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