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 <john...@willowgarage.com> 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 <rein...@gmail.com> > 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 > > Playerstage-gazebo@lists.sourceforge.net > > 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 > Playerstage-gazebo@lists.sourceforge.net > 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 Playerstage-gazebo@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo