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 <[email protected]> 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 <[email protected]>
> 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
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> >
>
>
>
> --
> 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.
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