Hi all, I have a similar problem with the simulation of a modified pioneer on an inclined plane. If I make a pioneer with a mass of 21 kg to crash against a box of mass of 3000 kg, then the box starts rolling over the plane. My suggestion is that the moment of inertia of all the objects is set to a very low value (about 10e-10) and then even a small torque on an object cause it to roll. The same happens to you when the rod rolls, so that it applies a torque to the other objects (due to friction). Given the very low moment of inertia of teh table, it starts rolling. I even tried to set the inertia, but nothing changed.
I post here because I think the two problems are related. I attach the files of my simulation. http://dl.dropbox.com/u/20433489/gazebo/pioneer3d.model http://dl.dropbox.com/u/20433489/gazebo/pioneer3d.world Any suggestions? thanks in advance Paolo 2011/6/16 Rein Appeldoorn <[email protected]> > No, that's the weird fact, it doesn't change at all when I'm varying > different parameters like mass, friction etc. > > What do you mean with "off the trunk"? > > I attached the piece of code for moving the rods: > http://80.56.19.206/files/movingrodscode.txt > > More and more, I start to think that my Gazebo isn't set-up properly. First > on 0.10, I got strange behavior when using the act-array interface. I > couldn't event rotate a single hinge. Now, on 0.9, other thinks occur which > aren't really explainable. > > Is there a way to check if your Gazebo is set up properly? > > Thanks again for helping me! > > Rein > > On Thu, Jun 16, 2011 at 10:42 AM, John Hsu <[email protected]> > wrote: > > > Hi Rein, > > does the strange behavior change at all when you increase/decrease mass > of > > the walls? > > Have you tried off the trunk to see if this problem still exists? > > lastly, can you attach the code you used to move the rods too? > > thanks, > > John > > > > On Thu, Jun 16, 2011 at 1:08 AM, Rein Appeldoorn <[email protected]> > > wrote: > > > > > I'm using Gazebo version 0.9. This is because I had a problem with > > > actuating > > > the hinges via the generic-actarray in Gazebo version 0.10. Therefore, > > I'm > > > using version 0.9 now. > > > > > > I'm not using a wall mesh; the wall consist of multiple box geometries. > > > > > > The movement of the table, what you saw in the movie, happens when > > rotating > > > the rod. This is weird because the static part of the table (walls) > have > > > the > > > following parameters: > > > > > > <mu1>0.3</mu1> > > > <mu2>0.3</mu2> > > > <mass>1e5</mass> > > > > > > I've added my ODEPhysics.cc and my .world-files: > > > http://80.56.19.206/files/ODEPhysics.cc > > > http://80.56.19.206/files/simulation_010.world (Gazebo 0.10) > > > http://80.56.19.206/files/simulation_090.world (Gazebo 0.09) > > > > > > Thanks for responding! > > > > > > Rein > > > > > > On Thu, Jun 16, 2011 at 9:45 AM, John Hsu <[email protected]> > > > wrote: > > > > > > > ah, sorry, I just went back to see the video again, and apparently I > > saw > > > > the > > > > wrong video earlier! > > > > > > > > Ok, the bouncing table problem is most likely a problem with max > > contacts > > > > specified. I've seen this when max contacts is set too low for the > > mesh > > > > involved. What version of gazebo are you running? can you attach or > > > point > > > > me to ODEPhysics.cc? > > > > > > > > One way to fix this (not the best way) is, try putting a small box > > block > > > > under each corner of your "wall" mesh. > > > > > > > > John > > > > > > > > On Wed, Jun 15, 2011 at 2:50 AM, Rein Appeldoorn <[email protected]> > > > > wrote: > > > > > > > > > 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 < > [email protected]> > > > > > 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 < > [email protected] > > > > > > > > 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 < > > [email protected]> > > > > > >> 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 < > > > [email protected]> > > > > > >> 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 > > > > > >> > > > > > > > >> > > > > > > >> > > > > > > >> > > > > > > > > > > > > > > > ------------------------------------------------------------------------------ > > > > > >> > 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 > > > > > > > > > > > -- > > 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 > ------------------------------------------------------------------------------ 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
