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 <rein...@gmail.com>: > 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 <rein...@gmail.com>: >> > 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 >> > >> >> >> ------------------------------------------------------------------------------ >> 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 > ------------------------------------------------------------------------------ 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
