I am running Gazebo 0.09 at the moment. First, I used 0.10 but I had some problems with the controlling of the hinges. For some reason, everything worked fine in 0.09 so I'm using this version now.
Regards, Rein On Thu, Jun 9, 2011 at 9:02 PM, John Hsu <[email protected]> wrote: > Hi Rein, > > I just ran your world, and the ball does not sink through the floor. > which gazebo revision are you running? > > John > > On Thu, Jun 9, 2011 at 12:07 AM, Rein Appeldoorn <[email protected]> > wrote: > > > 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 > > > > Editing and ensure content is compliant with Accessibility Checking. > > > > http://p.sf.net/sfu/ephox-dev2dev > > > > _______________________________________________ > > > > Playerstage-gazebo mailing list > > > > [email protected] > > > > 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 > > > [email protected] > > > 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 > > [email protected] > > 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 > [email protected] > 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 [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
