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 <muszynski.ka...@gmail.com>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 <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. 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