I checked my gazebo settings in /server/physics/ode/ODEPhysics.cc and they
were as follows:
contact.surface.mode = dContactSlip1 | dContactSlip2 |
dContactSoftERP | dContactSoftCFM |
dContactBounce | dContactMu2 |
dContactApprox1;
So this can't be the problem in my opinion. The parameters for the
geometries of the table are as follows:
<mu1>0.3</mu1>
<mu2>0.3</mu2>
<mass>1e5</mass>
Any idea what we are doing wrong?
Thanks,
Rein
On Fri, Jun 10, 2011 at 1:08 PM, Rein Appeldoorn <rein...@gmail.com> wrote:
> John,
>
> Thanks for your reply.
>
> What do you mean with the friction coefficients of the "wheels"?
> And how do I check my Gazebo-settings if they are right?
>
> Regards,
>
> Rein
>
>
> On Thu, Jun 9, 2011 at 8:01 PM, John Hsu <john...@willowgarage.com> wrote:
>
>> Hi Rein,
>> Not sure if this will help, but have you tried reducing the friction
>> coefficients of the wheels <mu1> and <mu2> to something less than 1?
>> also, make sure that in the version of gazebo you are running,
>> contact.surface mode has "dContactApprox1" in it.
>>
>> contact.surface.mode = dContactSoftERP | dContactSoftCFM |
>> dContactApprox1 | dContactMu2;
>>
>> John
>>
>> On Thu, Jun 9, 2011 at 5:51 AM, Rein Appeldoorn <rein...@gmail.com>
>> wrote:
>>
>> > Code: http://www.student.tue.nl/W/r.p.w.appeldoorn/simulation.txt
>> > <http://www.student.tue.nl/W/r.p.w.appeldoorn/simulation.world>
>> >
>> > On Thu, Jun 9, 2011 at 2:43 PM, Rein Appeldoorn <rein...@gmail.com>
>> wrote:
>> >
>> > > Hi all,
>> > >
>> > > We are working on a simulation model of an autonomous football table.
>> We
>> > > already build our model but we're struggling with the realism. We
>> solved
>> > a
>> > > lot of problems but to this one, we can't find an answer to. Here is a
>> > movie
>> > > of the weird/unrealistic behavior:
>> > >
>> > > Movie:
>> > http://www.student.tue.nl/W/r.p.w.appeldoorn/gazebo_tablesoccer.avi
>> > >
>> > > Has someone perhaps experienced similar problems or perhaps does
>> someone
>> > > want to take a look at our code because we're probably making trivial
>> > > mistakes.
>> > >
>> > > Code: http://www.student.tue.nl/W/r.p.w.appeldoorn/simulation.world
>> > >
>> > > Thanks in advance,
>> > >
>> > > Rein
>> > >
>> >
>> >
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>>
>>
>> --
>> John Hsu, Ph.D.
>> Senior Research Engineer
>> Willow Garage Inc.
>> +1-650-475-2809
>>
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>
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