.02</mass>
> >
> >                <visual>
> >                    <size>0.03 0.03 0.03</size>
> >                    <mesh>unit_sphere</mesh>
> >                    <material>Gazebo/White</material>
> >                </visual>
> >                <mu1>109999.0</mu1>
> >            </geom:sphere>
> >        </body:sphere>
> >    </model:physical>
> >    <!-- End Ball Model -->
> >
> >
> >    <!-- The White Point light -->
> >    <model:renderable name="point_white">
> >        <xyz>-3 0 5</xyz>
> >        <static>true</static>
> >        <light>
> >            <type>point</type>
> >            <diffuseColor>0.8 0.8 0.8</diffuseColor>
> >            <specularColor>0.1 0.1 0.1</specularColor>
> >            <range>20</range>
> >
> >            <!-- Constant(0-1) Linear(0-1) Quadratic -->
> >            <attenuation>0.3 0.01 0</attenuation>
> >        </light>
> >    </model:renderable>
> >    <!-- End White Point light -->
> >
> > </gazebo:world>
> >
> >
> -----------------------------------------------------------------------------------
> >
> > Do you guys get the same behavior? If so, is there any fix or a way to
> get
> > rid of this?
> >
> > Thanks in advance!
> >
> > Rein
> >
> > On Wed, Jun 8, 2011 at 8:33 PM, John Hsu <[hidden email]>
> wrote:
> >
> >> Hi,
> >>
> >> you can check to see if contactSurfaceLayer is small, e.g.
> >>
> >> <contactSurfaceLayer>0</contactSurfaceLayer>
> >>
> >> in addition, you might want to make sure <CFM> is 0.
> >>
> >> hope this helps.
> >>
> >> John
> >>
> >> On Wed, Jun 8, 2011 at 11:00 AM, Rein Appeldoorn <[hidden email]>
> >> wrote:
> >>
> >> > Hi,
> >> >
> >> > I'm working on a simulation of an autonomous football table. When I
> model
> >> > the ball, it's sinking through the floor. Because the geometry of the
> >> ball
> >> > is quite small (radius of 0.015), this sinking is not acceptable.
> Strange
> >> > enough, when I check the other objects, they're all sinking a little
> bit.
> >> > Does anybody have an explanation for this?
> >> >
> >> > A thing I can do is scale up all models, this makes the relative
> errors
> >> > much
> >> > less. Does anybody got experience with this fact? Is scaling a good
> >> > solution?
> >> >
> >> > Thanks in advance!
> >> >
> >> > Regards,
> >> >
> >> > Rein
> >> >
> >> >
> >>
> ------------------------------------------------------------------------------
> >> > EditLive Enterprise is the world's most technically advanced content
> >> > authoring tool. Experience the power of Track Changes, Inline Image
> >> > Editing and ensure content is compliant with Accessibility Checking.
> >> > http://p.sf.net/sfu/ephox-dev2dev
> >> > _______________________________________________
> >> > Playerstage-gazebo mailing list
> >> > [hidden email]
> >> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >> >
> >>
> >>
> >>
> >> --
> >> John Hsu, Ph.D.
> >> Senior Research Engineer
> >> Willow Garage Inc.
> >> +1-650-475-2809
> >>
> >>
> ------------------------------------------------------------------------------
> >> EditLive Enterprise is the world's most technically advanced content
> >> authoring tool. Experience the power of Track Changes, Inline Image
> >> Editing and ensure content is compliant with Accessibility Checking.
> >> http://p.sf.net/sfu/ephox-dev2dev
> >> _______________________________________________
> >> Playerstage-gazebo mailing list
> >> [hidden email]
> >> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >>
> >
> ------------------------------------------------------------------------------
> > EditLive Enterprise is the world's most technically advanced content
> > authoring tool. Experience the power of Track Changes, Inline Image
> > Editing and ensure content is compliant with Accessibility Checking.
> > http://p.sf.net/sfu/ephox-dev2dev
> > _______________________________________________
> > Playerstage-gazebo mailing list
> > [hidden email]
> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >
>
>
> ------------------------------------------------------------------------------
> EditLive Enterprise is the world's most technically advanced content
> authoring tool. Experience the power of Track Changes, Inline Image
> Editing and ensure content is compliant with Accessibility Checking.
> http://p.sf.net/sfu/ephox-dev2dev
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> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>
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Re: Objects sinking through floor

Kamil Muszyński
Well, I always use <scale> for visual section - please check if the
bounding boxes used for collision detection are OK when you use <size>
instead of <scale>. You can do that from gazebo GUI.

I think we need to look into gazebo code to solve this difference;)

2011/6/9 Rein Appeldoorn <[hidden email]>:

> Hi,
>
> Thanks, when I play with kp and kd, I can prevent the ball from sinking. Now
> another thing what is different from my ball model and yours:
>
> Is it right that you set the parameters of a ball with a radius of 0.02 as
> follows:
>
> <size>0.02</size>
> <visual>
>    <size>0.04 0.04 0.04</size>
> </visual>
>
> When I check this in my gazebo-simulation, it seems to be right. But in your
> model you use: <scale> instead of <size>, is this right?
>
> It's really weird because the examples use both (simpleshapes.world /
> pioneer2dx.world).
>
> Thanks,
>
> Rein
>
>
>
> here is a sample ball model I'm using for my simulations. Notice the
>> <kd> and <kp> params and try to play with their values - they control
>> how much force
>> is applied to this specific ball model to prevent it from sinking:
>>
>> <body:sphere name = "ball_body">
>>         <dampingFactor>0.0001</dampingFactor>
>>         <xyz>0 0 0</xyz>
>>        <rpy>0 0 0</rpy>
>>         <geom:sphere name = "ball_geom">
>>                 <xyz>0 0 0.01</xyz>
>>                 <rpy>0 0 0 </rpy>
>>                 <size>0.02</size>
>>                <mu1>0.3</mu1>
>>                <kp>2e6</kp>
>>                <kd>2e6</kd>
>>                <bounce>120</bounce>
>>                <bounceVel>0.5</bounceVel>
>>
>>                <slip1>0.7</slip1>
>>                <slip2>0.7</slip2>
>>
>>                <mass>0.045</mass>
>>                <visual>
>>                        <scale>0.02 0.02 0.02</scale>
>>                        <mesh>unit_sphere</mesh>
>>                        <material>Gazebo/Robocup_orange</material>
>>                </visual>
>>        </geom:sphere>
>> </body:sphere>
>>
>>
>> Also global parameters like step time, erp and cfm does matter, I'm
>> using those values:
>> <stepTime>0.002</stepTime>
>> <erp>0.9</erp>
>> <cfm>0.01</cfm>
>>
>> I hope that will help you,
>>
>> Best regards,
>> Kamil Muszyński
>>
>>
>> 2011/6/9 Rein Appeldoorn <[hidden email]>:
>> > I checked those two parameters but nothing changes. Is this a known fact
>> or
>> > is this just something weird? Here is the world file I'm using:
>> >
>> >
>> -----------------------------------------------------------------------------------
>> >
>> > <?xml version="1.0"?>
>> >
>> > <gazebo:world
>> >    xmlns:xi="http://www.w3.org/2001/XInclude"
>> >    xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz
>> "
>> >    xmlns:model="
>> http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
>> >
>> >    xmlns:sensor="
>> > http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
>> >    xmlns:window="
>> > http://playerstage.sourceforge.net/gazebo/xmlschema/#window"
>> >    xmlns:param="
>> http://playerstage.sourceforge.net/gazebo/xmlschema/#param"
>> >
>> >    xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body
>> "
>> >    xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom
>> "
>> >    xmlns:joint="
>> http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
>> >
>> >    xmlns:interface="
>> > http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
>> >    xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
>> >    xmlns:rendering="
>> > http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
>> >    xmlns:controller="
>> > http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
>> >    xmlns:physics="
>> > http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" >
>> >
>> >    <verbosity>5</verbosity>
>> >
>> >    <physics:ode>
>> >        <stepTime>0.005</stepTime>
>> >        <gravity>0 0 -9.8</gravity>
>> >        <cfm>0</cfm>
>> >        <erp>0.8</erp>
>> >        <quickStep>true</quickStep>
>> >        <quickStepIters>100</quickStepIters>
>> >        <quickStepW>1.3</quickStepW>
>> >        <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
>> >        <contactSurfaceLayer>0.0</contactSurfaceLayer>
>> >        <updateRate>0</updateRate>
>> >    </physics:ode>
>> >
>> >    <rendering:gui>
>> >        <type>fltk</type>
>> >        <size>800 600</size>
>> >        <pos>0 0</pos>
>> >    </rendering:gui>
>> >
>> >    <rendering:ogre>
>> >        <ambient>0.8 0.8 0.8 1.0</ambient>
>> >        <sky>
>> >            <material>Gazebo/CloudySky</material>
>> >        </sky>
>> >        <grid>false</grid>
>> >        <shadowTechnique>stencilModulative</shadowTechnique>
>> >    </rendering:ogre>
>> >
>> >    <!-- The Ground Plane -->
>> >    <model:physical name="groundplane_model">
>> >        <xyz>0 0 0</xyz>
>> >        <rpy>0 0 0</rpy>
>> >        <static>true</static>
>> >
>> >        <body:plane name="ground_plane_body">
>> >            <geom:plane name="ground_plane_geom">
>> >                <normal>0 0 1</normal>
>> >                <size>1000 1000</size>
>> >                <segments>100 100</segments>
>> >                <uvTile>100 100</uvTile>
>> >                <material>Gazebo/GrassFloor</material>
>> >                <mu1>109999.0</mu1>
>> >                <mu2>1000.0</mu2>
>> >            </geom:plane>
>> >        </body:plane>
>> >    </model:physical>
>> >    <!-- End Ground Plane -->
>> >
>> >    <!-- The Ball Model -->
>> >    <model:physical name="ball_model">
>> >        <xyz>0.025 0 1</xyz>
>> >        <static>false</static>
>> >
>> >        <body:sphere name="ball_body">
>> >            <geom:sphere name="ball_geom">
>> >                <xyz>0 0 0</xyz>
>> >                <size>0.015</size>
>> >                <mass>0.02</mass>
>> >
>> >                <visual>
>> >                    <size>0.03 0.03 0.03</size>
>> >                    <mesh>unit_sphere</mesh>
>> >                    <material>Gazebo/White</material>
>> >                </visual>
>> >                <mu1>109999.0</mu1>
>> >            </geom:sphere>
>> >        </body:sphere>
>> >    </model:physical>
>> >    <!-- End Ball Model -->
>> >
>> >
>> >    <!-- The White Point light -->
>> >    <model:renderable name="point_white">
>> >        <xyz>-3 0 5</xyz>
>> >        <static>true</static>
>> >        <light>
>> >            <type>point</type>
>> >            <diffuseColor>0.8 0.8 0.8</diffuseColor>
>> >            <specularColor>0.1 0.1 0.1</specularColor>
>> >            <range>20</range>
>> >
>> >            <!-- Constant(0-1) Linear(0-1) Quadratic -->
>> >            <attenuation>0.3 0.01 0</attenuation>
>> >        </light>
>> >    </model:renderable>
>> >    <!-- End White Point light -->
>> >
>> > </gazebo:world>
>> >
>> >
>> -----------------------------------------------------------------------------------
>> >
>> > Do you guys get the same behavior? If so, is there any fix or a way to
>> get
>> > rid of this?
>> >
>> > Thanks in advance!
>> >
>> > Rein
>> >
>> > On Wed, Jun 8, 2011 at 8:33 PM, John Hsu <[hidden email]>
>> wrote:
>> >
>> >> Hi,
>> >>
>> >> you can check to see if contactSurfaceLayer is small, e.g.
>> >>
>> >> <contactSurfaceLayer>0</contactSurfaceLayer>
>> >>
>> >> in addition, you might want to make sure <CFM> is 0.
>> >>
>> >> hope this helps.
>> >>
>> >> John
>> >>
>> >> On Wed, Jun 8, 2011 at 11:00 AM, Rein Appeldoorn <[hidden email]>
>> >> wrote:
>> >>
>> >> > Hi,
>> >> >
>> >> > I'm working on a simulation of an autonomous football table. When I
>> model
>> >> > the ball, it's sinking through the floor. Because the geometry of the
>> >> ball
>> >> > is quite small (radius of 0.015), this sinking is not acceptable.
>> Strange
>> >> > enough, when I check the other objects, they're all sinking a little
>> bit.
>> >> > Does anybody have an explanation for this?
>> >> >
>> >> > A thing I can do is scale up all models, this makes the relative
>> errors
>> >> > much
>> >> > less. Does anybody got experience with this fact? Is scaling a good
>> >> > solution?
>> >> >
>> >> > Thanks in advance!
>> >> >
>> >> > Regards,
>> >> >
>> >> > Rein
>> >> >
>> >> >
>> >>
>> ------------------------------------------------------------------------------
>> >> > EditLive Enterprise is the world's most technically advanced content
>> >> > authoring tool. Experience the power of Track Changes, Inline Image
>> >> > Editing and ensure content is compliant with Accessibility Checking.
>> >> > http://p.sf.net/sfu/ephox-dev2dev
>> >> > _______________________________________________
>> >> > Playerstage-gazebo mailing list
>> >> > [hidden email]
>> >> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>> >> >
>> >>
>> >>
>> >>
>> >> --
>> >> John Hsu, Ph.D.
>> >> Senior Research Engineer
>> >> Willow Garage Inc.
>> >> +1-650-475-2809
>> >>
>> >>
>> ------------------------------------------------------------------------------
>> >> EditLive Enterprise is the world's most technically advanced content
>> >> authoring tool. Experience the power of Track Changes, Inline Image
>> >> Editing and ensure content is compliant with Accessibility Checking.
>> >> http://p.sf.net/sfu/ephox-dev2dev
>> >> _______________________________________________
>> >> Playerstage-gazebo mailing list
>> >> [hidden email]
>> >> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>> >>
>> >
>> ------------------------------------------------------------------------------
>> > EditLive Enterprise is the world's most technically advanced content
>> > authoring tool. Experience the power of Track Changes, Inline Image
>> > Editing and ensure content is compliant with Accessibility Checking.
>> > http://p.sf.net/sfu/ephox-dev2dev
>> > _______________________________________________
>> > Playerstage-gazebo mailing list
>> > [hidden email]
>> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>> >
>>
>>
>> ------------------------------------------------------------------------------
>> EditLive Enterprise is the world's most technically advanced content
>> authoring tool. Experience the power of Track Changes, Inline Image
>> Editing and ensure content is compliant with Accessibility Checking.
>> http://p.sf.net/sfu/ephox-dev2dev
>> _______________________________________________
>> Playerstage-gazebo mailing list
>> [hidden email]
>> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>>
> ------------------------------------------------------------------------------
> EditLive Enterprise is the world's most technically advanced content
> authoring tool. Experience the power of Track Changes, Inline Image
> Editing and ensure content is compliant with Accessibility Checking.
> http://p.sf.net/sfu/ephox-dev2dev
> _______________________________________________
> Playerstage-gazebo mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>

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Re: Objects sinking through floor

Rein Appeldoorn
The boundingboxes seem to be right in both cases. But what I thought is that
the <size> in the <geom>-section presented the radius of the ball, when I
check this with my GUI of Gazebo, it seems to be right. When I use your
model, the XYZ values are not (in my opinion). Have you already checked
these values?



On Thu, Jun 9, 2011 at 10:49 AM, Kamil Muszynski
<[hidden email]>wrote:

> Well, I always use <scale> for visual section - please check if the
> bounding boxes used for collision detection are OK when you use <size>
> instead of <scale>. You can do that from gazebo GUI.
>
> I think we need to look into gazebo code to solve this difference;)
>
> 2011/6/9 Rein Appeldoorn <[hidden email]>:
> > Hi,
> >
> > Thanks, when I play with kp and kd, I can prevent the ball from sinking.
> Now
> > another thing what is different from my ball model and yours:
> >
> > Is it right that you set the parameters of a ball with a radius of 0.02
> as
> > follows:
> >
> > <size>0.02</size>
> > <visual>
> >    <size>0.04 0.04 0.04</size>
> > </visual>
> >
> > When I check this in my gazebo-simulation, it seems to be right. But in
> your
> > model you use: <scale> instead of <size>, is this right?
> >
> > It's really weird because the examples use both (simpleshapes.world /
> > pioneer2dx.world).
> >
> > Thanks,
> >
> > Rein
> >
> >
> >
> > here is a sample ball model I'm using for my simulations. Notice the
> >> <kd> and <kp> params and try to play with their values - they control
> >> how much force
> >> is applied to this specific ball model to prevent it from sinking:
> >>
> >> <body:sphere name = "ball_body">
> >>         <dampingFactor>0.0001</dampingFactor>
> >>         <xyz>0 0 0</xyz>
> >>        <rpy>0 0 0</rpy>
> >>         <geom:sphere name = "ball_geom">
> >>                 <xyz>0 0 0.01</xyz>
> >>                 <rpy>0 0 0 </rpy>
> >>                 <size>0.02</size>
> >>                <mu1>0.3</mu1>
> >>                <kp>2e6</kp>
> >>                <kd>2e6</kd>
> >>                <bounce>120</bounce>
> >>                <bounceVel>0.5</bounceVel>
> >>
> >>                <slip1>0.7</slip1>
> >>                <slip2>0.7</slip2>
> >>
> >>                <mass>0.045</mass>
> >>                <visual>
> >>                        <scale>0.02 0.02 0.02</scale>
> >>                        <mesh>unit_sphere</mesh>
> >>                        <material>Gazebo/Robocup_orange</material>
> >>                </visual>
> >>        </geom:sphere>
> >> </body:sphere>
> >>
> >>
> >> Also global parameters like step time, erp and cfm does matter, I'm
> >> using those values:
> >> <stepTime>0.002</stepTime>
> >> <erp>0.9</erp>
> >> <cfm>0.01</cfm>
> >>
> >> I hope that will help you,
> >>
> >> Best regards,
> >> Kamil Muszyński
> >>
> >>
> >> 2011/6/9 Rein Appeldoorn <[hidden email]>:
> >> > I checked those two parameters but nothing changes. Is this a known
> fact
> >> or
> >> > is this just something weird? Here is the world file I'm using:
> >> >
> >> >
> >>
> -----------------------------------------------------------------------------------
> >> >
> >> > <?xml version="1.0"?>
> >> >
> >> > <gazebo:world
> >> >    xmlns:xi="http://www.w3.org/2001/XInclude"
> >> >    xmlns:gazebo="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#gz
> >> "
> >> >    xmlns:model="
> >> http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
> >> >
> >> >    xmlns:sensor="
> >> > http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
> >> >    xmlns:window="
> >> > http://playerstage.sourceforge.net/gazebo/xmlschema/#window"
> >> >    xmlns:param="
> >> http://playerstage.sourceforge.net/gazebo/xmlschema/#param"
> >> >
> >> >    xmlns:body="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#body
> >> "
> >> >    xmlns:geom="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#geom
> >> "
> >> >    xmlns:joint="
> >> http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
> >> >
> >> >    xmlns:interface="
> >> > http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
> >> >    xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
> >> >    xmlns:rendering="
> >> > http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
> >> >    xmlns:controller="
> >> > http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
> >> >    xmlns:physics="
> >> > http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" >
> >> >
> >> >    <verbosity>5</verbosity>
> >> >
> >> >    <physics:ode>
> >> >        <stepTime>0.005</stepTime>
> >> >        <gravity>0 0 -9.8</gravity>
> >> >        <cfm>0</cfm>
> >> >        <erp>0.8</erp>
> >> >        <quickStep>true</quickStep>
> >> >        <quickStepIters>100</quickStepIters>
> >> >        <quickStepW>1.3</quickStepW>
> >> >        <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
> >> >        <contactSurfaceLayer>0.0</contactSurfaceLayer>
> >> >        <updateRate>0</updateRate>
> >> >    </physics:ode>
> >> >
> >> >    <rendering:gui>
> >> >        <type>fltk</type>
> >> >        <size>800 600</size>
> >> >        <pos>0 0</pos>
> >> >    </rendering:gui>
> >> >
> >> >    <rendering:ogre>
> >> >        <ambient>0.8 0.8 0.8 1.0</ambient>
> >> >        <sky>
> >> >            <material>Gazebo/CloudySky</material>
> >> >        </sky>
> >> >        <grid>false</grid>
> >> >        <shadowTechnique>stencilModulative</shadowTechnique>
> >> >    </rendering:ogre>
> >> >
> >> >    <!-- The Ground Plane -->
> >> >    <model:physical name="groundplane_model">
> >> >        <xyz>0 0 0</xyz>
> >> >        <rpy>0 0 0</rpy>
> >> >        <static>true</static>
> >> >
> >> >        <body:plane name="ground_plane_body">
> >> >            <geom:plane name="ground_plane_geom">
> >> >                <normal>0 0 1</normal>
> >> >                <size>1000 1000</size>
> >> >                <segments>100 100</segments>
> >> >                <uvTile>100 100</uvTile>
> >> >                <material>Gazebo/GrassFloor</material>
> >> >                <mu1>109999.0</mu1>
> >> >                <mu2>1000.0</mu2>
> >> >            </geom:plane>
> >> >        </body:plane>
> >> >    </model:physical>
> >> >    <!-- End Ground Plane -->
> >> >
> >> >    <!-- The Ball Model -->
> >> >    <model:physical name="ball_model">
> >> >        <xyz>0.025 0 1</xyz>
> >> >        <static>false</static>
> >> >
> >> >        <body:sphere name="ball_body">
> >> >            <geom:sphere name="ball_geom">
> >> >                <xyz>0 0 0</xyz>
> >> >                <size>0.015</size>
> >> >                <mass>0.02</mass>
> >> >
> >> >                <visual>
> >> >                    <size>0.03 0.03 0.03</size>
> >> >                    <mesh>unit_sphere</mesh>
> >> >                    <material>Gazebo/White</material>
> >> >                </visual>
> >> >                <mu1>109999.0</mu1>
> >> >            </geom:sphere>
> >> >        </body:sphere>
> >> >    </model:physical>
> >> >    <!-- End Ball Model -->
> >> >
> >> >
> >> >    <!-- The White Point light -->
> >> >    <model:renderable name="point_white">
> >> >        <xyz>-3 0 5</xyz>
> >> >        <static>true</static>
> >> >        <light>
> >> >            <type>point</type>
> >> >            <diffuseColor>0.8 0.8 0.8</diffuseColor>
> >> >            <specularColor>0.1 0.1 0.1</specularColor>
> >> >            <range>20</range>
> >> >
> >> >            <!-- Constant(0-1) Linear(0-1) Quadratic -->
> >> >            <attenuation>0.3 0.01 0</attenuation>
> >> >        </light>
> >> >    </model:renderable>
> >> >    <!-- End White Point light -->
> >> >
> >> > </gazebo:world>
> >> >
> >> >
> >>
> -----------------------------------------------------------------------------------
> >> >
> >> > Do you guys get the same behavior? If so, is there any fix or a way to
> >> get
> >> > rid of this?
> >> >
> >> > Thanks in advance!
> >> >
> >> > Rein
> >> >
> >> > On Wed, Jun 8, 2011 at 8:33 PM, John Hsu <[hidden email]>
> >> wrote:
> >> >
> >> >> Hi,
> >> >>
> >> >> you can check to see if contactSurfaceLayer is small, e.g.
> >> >>
> >> >> <contactSurfaceLayer>0</contactSurfaceLayer>
> >> >>
> >> >> in addition, you might want to make sure <CFM> is 0.
> >> >>
> >> >> hope this helps.
> >> >>
> >> >> John
> >> >>
> >> >> On Wed, Jun 8, 2011 at 11:00 AM, Rein Appeldoorn <[hidden email]>
> >> >> wrote:
> >> >>
> >> >> > Hi,
> >> >> >
> >> >> > I'm working on a simulation of an autonomous football table. When I
> >> model
> >> >> > the ball, it's sinking through the floor. Because the geometry of
> the
> >> >> ball
> >> >> > is quite small (radius of 0.015), this sinking is not acceptable.
> >> Strange
> >> >> > enough, when I check the other objects, they're all sinking a
> little
> >> bit.
> >> >> > Does anybody have an explanation for this?
> >> >> >
> >> >> > A thing I can do is scale up all models, this makes the relative
> >> errors
> >> >> > much
> >> >> > less. Does anybody got experience with this fact? Is scaling a good
> >> >> > solution?
> >> >> >
> >> >> > Thanks in advance!
> >> >> >
> >> >> > Regards,
> >> >> >
> >> >> > Rein
> >> >> >
> >> >> >
> >> >>
> >>
> ------------------------------------------------------------------------------
> >> >> > EditLive Enterprise is the world's most technically advanced
> content
> >> >> > authoring tool. Experience the power of Track Changes, Inline Image
> >> >> > Editing and ensure content is compliant with Accessibility
> Checking.
> >> >> > http://p.sf.net/sfu/ephox-dev2dev
> >> >> > _______________________________________________
> >> >> > Playerstage-gazebo mailing list
> >> >> > [hidden email]
> >> >> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >> >> >
> >> >>
> >> >>
> >> >>
> >> >> --
> >> >> John Hsu, Ph.D.
> >> >> Senior Research Engineer
> >> >> Willow Garage Inc.
> >> >> +1-650-475-2809
> >> >>
> >> >>
> >>
> ------------------------------------------------------------------------------
> >> >> EditLive Enterprise is the world's most technically advanced content
> >> >> authoring tool. Experience the power of Track Changes, Inline Image
> >> >> Editing and ensure content is compliant with Accessibility Checking.
> >> >> http://p.sf.net/sfu/ephox-dev2dev
> >> >> _______________________________________________
> >> >> Playerstage-gazebo mailing list
> >> >> [hidden email]
> >> >> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >> >>
> >> >
> >>
> ------------------------------------------------------------------------------
> >> > EditLive Enterprise is the world's most technically advanced content
> >> > authoring tool. Experience the power of Track Changes, Inline Image
> >> > Editing and ensure content is compliant with Accessibility Checking.
> >> > http://p.sf.net/sfu/ephox-dev2dev
> >> > _______________________________________________
> >> > Playerstage-gazebo mailing list
> >> > [hidden email]
> >> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >> >
> >>
> >>
> >>
> ------------------------------------------------------------------------------
> >> EditLive Enterprise is the world's most technically advanced content
> >> authoring tool. Experience the power of Track Changes, Inline Image
> >> Editing and ensure content is compliant with Accessibility Checking.
> >> http://p.sf.net/sfu/ephox-dev2dev
> >> _______________________________________________
> >> Playerstage-gazebo mailing list
> >> [hidden email]
> >> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >>
> >
> ------------------------------------------------------------------------------
> > EditLive Enterprise is the world's most technically advanced content
> > authoring tool. Experience the power of Track Changes, Inline Image
> > Editing and ensure content is compliant with Accessibility Checking.
> > http://p.sf.net/sfu/ephox-dev2dev
> > _______________________________________________
> > Playerstage-gazebo mailing list
> > [hidden email]
> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >
>
>
> ------------------------------------------------------------------------------
> EditLive Enterprise is the world's most technically advanced content
> authoring tool. Experience the power of Track Changes, Inline Image
> Editing and ensure content is compliant with Accessibility Checking.
> http://p.sf.net/sfu/ephox-dev2dev
> _______________________________________________
> Playerstage-gazebo mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>
------------------------------------------------------------------------------
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authoring tool. Experience the power of Track Changes, Inline Image
Editing and ensure content is compliant with Accessibility Checking.
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Re: Objects sinking through floor

Kamil Muszyński
By XYZ do you mean ball dimensions along X, Y, Z axis? So the model
using my scale params is two times smaller?
I can check it later for you, but I'm pretty sure those values are correct.

2011/6/9 Rein Appeldoorn <[hidden email]>:

> The boundingboxes seem to be right in both cases. But what I thought is that
> the <size> in the <geom>-section presented the radius of the ball, when I
> check this with my GUI of Gazebo, it seems to be right. When I use your
> model, the XYZ values are not (in my opinion). Have you already checked
> these values?
>
>
>
> On Thu, Jun 9, 2011 at 10:49 AM, Kamil Muszynski
> <[hidden email]>wrote:
>
>> Well, I always use <scale> for visual section - please check if the
>> bounding boxes used for collision detection are OK when you use <size>
>> instead of <scale>. You can do that from gazebo GUI.
>>
>> I think we need to look into gazebo code to solve this difference;)
>>
>> 2011/6/9 Rein Appeldoorn <[hidden email]>:
>> > Hi,
>> >
>> > Thanks, when I play with kp and kd, I can prevent the ball from sinking.
>> Now
>> > another thing what is different from my ball model and yours:
>> >
>> > Is it right that you set the parameters of a ball with a radius of 0.02
>> as
>> > follows:
>> >
>> > <size>0.02</size>
>> > <visual>
>> >    <size>0.04 0.04 0.04</size>
>> > </visual>
>> >
>> > When I check this in my gazebo-simulation, it seems to be right. But in
>> your
>> > model you use: <scale> instead of <size>, is this right?
>> >
>> > It's really weird because the examples use both (simpleshapes.world /
>> > pioneer2dx.world).
>> >
>> > Thanks,
>> >
>> > Rein
>> >
>> >
>> >
>> > here is a sample ball model I'm using for my simulations. Notice the
>> >> <kd> and <kp> params and try to play with their values - they control
>> >> how much force
>> >> is applied to this specific ball model to prevent it from sinking:
>> >>
>> >> <body:sphere name = "ball_body">
>> >>         <dampingFactor>0.0001</dampingFactor>
>> >>         <xyz>0 0 0</xyz>
>> >>        <rpy>0 0 0</rpy>
>> >>         <geom:sphere name = "ball_geom">
>> >>                 <xyz>0 0 0.01</xyz>
>> >>                 <rpy>0 0 0 </rpy>
>> >>                 <size>0.02</size>
>> >>                <mu1>0.3</mu1>
>> >>                <kp>2e6</kp>
>> >>                <kd>2e6</kd>
>> >>                <bounce>120</bounce>
>> >>                <bounceVel>0.5</bounceVel>
>> >>
>> >>                <slip1>0.7</slip1>
>> >>                <slip2>0.7</slip2>
>> >>
>> >>                <mass>0.045</mass>
>> >>                <visual>
>> >>                        <scale>0.02 0.02 0.02</scale>
>> >>                        <mesh>unit_sphere</mesh>
>> >>                        <material>Gazebo/Robocup_orange</material>
>> >>                </visual>
>> >>        </geom:sphere>
>> >> </body:sphere>
>> >>
>> >>
>> >> Also global parameters like step time, erp and cfm does matter, I'm
>> >> using those values:
>> >> <stepTime>0.002</stepTime>
>> >> <erp>0.9</erp>
>> >> <cfm>0.01</cfm>
>> >>
>> >> I hope that will help you,
>> >>
>> >> Best regards,
>> >> Kamil Muszyński
>> >>
>> >>
>> >> 2011/6/9 Rein Appeldoorn <[hidden email]>:
>> >> > I checked those two parameters but nothing changes. Is this a known
>> fact
>> >> or
>> >> > is this just something weird? Here is the world file I'm using:
>> >> >
>> >> >
>> >>
>> -----------------------------------------------------------------------------------
>> >> >
>> >> > <?xml version="1.0"?>
>> >> >
>> >> > <gazebo:world
>> >> >    xmlns:xi="http://www.w3.org/2001/XInclude"
>> >> >    xmlns:gazebo="
>> http://playerstage.sourceforge.net/gazebo/xmlschema/#gz
>> >> "
>> >> >    xmlns:model="
>> >> http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
>> >> >
>> >> >    xmlns:sensor="
>> >> > http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
>> >> >    xmlns:window="
>> >> > http://playerstage.sourceforge.net/gazebo/xmlschema/#window"
>> >> >    xmlns:param="
>> >> http://playerstage.sourceforge.net/gazebo/xmlschema/#param"
>> >> >
>> >> >    xmlns:body="
>> http://playerstage.sourceforge.net/gazebo/xmlschema/#body
>> >> "
>> >> >    xmlns:geom="
>> http://playerstage.sourceforge.net/gazebo/xmlschema/#geom
>> >> "
>> >> >    xmlns:joint="
>> >> http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
>> >> >
>> >> >    xmlns:interface="
>> >> > http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
>> >> >    xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
>> >> >    xmlns:rendering="
>> >> > http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
>> >> >    xmlns:controller="
>> >> > http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
>> >> >    xmlns:physics="
>> >> > http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" >
>> >> >
>> >> >    <verbosity>5</verbosity>
>> >> >
>> >> >    <physics:ode>
>> >> >        <stepTime>0.005</stepTime>
>> >> >        <gravity>0 0 -9.8</gravity>
>> >> >        <cfm>0</cfm>
>> >> >        <erp>0.8</erp>
>> >> >        <quickStep>true</quickStep>
>> >> >        <quickStepIters>100</quickStepIters>
>> >> >        <quickStepW>1.3</quickStepW>
>> >> >        <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
>> >> >        <contactSurfaceLayer>0.0</contactSurfaceLayer>
>> >> >        <updateRate>0</updateRate>
>> >> >    </physics:ode>
>> >> >
>> >> >    <rendering:gui>
>> >> >        <type>fltk</type>
>> >> >        <size>800 600</size>
>> >> >        <pos>0 0</pos>
>> >> >    </rendering:gui>
>> >> >
>> >> >    <rendering:ogre>
>> >> >        <ambient>0.8 0.8 0.8 1.0</ambient>
>> >> >        <sky>
>> >> >            <material>Gazebo/CloudySky</material>
>> >> >        </sky>
>> >> >        <grid>false</grid>
>> >> >        <shadowTechnique>stencilModulative</shadowTechnique>
>> >> >    </rendering:ogre>
>> >> >
>> >> >    <!-- The Ground Plane -->
>> >> >    <model:physical name="groundplane_model">
>> >> >        <xyz>0 0 0</xyz>
>> >> >        <rpy>0 0 0</rpy>
>> >> >        <static>true</static>
>> >> >
>> >> >        <body:plane name="ground_plane_body">
>> >> >            <geom:plane name="ground_plane_geom">
>> >> >                <normal>0 0 1</normal>
>> >> >                <size>1000 1000</size>
>> >> >                <segments>100 100</segments>
>> >> >                <uvTile>100 100</uvTile>
>> >> >                <material>Gazebo/GrassFloor</material>
>> >> >                <mu1>109999.0</mu1>
>> >> >                <mu2>1000.0</mu2>
>> >> >            </geom:plane>
>> >> >        </body:plane>
>> >> >    </model:physical>
>> >> >    <!-- End Ground Plane -->
>> >> >
>> >> >    <!-- The Ball Model -->
>> >> >    <model:physical name="ball_model">
>> >> >        <xyz>0.025 0 1</xyz>
>> >> >        <static>false</static>
>> >> >
>> >> >        <body:sphere name="ball_body">
>> >> >            <geom:sphere name="ball_geom">
>> >> >                <xyz>0 0 0</xyz>
>> >> >                <size>0.015</size>
>> >> >                <mass>0.02</mass>
>> >> >
>> >> >                <visual>
>> >> >                    <size>0.03 0.03 0.03</size>
>> >> >                    <mesh>unit_sphere</mesh>
>> >> >                    <material>Gazebo/White</material>
>> >> >                </visual>
>> >> >                <mu1>109999.0</mu1>
>> >> >            </geom:sphere>
>> >> >        </body:sphere>
>> >> >    </model:physical>
>> >> >    <!-- End Ball Model -->
>> >> >
>> >> >
>> >> >    <!-- The White Point light -->
>> >> >    <model:renderable name="point_white">
>> >> >        <xyz>-3 0 5</xyz>
>> >> >        <static>true</static>
>> >> >        <light>
>> >> >            <type>point</type>
>> >> >            <diffuseColor>0.8 0.8 0.8</diffuseColor>
>> >> >            <specularColor>0.1 0.1 0.1</specularColor>
>> >> >            <range>20</range>
>> >> >
>> >> >            <!-- Constant(0-1) Linear(0-1) Quadratic -->
>> >> >            <attenuation>0.3 0.01 0</attenuation>
>> >> >        </light>
>> >> >    </model:renderable>
>> >> >    <!-- End White Point light -->
>> >> >
>> >> > </gazebo:world>
>> >> >
>> >> >
>> >>
>> -----------------------------------------------------------------------------------
>> >> >
>> >> > Do you guys get the same behavior? If so, is there any fix or a way to
>> >> get
>> >> > rid of this?
>> >> >
>> >> > Thanks in advance!
>> >> >
>> >> > Rein
>> >> >
>> >> > On Wed, Jun 8, 2011 at 8:33 PM, John Hsu <[hidden email]>
>> >> wrote:
>> >> >
>> >> >> Hi,
>> >> >>
>> >> >> you can check to see if contactSurfaceLayer is small, e.g.
>> >> >>
>> >> >> <contactSurfaceLayer>0</contactSurfaceLayer>
>> >> >>
>> >> >> in addition, you might want to make sure <CFM> is 0.
>> >> >>
>> >> >> hope this helps.
>> >> >>
>> >> >> John
>> >> >>
>> >> >> On Wed, Jun 8, 2011 at 11:00 AM, Rein Appeldoorn <[hidden email]>
>> >> >> wrote:
>> >> >>
>> >> >> > Hi,
>> >> >> >
>> >> >> > I'm working on a simulation of an autonomous football table. When I
>> >> model
>> >> >> > the ball, it's sinking through the floor. Because the geometry of
>> the
>> >> >> ball
>> >> >> > is quite small (radius of 0.015), this sinking is not acceptable.
>> >> Strange
>> >> >> > enough, when I check the other objects, they're all sinking a
>> little
>> >> bit.
>> >> >> > Does anybody have an explanation for this?
>> >> >> >
>> >> >> > A thing I can do is scale up all models, this makes the relative
>> >> errors
>> >> >> > much
>> >> >> > less. Does anybody got experience with this fact? Is scaling a good
>> >> >> > solution?
>> >> >> >
>> >> >> > Thanks in advance!
>> >> >> >
>> >> >> > Regards,
>> >> >> >
>> >> >> > Rein
>> >> >> >
>> >> >> >
>> >> >>
>> >>
>> ------------------------------------------------------------------------------
>> >> >> > EditLive Enterprise is the world's most technically advanced
>> content
>> >> >> > authoring tool. Experience the power of Track Changes, Inline Image
>> >> >> > Editing and ensure content is compliant with Accessibility
>> Checking.
>> >> >> > http://p.sf.net/sfu/ephox-dev2dev
>> >> >> > _______________________________________________
>> >> >> > Playerstage-gazebo mailing list
>> >> >> > [hidden email]
>> >> >> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>> >> >> >
>> >> >>
>> >> >>
>> >> >>
>> >> >> --
>> >> >> John Hsu, Ph.D.
>> >> >> Senior Research Engineer
>> >> >> Willow Garage Inc.
>> >> >> +1-650-475-2809
>> >> >>
>> >> >>
>> >>
>> ------------------------------------------------------------------------------
>> >> >> EditLive Enterprise is the world's most technically advanced content
>> >> >> authoring tool. Experience the power of Track Changes, Inline Image
>> >> >> Editing and ensure content is compliant with Accessibility Checking.
>> >> >> http://p.sf.net/sfu/ephox-dev2dev
>> >> >> _______________________________________________
>> >> >> Playerstage-gazebo mailing list
>> >> >> [hidden email]
>> >> >> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>> >> >>
>> >> >
>> >>
>> ------------------------------------------------------------------------------
>> >> > EditLive Enterprise is the world's most technically advanced content
>> >> > authoring tool. Experience the power of Track Changes, Inline Image
>> >> > Editing and ensure content is compliant with Accessibility Checking.
>> >> > http://p.sf.net/sfu/ephox-dev2dev
>> >> > _______________________________________________
>> >> > Playerstage-gazebo mailing list
>> >> > [hidden email]
>> >> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>> >> >
>> >>
>> >>
>> >>
>> ------------------------------------------------------------------------------
>> >> EditLive Enterprise is the world's most technically advanced content
>> >> authoring tool. Experience the power of Track Changes, Inline Image
>> >> Editing and ensure content is compliant with Accessibility Checking.
>> >> http://p.sf.net/sfu/ephox-dev2dev
>> >> _______________________________________________
>> >> Playerstage-gazebo mailing list
>> >> [hidden email]
>> >> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>> >>
>> >
>> ------------------------------------------------------------------------------
>> > EditLive Enterprise is the world's most technically advanced content
>> > authoring tool. Experience the power of Track Changes, Inline Image
>> > Editing and ensure content is compliant with Accessibility Checking.
>> > http://p.sf.net/sfu/ephox-dev2dev
>> > _______________________________________________
>> > Playerstage-gazebo mailing list
>> > [hidden email]
>> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>> >
>>
>>
>> ------------------------------------------------------------------------------
>> EditLive Enterprise is the world's most technically advanced content
>> authoring tool. Experience the power of Track Changes, Inline Image
>> Editing and ensure content is compliant with Accessibility Checking.
>> http://p.sf.net/sfu/ephox-dev2dev
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>> Playerstage-gazebo mailing list
>> [hidden email]
>> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>>
> ------------------------------------------------------------------------------
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> authoring tool. Experience the power of Track Changes, Inline Image
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Re: Objects sinking through floor

Rein Appeldoorn
What do you mean with the size, the radius of the diameter? I just checked
both models but I'm pretty sure it's the radius. When you use <size> in your
visual-section, you've to set the "diameter" there; when you use scale, the
radius will do.

That's what I think.

On Thu, Jun 9, 2011 at 11:09 AM, Kamil Muszynski
<[hidden email]>wrote:

> By XYZ do you mean ball dimensions along X, Y, Z axis? So the model
> using my scale params is two times smaller?
> I can check it later for you, but I'm pretty sure those values are correct.
>
> 2011/6/9 Rein Appeldoorn <[hidden email]>:
> > The boundingboxes seem to be right in both cases. But what I thought is
> that
> > the <size> in the <geom>-section presented the radius of the ball, when I
> > check this with my GUI of Gazebo, it seems to be right. When I use your
> > model, the XYZ values are not (in my opinion). Have you already checked
> > these values?
> >
> >
> >
> > On Thu, Jun 9, 2011 at 10:49 AM, Kamil Muszynski
> > <[hidden email]>wrote:
> >
> >> Well, I always use <scale> for visual section - please check if the
> >> bounding boxes used for collision detection are OK when you use <size>
> >> instead of <scale>. You can do that from gazebo GUI.
> >>
> >> I think we need to look into gazebo code to solve this difference;)
> >>
> >> 2011/6/9 Rein Appeldoorn <[hidden email]>:
> >> > Hi,
> >> >
> >> > Thanks, when I play with kp and kd, I can prevent the ball from
> sinking.
> >> Now
> >> > another thing what is different from my ball model and yours:
> >> >
> >> > Is it right that you set the parameters of a ball with a radius of
> 0.02
> >> as
> >> > follows:
> >> >
> >> > <size>0.02</size>
> >> > <visual>
> >> >    <size>0.04 0.04 0.04</size>
> >> > </visual>
> >> >
> >> > When I check this in my gazebo-simulation, it seems to be right. But
> in
> >> your
> >> > model you use: <scale> instead of <size>, is this right?
> >> >
> >> > It's really weird because the examples use both (simpleshapes.world /
> >> > pioneer2dx.world).
> >> >
> >> > Thanks,
> >> >
> >> > Rein
> >> >
> >> >
> >> >
> >> > here is a sample ball model I'm using for my simulations. Notice the
> >> >> <kd> and <kp> params and try to play with their values - they control
> >> >> how much force
> >> >> is applied to this specific ball model to prevent it from sinking:
> >> >>
> >> >> <body:sphere name = "ball_body">
> >> >>         <dampingFactor>0.0001</dampingFactor>
> >> >>         <xyz>0 0 0</xyz>
> >> >>        <rpy>0 0 0</rpy>
> >> >>         <geom:sphere name = "ball_geom">
> >> >>                 <xyz>0 0 0.01</xyz>
> >> >>                 <rpy>0 0 0 </rpy>
> >> >>                 <size>0.02</size>
> >> >>                <mu1>0.3</mu1>
> >> >>                <kp>2e6</kp>
> >> >>                <kd>2e6</kd>
> >> >>                <bounce>120</bounce>
> >> >>                <bounceVel>0.5</bounceVel>
> >> >>
> >> >>                <slip1>0.7</slip1>
> >> >>                <slip2>0.7</slip2>
> >> >>
> >> >>                <mass>0.045</mass>
> >> >>                <visual>
> >> >>                        <scale>0.02 0.02 0.02</scale>
> >> >>                        <mesh>unit_sphere</mesh>
> >> >>                        <material>Gazebo/Robocup_orange</material>
> >> >>                </visual>
> >> >>        </geom:sphere>
> >> >> </body:sphere>
> >> >>
> >> >>
> >> >> Also global parameters like step time, erp and cfm does matter, I'm
> >> >> using those values:
> >> >> <stepTime>0.002</stepTime>
> >> >> <erp>0.9</erp>
> >> >> <cfm>0.01</cfm>
> >> >>
> >> >> I hope that will help you,
> >> >>
> >> >> Best regards,
> >> >> Kamil Muszyński
> >> >>
> >> >>
> >> >> 2011/6/9 Rein Appeldoorn <[hidden email]>:
> >> >> > I checked those two parameters but nothing changes. Is this a known
> >> fact
> >> >> or
> >> >> > is this just something weird? Here is the world file I'm using:
> >> >> >
> >> >> >
> >> >>
> >>
> -----------------------------------------------------------------------------------
> >> >> >
> >> >> > <?xml version="1.0"?>
> >> >> >
> >> >> > <gazebo:world
> >> >> >    xmlns:xi="http://www.w3.org/2001/XInclude"
> >> >> >    xmlns:gazebo="
> >> http://playerstage.sourceforge.net/gazebo/xmlschema/#gz
> >> >> "
> >> >> >    xmlns:model="
> >> >> http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
> >> >> >
> >> >> >    xmlns:sensor="
> >> >> > http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
> >> >> >    xmlns:window="
> >> >> > http://playerstage.sourceforge.net/gazebo/xmlschema/#window"
> >> >> >    xmlns:param="
> >> >> http://playerstage.sourceforge.net/gazebo/xmlschema/#param"
> >> >> >
> >> >> >    xmlns:body="
> >> http://playerstage.sourceforge.net/gazebo/xmlschema/#body
> >> >> "
> >> >> >    xmlns:geom="
> >> http://playerstage.sourceforge.net/gazebo/xmlschema/#geom
> >> >> "
> >> >> >    xmlns:joint="
> >> >> http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
> >> >> >
> >> >> >    xmlns:interface="
> >> >> > http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
> >> >> >    xmlns:ui="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
> >> >> >    xmlns:rendering="
> >> >> > http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
> >> >> >    xmlns:controller="
> >> >> > http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
> >> >> >    xmlns:physics="
> >> >> > http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" >
> >> >> >
> >> >> >    <verbosity>5</verbosity>
> >> >> >
> >> >> >    <physics:ode>
> >> >> >        <stepTime>0.005</stepTime>
> >> >> >        <gravity>0 0 -9.8</gravity>
> >> >> >        <cfm>0</cfm>
> >> >> >        <erp>0.8</erp>
> >> >> >        <quickStep>true</quickStep>
> >> >> >        <quickStepIters>100</quickStepIters>
> >> >> >        <quickStepW>1.3</quickStepW>
> >> >> >        <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
> >> >> >        <contactSurfaceLayer>0.0</contactSurfaceLayer>
> >> >> >        <updateRate>0</updateRate>
> >> >> >    </physics:ode>
> >> >> >
> >> >> >    <rendering:gui>
> >> >> >        <type>fltk</type>
> >> >> >        <size>800 600</size>
> >> >> >        <pos>0 0</pos>
> >> >> >    </rendering:gui>
> >> >> >
> >> >> >    <rendering:ogre>
> >> >> >        <ambient>0.8 0.8 0.8 1.0</ambient>
> >> >> >        <sky>
> >> >> >            <material>Gazebo/CloudySky</material>
> >> >> >        </sky>
> >> >> >        <grid>false</grid>
> >> >> >        <shadowTechnique>stencilModulative</shadowTechnique>
> >> >> >    </rendering:ogre>
> >> >> >
> >> >> >    <!-- The Ground Plane -->
> >> >> >    <model:physical name="groundplane_model">
> >> >> >        <xyz>0 0 0</xyz>
> >> >> >        <rpy>0 0 0</rpy>
> >> >> >        <static>true</static>
> >> >> >
> >> >> >        <body:plane name="ground_plane_body">
> >> >> >            <geom:plane name="ground_plane_geom">
> >> >> >                <normal>0 0 1</normal>
> >> >> >                <size>1000 1000</size>
> >> >> >                <segments>100 100</segments>
> >> >> >                <uvTile>100 100</uvTile>
> >> >> >                <material>Gazebo/GrassFloor</material>
> >> >> >                <mu1>109999.0</mu1>
> >> >> >                <mu2>1000.0</mu2>
> >> >> >            </geom:plane>
> >> >> >        </body:plane>
> >> >> >    </model:physical>
> >> >> >    <!-- End Ground Plane -->
> >> >> >
> >> >> >    <!-- The Ball Model -->
> >> >> >    <model:physical name="ball_model">
> >> >> >        <xyz>0.025 0 1</xyz>
> >> >> >        <static>false</static>
> >> >> >
> >> >> >        <body:sphere name="ball_body">
> >> >> >            <geom:sphere name="ball_geom">
> >> >> >                <xyz>0 0 0</xyz>
> >> >> >                <size>0.015</size>
> >> >> >                <mass>0.02</mass>
> >> >> >
> >> >> >                <visual>
> >> >> >                    <size>0.03 0.03 0.03</size>
> >> >> >                    <mesh>unit_sphere</mesh>
> >> >> >                    <material>Gazebo/White</material>
> >> >> >                </visual>
> >> >> >                <mu1>109999.0</mu1>
> >> >> >            </geom:sphere>
> >> >> >        </body:sphere>
> >> >> >    </model:physical>
> >> >> >    <!-- End Ball Model -->
> >> >> >
> >> >> >
> >> >> >    <!-- The White Point light -->
> >> >> >    <model:renderable name="point_white">
> >> >> >        <xyz>-3 0 5</xyz>
> >> >> >        <static>true</static>
> >> >> >        <light>
> >> >> >            <type>point</type>
> >> >> >            <diffuseColor>0.8 0.8 0.8</diffuseColor>
> >> >> >            <specularColor>0.1 0.1 0.1</specularColor>
> >> >> >            <range>20</range>
> >> >> >
> >> >> >            <!-- Constant(0-1) Linear(0-1) Quadratic -->
> >> >> >            <attenuation>0.3 0.01 0</attenuation>
> >> >> >        </light>
> >> >> >    </model:renderable>
> >> >> >    <!-- End White Point light -->
> >> >> >
> >> >> > </gazebo:world>
> >> >> >
> >> >> >
> >> >>
> >>
> -----------------------------------------------------------------------------------
> >> >> >
> >> >> > Do you guys get the same behavior? If so, is there any fix or a way
> to
> >> >> get
> >> >> > rid of this?
> >> >> >
> >> >> > Thanks in advance!
> >> >> >
> >> >> > Rein
> >> >> >
> >> >> > On Wed, Jun 8, 2011 at 8:33 PM, John Hsu <[hidden email]
> >
> >> >> wrote:
> >> >> >
> >> >> >> Hi,
> >> >> >>
> >> >> >> you can check to see if contactSurfaceLayer is small, e.g.
> >> >> >>
> >> >> >> <contactSurfaceLayer>0</contactSurfaceLayer>
> >> >> >>
> >> >> >> in addition, you might want to make sure <CFM> is 0.
> >> >> >>
> >> >> >> hope this helps.
> >> >> >>
> >> >> >> John
> >> >> >>
> >> >> >> On Wed, Jun 8, 2011 at 11:00 AM, Rein Appeldoorn <
> [hidden email]>
> >> >> >> wrote:
> >> >> >>
> >> >> >> > Hi,
> >> >> >> >
> >> >> >> > I'm working on a simulation of an autonomous football table.
> When I
> >> >> model
> >> >> >> > the ball, it's sinking through the floor. Because the geometry
> of
> >> the
> >> >> >> ball
> >> >> >> > is quite small (radius of 0.015), this sinking is not
> acceptable.
> >> >> Strange
> >> >> >> > enough, when I check the other objects, they're all sinking a
> >> little
> >> >> bit.
> >> >> >> > Does anybody have an explanation for this?
> >> >> >> >
> >> >> >> > A thing I can do is scale up all models, this makes the relative
> >> >> errors
> >> >> >> > much
> >> >> >> > less. Does anybody got experience with this fact? Is scaling a
> good
> >> >> >> > solution?
> >> >> >> >
> >> >> >> > Thanks in advance!
> >> >> >> >
> >> >> >> > Regards,
> >> >> >> >
> >> >> >> > Rein
> >> >> >> >
> >> >> >> >
> >> >> >>
> >> >>
> >>
> ------------------------------------------------------------------------------
> >> >> >> > EditLive Enterprise is the world's most technically advanced
> >> content
> >> >> >> > authoring tool. Experience the power of Track Changes, Inline
> Image
> >> >> >> > Editing and ensure content is compliant with Accessibility
> >> Checking.
> >> >> >> > http://p.sf.net/sfu/ephox-dev2dev
> >> >> >> > _______________________________________________
> >> >> >> > Playerstage-gazebo mailing list
> >> >> >> > [hidden email]
> >> >> >> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >> >> >> >
> >> >> >>
> >> >> >>
> >> >> >>
> >> >> >> --
> >> >> >> John Hsu, Ph.D.
> >> >> >> Senior Research Engineer
> >> >> >> Willow Garage Inc.
> >> >> >> +1-650-475-2809
> >> >> >>
> >> >> >>
> >> >>
> >>
> ------------------------------------------------------------------------------
> >> >> >> EditLive Enterprise is the world's most technically advanced
> content
> >> >> >> authoring tool. Experience the power of Track Changes, Inline
> Image
> >> >> >> Editing and ensure content is compliant with Accessibility
> Checking.
> >> >> >> http://p.sf.net/sfu/ephox-dev2dev
> >> >> >> _______________________________________________
> >> >> >> Playerstage-gazebo mailing list
> >> >> >> [hidden email]
> >> >> >> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >> >> >>
> >> >> >
> >> >>
> >>
> ------------------------------------------------------------------------------
> >> >> > EditLive Enterprise is the world's most technically advanced
> content
> >> >> > authoring tool. Experience the power of Track Changes, Inline Image
> >> >> > Editing and ensure content is compliant with Accessibility
> Checking.
> >> >> > http://p.sf.net/sfu/ephox-dev2dev
> >> >> > _______________________________________________
> >> >> > Playerstage-gazebo mailing list
> >> >> > [hidden email]
> >> >> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >> >> >
> >> >>
> >> >>
> >> >>
> >>
> ------------------------------------------------------------------------------
> >> >> EditLive Enterprise is the world's most technically advanced content
> >> >> authoring tool. Experience the power of Track Changes, Inline Image
> >> >> Editing and ensure content is compliant with Accessibility Checking.
> >> >> http://p.sf.net/sfu/ephox-dev2dev
> >> >> _______________________________________________
> >> >> Playerstage-gazebo mailing list
> >> >> [hidden email]
> >> >> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >> >>
> >> >
> >>
> ------------------------------------------------------------------------------
> >> > EditLive Enterprise is the world's most technically advanced content
> >> > authoring tool. Experience the power of Track Changes, Inline Image
> >> > Editing and ensure content is compliant with Accessibility Checking.
> >> > http://p.sf.net/sfu/ephox-dev2dev
> >> > _______________________________________________
> >> > Playerstage-gazebo mailing list
> >> > [hidden email]
> >> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >> >
> >>
> >>
> >>
> ------------------------------------------------------------------------------
> >> EditLive Enterprise is the world's most technically advanced content
> >> authoring tool. Experience the power of Track Changes, Inline Image
> >> Editing and ensure content is compliant with Accessibility Checking.
> >> http://p.sf.net/sfu/ephox-dev2dev
> >> _______________________________________________
> >> Playerstage-gazebo mailing list
> >> [hidden email]
> >> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >>
> >
> ------------------------------------------------------------------------------
> > EditLive Enterprise is the world's most technically advanced content
> > authoring tool. Experience the power of Track Changes, Inline Image
> > Editing and ensure content is compliant with Accessibility Checking.
> > http://p.sf.net/sfu/ephox-dev2dev
> > _______________________________________________
> > Playerstage-gazebo mailing list
> > [hidden email]
> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >
>
>
> ------------------------------------------------------------------------------
> EditLive Enterprise is the world's most technically advanced content
> authoring tool. Experience the power of Track Changes, Inline Image
> Editing and ensure content is compliant with Accessibility Checking.
> http://p.sf.net/sfu/ephox-dev2dev
> _______________________________________________
> Playerstage-gazebo mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>
------------------------------------------------------------------------------
EditLive Enterprise is the world's most technically advanced content
authoring tool. Experience the power of Track Changes, Inline Image
Editing and ensure content is compliant with Accessibility Checking.
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Re: Objects sinking through floor

John Hsu-2
In reply to this post by Rein Appeldoorn
Hi Rein,

I just ran your world, and the ball does not sink through the floor.
which gazebo revision are you running?

John

On Thu, Jun 9, 2011 at 12:07 AM, Rein Appeldoorn <[hidden email]> wrote:

> I checked those two parameters but nothing changes. Is this a known fact or
> is this just something weird? Here is the world file I'm using:
>
>
> -----------------------------------------------------------------------------------
>
> <?xml version="1.0"?>
>
> <gazebo:world
>    xmlns:xi="http://www.w3.org/2001/XInclude"
>    xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
>    xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model
> "
>
>    xmlns:sensor="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
>    xmlns:window="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#window"
>    xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param
> "
>
>    xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
>    xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
>    xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint
> "
>
>    xmlns:interface="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
>    xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
>    xmlns:rendering="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
>    xmlns:controller="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
>    xmlns:physics="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" >
>
>    <verbosity>5</verbosity>
>
>    <physics:ode>
>        <stepTime>0.005</stepTime>
>        <gravity>0 0 -9.8</gravity>
>        <cfm>0</cfm>
>        <erp>0.8</erp>
>        <quickStep>true</quickStep>
>        <quickStepIters>100</quickStepIters>
>        <quickStepW>1.3</quickStepW>
>        <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
>        <contactSurfaceLayer>0.0</contactSurfaceLayer>
>        <updateRate>0</updateRate>
>    </physics:ode>
>
>    <rendering:gui>
>        <type>fltk</type>
>        <size>800 600</size>
>        <pos>0 0</pos>
>    </rendering:gui>
>
>    <rendering:ogre>
>        <ambient>0.8 0.8 0.8 1.0</ambient>
>        <sky>
>            <material>Gazebo/CloudySky</material>
>        </sky>
>        <grid>false</grid>
>        <shadowTechnique>stencilModulative</shadowTechnique>
>    </rendering:ogre>
>
>    <!-- The Ground Plane -->
>    <model:physical name="groundplane_model">
>        <xyz>0 0 0</xyz>
>        <rpy>0 0 0</rpy>
>        <static>true</static>
>
>        <body:plane name="ground_plane_body">
>            <geom:plane name="ground_plane_geom">
>                <normal>0 0 1</normal>
>                <size>1000 1000</size>
>                <segments>100 100</segments>
>                <uvTile>100 100</uvTile>
>                <material>Gazebo/GrassFloor</material>
>                <mu1>109999.0</mu1>
>                <mu2>1000.0</mu2>
>            </geom:plane>
>        </body:plane>
>    </model:physical>
>    <!-- End Ground Plane -->
>
>    <!-- The Ball Model -->
>    <model:physical name="ball_model">
>        <xyz>0.025 0 1</xyz>
>        <static>false</static>
>
>        <body:sphere name="ball_body">
>            <geom:sphere name="ball_geom">
>                <xyz>0 0 0</xyz>
>                <size>0.015</size>
>                <mass>0.02</mass>
>
>                <visual>
>                    <size>0.03 0.03 0.03</size>
>                    <mesh>unit_sphere</mesh>
>                    <material>Gazebo/White</material>
>                </visual>
>                <mu1>109999.0</mu1>
>            </geom:sphere>
>        </body:sphere>
>    </model:physical>
>    <!-- End Ball Model -->
>
>
>    <!-- The White Point light -->
>    <model:renderable name="point_white">
>        <xyz>-3 0 5</xyz>
>        <static>true</static>
>        <light>
>            <type>point</type>
>            <diffuseColor>0.8 0.8 0.8</diffuseColor>
>            <specularColor>0.1 0.1 0.1</specularColor>
>            <range>20</range>
>
>            <!-- Constant(0-1) Linear(0-1) Quadratic -->
>            <attenuation>0.3 0.01 0</attenuation>
>        </light>
>    </model:renderable>
>    <!-- End White Point light -->
>
> </gazebo:world>
>
>
> -----------------------------------------------------------------------------------
>
> Do you guys get the same behavior? If so, is there any fix or a way to get
> rid of this?
>
> Thanks in advance!
>
> Rein
>
> On Wed, Jun 8, 2011 at 8:33 PM, John Hsu <[hidden email]> wrote:
>
> > Hi,
> >
> > you can check to see if contactSurfaceLayer is small, e.g.
> >
> > <contactSurfaceLayer>0</contactSurfaceLayer>
> >
> > in addition, you might want to make sure <CFM> is 0.
> >
> > hope this helps.
> >
> > John
> >
> > On Wed, Jun 8, 2011 at 11:00 AM, Rein Appeldoorn <[hidden email]>
> > wrote:
> >
> > > Hi,
> > >
> > > I'm working on a simulation of an autonomous football table. When I
> model
> > > the ball, it's sinking through the floor. Because the geometry of the
> > ball
> > > is quite small (radius of 0.015), this sinking is not acceptable.
> Strange
> > > enough, when I check the other objects, they're all sinking a little
> bit.
> > > Does anybody have an explanation for this?
> > >
> > > A thing I can do is scale up all models, this makes the relative errors
> > > much
> > > less. Does anybody got experience with this fact? Is scaling a good
> > > solution?
> > >
> > > Thanks in advance!
> > >
> > > Regards,
> > >
> > > Rein
> > >
> > >
> >
> ------------------------------------------------------------------------------
> > > EditLive Enterprise is the world's most technically advanced content
> > > authoring tool. Experience the power of Track Changes, Inline Image
> > > Editing and ensure content is compliant with Accessibility Checking.
> > > http://p.sf.net/sfu/ephox-dev2dev
> > > _______________________________________________
> > > Playerstage-gazebo mailing list
> > > [hidden email]
> > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> > >
> >
> >
> >
> > --
> > John Hsu, Ph.D.
> > Senior Research Engineer
> > Willow Garage Inc.
> > +1-650-475-2809
> >
> >
> ------------------------------------------------------------------------------
> > EditLive Enterprise is the world's most technically advanced content
> > authoring tool. Experience the power of Track Changes, Inline Image
> > Editing and ensure content is compliant with Accessibility Checking.
> > http://p.sf.net/sfu/ephox-dev2dev
> > _______________________________________________
> > Playerstage-gazebo mailing list
> > [hidden email]
> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >
>
> ------------------------------------------------------------------------------
> EditLive Enterprise is the world's most technically advanced content
> authoring tool. Experience the power of Track Changes, Inline Image
> Editing and ensure content is compliant with Accessibility Checking.
> http://p.sf.net/sfu/ephox-dev2dev
> _______________________________________________
> Playerstage-gazebo mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>


--
John Hsu, Ph.D.
Senior Research Engineer
Willow Garage Inc.
+1-650-475-2809

------------------------------------------------------------------------------
EditLive Enterprise is the world's most technically advanced content
authoring tool. Experience the power of Track Changes, Inline Image
Editing and ensure content is compliant with Accessibility Checking.
http://p.sf.net/sfu/ephox-dev2dev
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Re: Objects sinking through floor

Rein Appeldoorn
I am running Gazebo 0.09 at the moment. First, I used 0.10 but I had some
problems with the controlling of the hinges. For some reason, everything
worked fine in 0.09 so I'm using this version now.

Regards,

Rein


On Thu, Jun 9, 2011 at 9:02 PM, John Hsu <[hidden email]> wrote:

> Hi Rein,
>
> I just ran your world, and the ball does not sink through the floor.
> which gazebo revision are you running?
>
> John
>
> On Thu, Jun 9, 2011 at 12:07 AM, Rein Appeldoorn <[hidden email]>
> wrote:
>
> > I checked those two parameters but nothing changes. Is this a known fact
> or
> > is this just something weird? Here is the world file I'm using:
> >
> >
> >
> -----------------------------------------------------------------------------------
> >
> > <?xml version="1.0"?>
> >
> > <gazebo:world
> >    xmlns:xi="http://www.w3.org/2001/XInclude"
> >    xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz
> "
> >    xmlns:model="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#model
> > "
> >
> >    xmlns:sensor="
> > http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
> >    xmlns:window="
> > http://playerstage.sourceforge.net/gazebo/xmlschema/#window"
> >    xmlns:param="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#param
> > "
> >
> >    xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body
> "
> >    xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom
> "
> >    xmlns:joint="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#joint
> > "
> >
> >    xmlns:interface="
> > http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
> >    xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
> >    xmlns:rendering="
> > http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
> >    xmlns:controller="
> > http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
> >    xmlns:physics="
> > http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" >
> >
> >    <verbosity>5</verbosity>
> >
> >    <physics:ode>
> >        <stepTime>0.005</stepTime>
> >        <gravity>0 0 -9.8</gravity>
> >        <cfm>0</cfm>
> >        <erp>0.8</erp>
> >        <quickStep>true</quickStep>
> >        <quickStepIters>100</quickStepIters>
> >        <quickStepW>1.3</quickStepW>
> >        <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
> >        <contactSurfaceLayer>0.0</contactSurfaceLayer>
> >        <updateRate>0</updateRate>
> >    </physics:ode>
> >
> >    <rendering:gui>
> >        <type>fltk</type>
> >        <size>800 600</size>
> >        <pos>0 0</pos>
> >    </rendering:gui>
> >
> >    <rendering:ogre>
> >        <ambient>0.8 0.8 0.8 1.0</ambient>
> >        <sky>
> >            <material>Gazebo/CloudySky</material>
> >        </sky>
> >        <grid>false</grid>
> >        <shadowTechnique>stencilModulative</shadowTechnique>
> >    </rendering:ogre>
> >
> >    <!-- The Ground Plane -->
> >    <model:physical name="groundplane_model">
> >        <xyz>0 0 0</xyz>
> >        <rpy>0 0 0</rpy>
> >        <static>true</static>
> >
> >        <body:plane name="ground_plane_body">
> >            <geom:plane name="ground_plane_geom">
> >                <normal>0 0 1</normal>
> >                <size>1000 1000</size>
> >                <segments>100 100</segments>
> >                <uvTile>100 100</uvTile>
> >                <material>Gazebo/GrassFloor</material>
> >                <mu1>109999.0</mu1>
> >                <mu2>1000.0</mu2>
> >            </geom:plane>
> >        </body:plane>
> >    </model:physical>
> >    <!-- End Ground Plane -->
> >
> >    <!-- The Ball Model -->
> >    <model:physical name="ball_model">
> >        <xyz>0.025 0 1</xyz>
> >        <static>false</static>
> >
> >        <body:sphere name="ball_body">
> >            <geom:sphere name="ball_geom">
> >                <xyz>0 0 0</xyz>
> >                <size>0.015</size>
> >                <mass>0.02</mass>
> >
> >                <visual>
> >                    <size>0.03 0.03 0.03</size>
> >                    <mesh>unit_sphere</mesh>
> >                    <material>Gazebo/White</material>
> >                </visual>
> >                <mu1>109999.0</mu1>
> >            </geom:sphere>
> >        </body:sphere>
> >    </model:physical>
> >    <!-- End Ball Model -->
> >
> >
> >    <!-- The White Point light -->
> >    <model:renderable name="point_white">
> >        <xyz>-3 0 5</xyz>
> >        <static>true</static>
> >        <light>
> >            <type>point</type>
> >            <diffuseColor>0.8 0.8 0.8</diffuseColor>
> >            <specularColor>0.1 0.1 0.1</specularColor>
> >            <range>20</range>
> >
> >            <!-- Constant(0-1) Linear(0-1) Quadratic -->
> >            <attenuation>0.3 0.01 0</attenuation>
> >        </light>
> >    </model:renderable>
> >    <!-- End White Point light -->
> >
> > </gazebo:world>
> >
> >
> >
> -----------------------------------------------------------------------------------
> >
> > Do you guys get the same behavior? If so, is there any fix or a way to
> get
> > rid of this?
> >
> > Thanks in advance!
> >
> > Rein
> >
> > On Wed, Jun 8, 2011 at 8:33 PM, John Hsu <[hidden email]>
> wrote:
> >
> > > Hi,
> > >
> > > you can check to see if contactSurfaceLayer is small, e.g.
> > >
> > > <contactSurfaceLayer>0</contactSurfaceLayer>
> > >
> > > in addition, you might want to make sure <CFM> is 0.
> > >
> > > hope this helps.
> > >
> > > John
> > >
> > > On Wed, Jun 8, 2011 at 11:00 AM, Rein Appeldoorn <[hidden email]>
> > > wrote:
> > >
> > > > Hi,
> > > >
> > > > I'm working on a simulation of an autonomous football table. When I
> > model
> > > > the ball, it's sinking through the floor. Because the geometry of the
> > > ball
> > > > is quite small (radius of 0.015), this sinking is not acceptable.
> > Strange
> > > > enough, when I check the other objects, they're all sinking a little
> > bit.
> > > > Does anybody have an explanation for this?
> > > >
> > > > A thing I can do is scale up all models, this makes the relative
> errors
> > > > much
> > > > less. Does anybody got experience with this fact? Is scaling a good
> > > > solution?
> > > >
> > > > Thanks in advance!
> > > >
> > > > Regards,
> > > >
> > > > Rein
> > > >
> > > >
> > >
> >
> ------------------------------------------------------------------------------
> > > > EditLive Enterprise is the world's most technically advanced content
> > > > authoring tool. Experience the power of Track Changes, Inline Image
> > > > Editing and ensure content is compliant with Accessibility Checking.
> > > > http://p.sf.net/sfu/ephox-dev2dev
> > > > _______________________________________________
> > > > Playerstage-gazebo mailing list
> > > > [hidden email]
> > > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> > > >
> > >
> > >
> > >
> > > --
> > > John Hsu, Ph.D.
> > > Senior Research Engineer
> > > Willow Garage Inc.
> > > +1-650-475-2809
> > >
> > >
> >
> ------------------------------------------------------------------------------
> > > EditLive Enterprise is the world's most technically advanced content
> > > authoring tool. Experience the power of Track Changes, Inline Image
> > > Editing and ensure content is compliant with Accessibility Checking.
> > > http://p.sf.net/sfu/ephox-dev2dev
> > > _______________________________________________
> > > Playerstage-gazebo mailing list
> > > [hidden email]
> > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> > >
> >
> >
> ------------------------------------------------------------------------------
> > EditLive Enterprise is the world's most technically advanced content
> > authoring tool. Experience the power of Track Changes, Inline Image
> > Editing and ensure content is compliant with Accessibility Checking.
> > http://p.sf.net/sfu/ephox-dev2dev
> > _______________________________________________
> > Playerstage-gazebo mailing list
> > [hidden email]
> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >
>
>
>
> --
> John Hsu, Ph.D.
> Senior Research Engineer
> Willow Garage Inc.
> +1-650-475-2809
>
>
> ------------------------------------------------------------------------------
> EditLive Enterprise is the world's most technically advanced content
> authoring tool. Experience the power of Track Changes, Inline Image
> Editing and ensure content is compliant with Accessibility Checking.
> http://p.sf.net/sfu/ephox-dev2dev
> _______________________________________________
> Playerstage-gazebo mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>
>
------------------------------------------------------------------------------
EditLive Enterprise is the world's most technically advanced content
authoring tool. Experience the power of Track Changes, Inline Image
Editing and ensure content is compliant with Accessibility Checking.
http://p.sf.net/sfu/ephox-dev2dev
_______________________________________________
Playerstage-gazebo mailing list
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