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 Re: [PlayerStage-Gazebo] Weird gazebo simulation From: Paolo Stegagno - 2011-06-21 18:30:48 ```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 > 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 > 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 > > 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: > > > > > > 0.3 > > > 0.3 > > > 1e5 > > > > > > 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 > > > 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 > > > > 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: > > > > > > > > > > 0.3 > > > > > 0.3 > > > > > 1e5 > > > > > > > > > > Any idea what we are doing wrong? > > > > > > > > > > Thanks, > > > > > > > > > > Rein > > > > > > > > > > > > > > > On Fri, Jun 10, 2011 at 1:08 PM, Rein Appeldoorn < > reinzor@...> > > > > > 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 < > johnhsu@... > > > > > > > > wrote: > > > > > > > > > > > >> Hi Rein, > > > > > >> Not sure if this will help, but have you tried reducing the > > friction > > > > > >> coefficients of the wheels and 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 < > > reinzor@...> > > > > > >> 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 < > > > reinzor@...> > > > > > >> 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 > > > > > >> > Playerstage-gazebo@... > > > > > >> > > 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@... > > > > > >> 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@... > > > > > 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@... > > > > 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@... > > > 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@... > > 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@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```
 [PlayerStage-Gazebo] Box Properties From: Elizabeth Duane - 2011-06-17 19:19:52 ```Hello, I'm doing a simulation of "pushing-box" on Gazebo 0.9 . I want test if one robot can push one box according the box's weight. I changed the box's mass with a lot of values and yet the robot pushed the box. I tried to change the friction too, but it was unsuccessful. What I do to set one box to be too heavy that the robot can't push it? (I don't want put the box static. The robot will need to do more force to push the box.) Any idea? Thanks for helping. -- *Elizabeth Duane* _________________________________________________________________ Campanha Brasil - Dakar "O amor em construção. Corra este rally!" - http://www.oamoremconstrucao.com.br/ ```
 Re: [PlayerStage-Gazebo] Weird gazebo simulation From: Rein Appeldoorn - 2011-06-16 08:56:07 ```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 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 > 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: > > > > 0.3 > > 0.3 > > 1e5 > > > > 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 > > 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 > > > 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: > > > > > > > > 0.3 > > > > 0.3 > > > > 1e5 > > > > > > > > Any idea what we are doing wrong? > > > > > > > > Thanks, > > > > > > > > Rein > > > > > > > > > > > > On Fri, Jun 10, 2011 at 1:08 PM, Rein Appeldoorn > > > > 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 > > > > > wrote: > > > > > > > > > >> Hi Rein, > > > > >> Not sure if this will help, but have you tried reducing the > friction > > > > >> coefficients of the wheels and 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 < > reinzor@...> > > > > >> wrote: > > > > >> > > > > >> > Code: > http://www.student.tue.nl/W/r.p.w.appeldoorn/simulation.txt > > > > >> > ; > > > > >> > > > > > >> > On Thu, Jun 9, 2011 at 2:43 PM, Rein Appeldoorn < > > reinzor@...> > > > > >> 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 > > > > >> > Playerstage-gazebo@... > > > > >> > 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@... > > > > >> 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@... > > > > 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@... > > > 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@... > > 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@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```
 Re: [PlayerStage-Gazebo] Weird gazebo simulation From: John Hsu - 2011-06-16 08:42:56 ```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 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: > > 0.3 > 0.3 > 1e5 > > 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 > 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 > > 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: > > > > > > 0.3 > > > 0.3 > > > 1e5 > > > > > > Any idea what we are doing wrong? > > > > > > Thanks, > > > > > > Rein > > > > > > > > > On Fri, Jun 10, 2011 at 1:08 PM, Rein Appeldoorn > > > 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 > > > wrote: > > > > > > > >> Hi Rein, > > > >> Not sure if this will help, but have you tried reducing the friction > > > >> coefficients of the wheels and 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 > > > >> wrote: > > > >> > > > >> > Code: http://www.student.tue.nl/W/r.p.w.appeldoorn/simulation.txt > > > >> > ; > > > >> > > > > >> > On Thu, Jun 9, 2011 at 2:43 PM, Rein Appeldoorn < > reinzor@...> > > > >> 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 > > > >> > Playerstage-gazebo@... > > > >> > 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@... > > > >> 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@... > > > 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@... > > 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@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > -- John Hsu, Ph.D. Senior Research Engineer Willow Garage Inc. +1-650-475-2809 ```
 Re: [PlayerStage-Gazebo] Weird gazebo simulation From: Rein Appeldoorn - 2011-06-16 08:09:02 ```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: 0.3 0.3 1e5 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 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 > 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: > > > > 0.3 > > 0.3 > > 1e5 > > > > Any idea what we are doing wrong? > > > > Thanks, > > > > Rein > > > > > > On Fri, Jun 10, 2011 at 1:08 PM, Rein Appeldoorn > > 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 > > wrote: > > > > > >> Hi Rein, > > >> Not sure if this will help, but have you tried reducing the friction > > >> coefficients of the wheels and 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 > > >> wrote: > > >> > > >> > Code: http://www.student.tue.nl/W/r.p.w.appeldoorn/simulation.txt > > >> > ; > > >> > > > >> > On Thu, Jun 9, 2011 at 2:43 PM, Rein Appeldoorn > > >> 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 > > >> > Playerstage-gazebo@... > > >> > 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@... > > >> 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@... > > 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@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```
 Re: [PlayerStage-Gazebo] Weird gazebo simulation From: John Hsu - 2011-06-16 07:46:21 ```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 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: > > 0.3 > 0.3 > 1e5 > > Any idea what we are doing wrong? > > Thanks, > > Rein > > > On Fri, Jun 10, 2011 at 1:08 PM, Rein Appeldoorn > 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 > wrote: > > > >> Hi Rein, > >> Not sure if this will help, but have you tried reducing the friction > >> coefficients of the wheels and 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 > >> wrote: > >> > >> > Code: http://www.student.tue.nl/W/r.p.w.appeldoorn/simulation.txt > >> > ; > >> > > >> > On Thu, Jun 9, 2011 at 2:43 PM, Rein Appeldoorn > >> 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 > >> > Playerstage-gazebo@... > >> > 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@... > >> 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@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > -- John Hsu, Ph.D. Senior Research Engineer Willow Garage Inc. +1-650-475-2809 ```
 Re: [PlayerStage-Gazebo] Weird gazebo simulation From: Rein Appeldoorn - 2011-06-15 09:51:22 ```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: 0.3 0.3 1e5 Any idea what we are doing wrong? Thanks, Rein On Fri, Jun 10, 2011 at 1:08 PM, Rein Appeldoorn 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 wrote: > >> Hi Rein, >> Not sure if this will help, but have you tried reducing the friction >> coefficients of the wheels and 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 >> wrote: >> >> > Code: http://www.student.tue.nl/W/r.p.w.appeldoorn/simulation.txt >> > ; >> > >> > On Thu, Jun 9, 2011 at 2:43 PM, Rein Appeldoorn >> 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 >> > Playerstage-gazebo@... >> > 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@... >> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo >> > > ```
 Re: [PlayerStage-Gazebo] Objects sinking through floor From: Rein Appeldoorn - 2011-06-10 17:19:21 ```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 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 > 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: > > > > > > > ----------------------------------------------------------------------------------- > > > > > > > > > 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"; > > > > > 5 > > > > > > 0.005 > > 0 0 -9.8 > > 0 > > 0.8 > > true > > 100 > > 1.3 > > 100.0 > > 0.0 > > 0 > > > > > > > > fltk > > 800 600 > > 0 0 > > > > > > > > 0.8 0.8 0.8 1.0 > > > > Gazebo/CloudySky > > > > false > > stencilModulative > > > > > > > > > > 0 0 0 > > 0 0 0 > > true > > > > > > > > 0 0 1 > > 1000 1000 > > 100 100 > > 100 100 > > Gazebo/GrassFloor > > 109999.0 > > 1000.0 > > > > > > > > > > > > > > > > 0.025 0 1 > > false > > > > > > > > 0 0 0 > > 0.015 > > 0.02 > > > > > > 0.03 0.03 0.03 > > unit_sphere > > Gazebo/White > > > > 109999.0 > > > > > > > > > > > > > > > > > > -3 0 5 > > true > > > > point > > 0.8 0.8 0.8 > > 0.1 0.1 0.1 > > 20 > > > > > > 0.3 0.01 0 > > > > > > > > > > > > > > > > > ----------------------------------------------------------------------------------- > > > > 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 > wrote: > > > > > Hi, > > > > > > you can check to see if contactSurfaceLayer is small, e.g. > > > > > > 0 > > > > > > in addition, you might want to make sure is 0. > > > > > > hope this helps. > > > > > > John > > > > > > On Wed, Jun 8, 2011 at 11:00 AM, Rein Appeldoorn > > > 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@... > > > > 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@... > > > 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@... > > 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@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > ```
 [PlayerStage-Gazebo] Were to find best install instructions From: Aaron O'Toole - 2011-06-10 14:17:19 ```Hello all, I'm new to gazebo, I've used it in ROS some, but am ready to try it standalone. Unfortunaly, I've had a terrible time trying to install it, I should have asked for help a long time ago. So to get down to business, I've seen multiple places that have installation instructions, many of which list completely different processes as well as different dependances. I was wondering which set of instructions are recommended. I'm trying to install it on Ubuntu 10.04 (64-bit). I haven't tried this set: http://playerstage.sourceforge.net/wiki/Install_ubuntu Because it says its for (32 bit), but it looks like the easiest to follow. Does anyone know if it works for 64 bit? If not, where is the most up-to-date, easy to use, commonly excepted installation procedure? -Aaron ```
 Re: [PlayerStage-Gazebo] Weird gazebo simulation From: Rein Appeldoorn - 2011-06-10 11:09:12 ```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 wrote: > Hi Rein, > Not sure if this will help, but have you tried reducing the friction > coefficients of the wheels and 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 wrote: > > > Code: http://www.student.tue.nl/W/r.p.w.appeldoorn/simulation.txt > > ; > > > > On Thu, Jun 9, 2011 at 2:43 PM, Rein Appeldoorn > 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 > > Playerstage-gazebo@... > > 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@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```
 Re: [PlayerStage-Gazebo] Objects sinking through floor From: John Hsu - 2011-06-09 19:03:19 ```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 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: > > > ----------------------------------------------------------------------------------- > > > > 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"; > > > 5 > > > 0.005 > 0 0 -9.8 > 0 > 0.8 > true > 100 > 1.3 > 100.0 > 0.0 > 0 > > > > fltk > 800 600 > 0 0 > > > > 0.8 0.8 0.8 1.0 > > Gazebo/CloudySky > > false > stencilModulative > > > > > 0 0 0 > 0 0 0 > true > > > > 0 0 1 > 1000 1000 > 100 100 > 100 100 > Gazebo/GrassFloor > 109999.0 > 1000.0 > > > > > > > > 0.025 0 1 > false > > > > 0 0 0 > 0.015 > 0.02 > > > 0.03 0.03 0.03 > unit_sphere > Gazebo/White > > 109999.0 > > > > > > > > > -3 0 5 > true > > point > 0.8 0.8 0.8 > 0.1 0.1 0.1 > 20 > > > 0.3 0.01 0 > > > > > > > > ----------------------------------------------------------------------------------- > > 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 wrote: > > > Hi, > > > > you can check to see if contactSurfaceLayer is small, e.g. > > > > 0 > > > > in addition, you might want to make sure is 0. > > > > hope this helps. > > > > John > > > > On Wed, Jun 8, 2011 at 11:00 AM, Rein Appeldoorn > > 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@... > > > 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@... > > 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@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > -- John Hsu, Ph.D. Senior Research Engineer Willow Garage Inc. +1-650-475-2809 ```
 Re: [PlayerStage-Gazebo] Weird gazebo simulation From: John Hsu - 2011-06-09 18:02:15 ```Hi Rein, Not sure if this will help, but have you tried reducing the friction coefficients of the wheels and 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 wrote: > Code: http://www.student.tue.nl/W/r.p.w.appeldoorn/simulation.txt > ; > > On Thu, Jun 9, 2011 at 2:43 PM, Rein Appeldoorn 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 > Playerstage-gazebo@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > -- John Hsu, Ph.D. Senior Research Engineer Willow Garage Inc. +1-650-475-2809 ```
 Re: [PlayerStage-Gazebo] Weird gazebo simulation From: Rein Appeldoorn - 2011-06-09 12:52:03 ```Code: http://www.student.tue.nl/W/r.p.w.appeldoorn/simulation.txt ; On Thu, Jun 9, 2011 at 2:43 PM, Rein Appeldoorn 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 > ```
 [PlayerStage-Gazebo] Weird gazebo simulation From: Rein Appeldoorn - 2011-06-09 12:44:19 ```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 ```
 [PlayerStage-Gazebo] Connect Joints to the world From: Rein Appeldoorn - 2011-06-09 11:42:45 ```Hi, I was wondering if there's any possibility to connect joints to the world in Gazebo 0.09. In 0.10, you can connect joints to body "world". Or is there a possibility to have a joint between a static and a non-static body? Thanks in advance, Rein ```
 Re: [PlayerStage-Gazebo] Objects sinking through floor From: Rein Appeldoorn - 2011-06-09 09:20:21 ```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 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 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 : > > The boundingboxes seem to be right in both cases. But what I thought is > that > > the in the -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 > > wrote: > > > >> Well, I always use for visual section - please check if the > >> bounding boxes used for collision detection are OK when you use > >> instead of . 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 : > >> > 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: > >> > > >> > 0.02 > >> > > >> > 0.04 0.04 0.04 > >> > > >> > > >> > When I check this in my gazebo-simulation, it seems to be right. But > in > >> your > >> > model you use: instead of , 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 > >> >> and 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: > >> >> > >> >> > >> >> 0.0001 > >> >> 0 0 0 > >> >> 0 0 0 > >> >> > >> >> 0 0 0.01 > >> >> 0 0 0 > >> >> 0.02 > >> >> 0.3 > >> >> 2e6 > >> >> 2e6 > >> >> 120 > >> >> 0.5 > >> >> > >> >> 0.7 > >> >> 0.7 > >> >> > >> >> 0.045 > >> >> > >> >> 0.02 0.02 0.02 > >> >> unit_sphere > >> >> Gazebo/Robocup_orange > >> >> > >> >> > >> >> > >> >> > >> >> > >> >> Also global parameters like step time, erp and cfm does matter, I'm > >> >> using those values: > >> >> 0.002 > >> >> 0.9 > >> >> 0.01 > >> >> > >> >> I hope that will help you, > >> >> > >> >> Best regards, > >> >> Kamil Muszyński > >> >> > >> >> > >> >> 2011/6/9 Rein Appeldoorn : > >> >> > 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: > >> >> > > >> >> > > >> >> > >> > ----------------------------------------------------------------------------------- > >> >> > > >> >> > > >> >> > > >> >> > >> >> > 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"; > > >> >> > > >> >> > 5 > >> >> > > >> >> > > >> >> > 0.005 > >> >> > 0 0 -9.8 > >> >> > 0 > >> >> > 0.8 > >> >> > true > >> >> > 100 > >> >> > 1.3 > >> >> > 100.0 > >> >> > 0.0 > >> >> > 0 > >> >> > > >> >> > > >> >> > > >> >> > fltk > >> >> > 800 600 > >> >> > 0 0 > >> >> > > >> >> > > >> >> > > >> >> > 0.8 0.8 0.8 1.0 > >> >> > > >> >> > Gazebo/CloudySky > >> >> > > >> >> > false > >> >> > stencilModulative > >> >> > > >> >> > > >> >> > > >> >> > > >> >> > 0 0 0 > >> >> > 0 0 0 > >> >> > true > >> >> > > >> >> > > >> >> > > >> >> > 0 0 1 > >> >> > 1000 1000 > >> >> > 100 100 > >> >> > 100 100 > >> >> > Gazebo/GrassFloor > >> >> > 109999.0 > >> >> > 1000.0 > >> >> > > >> >> > > >> >> > > >> >> > > >> >> > > >> >> > > >> >> > > >> >> > 0.025 0 1 > >> >> > false > >> >> > > >> >> > > >> >> > > >> >> > 0 0 0 > >> >> > 0.015 > >> >> > 0.02 > >> >> > > >> >> > > >> >> > 0.03 0.03 0.03 > >> >> > unit_sphere > >> >> > Gazebo/White > >> >> > > >> >> > 109999.0 > >> >> > > >> >> > > >> >> > > >> >> > > >> >> > > >> >> > > >> >> > > >> >> > > >> >> > -3 0 5 > >> >> > true > >> >> > > >> >> > point > >> >> > 0.8 0.8 0.8 > >> >> > 0.1 0.1 0.1 > >> >> > 20 > >> >> > > >> >> > > >> >> > 0.3 0.01 0 > >> >> > > >> >> > > >> >> > > >> >> > > >> >> > > >> >> > > >> >> > > >> >> > >> > ----------------------------------------------------------------------------------- > >> >> > > >> >> > 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 > > >> >> wrote: > >> >> > > >> >> >> Hi, > >> >> >> > >> >> >> you can check to see if contactSurfaceLayer is small, e.g. > >> >> >> > >> >> >> 0 > >> >> >> > >> >> >> in addition, you might want to make sure is 0. > >> >> >> > >> >> >> hope this helps. > >> >> >> > >> >> >> John > >> >> >> > >> >> >> On Wed, Jun 8, 2011 at 11:00 AM, Rein Appeldoorn < > reinzor@...> > >> >> >> 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@... > >> >> >> > 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@... > >> >> >> 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@... > >> >> > 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@... > >> >> 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@... > >> > 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@... > >> 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@... > > 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@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```
 Re: [PlayerStage-Gazebo] Objects sinking through floor From: Kamil Muszynski - 2011-06-09 09:10:19 ```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 : > The boundingboxes seem to be right in both cases. But what I thought is that > the in the -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 > wrote: > >> Well, I always use for visual section - please check if the >> bounding boxes used for collision detection are OK when you use >> instead of . 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 : >> > 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: >> > >> > 0.02 >> > >> >    0.04 0.04 0.04 >> > >> > >> > When I check this in my gazebo-simulation, it seems to be right. But in >> your >> > model you use: instead of , 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 >> >> and 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: >> >> >> >> >> >>         0.0001 >> >>         0 0 0 >> >>        0 0 0 >> >>         >> >>                 0 0 0.01 >> >>                 0 0 0 >> >>                 0.02 >> >>                0.3 >> >>                2e6 >> >>                2e6 >> >>                120 >> >>                0.5 >> >> >> >>                0.7 >> >>                0.7 >> >> >> >>                0.045 >> >>                 >> >>                        0.02 0.02 0.02 >> >>                        unit_sphere >> >>                        Gazebo/Robocup_orange >> >>                 >> >>         >> >> >> >> >> >> >> >> Also global parameters like step time, erp and cfm does matter, I'm >> >> using those values: >> >> 0.002 >> >> 0.9 >> >> 0.01 >> >> >> >> I hope that will help you, >> >> >> >> Best regards, >> >> Kamil Muszyński >> >> >> >> >> >> 2011/6/9 Rein Appeldoorn : >> >> > 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: >> >> > >> >> > >> >> >> ----------------------------------------------------------------------------------- >> >> > >> >> > >> >> > >> >> > > >> >    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"; > >> >> > >> >> >    5 >> >> > >> >> >     >> >> >        0.005 >> >> >        0 0 -9.8 >> >> >        0 >> >> >        0.8 >> >> >        true >> >> >        100 >> >> >        1.3 >> >> >        100.0 >> >> >        0.0 >> >> >        0 >> >> >     >> >> > >> >> >     >> >> >        fltk >> >> >        800 600 >> >> >        0 0 >> >> >     >> >> > >> >> >     >> >> >        0.8 0.8 0.8 1.0 >> >> >         >> >> >            Gazebo/CloudySky >> >> >         >> >> >        false >> >> >        stencilModulative >> >> >     >> >> > >> >> >     >> >> >     >> >> >        0 0 0 >> >> >        0 0 0 >> >> >        true >> >> > >> >> >         >> >> >             >> >> >                0 0 1 >> >> >                1000 1000 >> >> >                100 100 >> >> >                100 100 >> >> >                Gazebo/GrassFloor >> >> >                109999.0 >> >> >                1000.0 >> >> >             >> >> >         >> >> >     >> >> >     >> >> > >> >> >     >> >> >     >> >> >        0.025 0 1 >> >> >        false >> >> > >> >> >         >> >> >             >> >> >                0 0 0 >> >> >                0.015 >> >> >                0.02 >> >> > >> >> >                 >> >> >                    0.03 0.03 0.03 >> >> >                    unit_sphere >> >> >                    Gazebo/White >> >> >                 >> >> >                109999.0 >> >> >             >> >> >         >> >> >     >> >> >     >> >> > >> >> > >> >> >     >> >> >     >> >> >        -3 0 5 >> >> >        true >> >> >         >> >> >            point >> >> >            0.8 0.8 0.8 >> >> >            0.1 0.1 0.1 >> >> >            20 >> >> > >> >> >             >> >> >            0.3 0.01 0 >> >> >         >> >> >     >> >> >     >> >> > >> >> > >> >> > >> >> > >> >> >> ----------------------------------------------------------------------------------- >> >> > >> >> > 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 >> >> wrote: >> >> > >> >> >> Hi, >> >> >> >> >> >> you can check to see if contactSurfaceLayer is small, e.g. >> >> >> >> >> >> 0 >> >> >> >> >> >> in addition, you might want to make sure is 0. >> >> >> >> >> >> hope this helps. >> >> >> >> >> >> John >> >> >> >> >> >> On Wed, Jun 8, 2011 at 11:00 AM, Rein Appeldoorn >> >> >> 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@... >> >> >> > 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@... >> >> >> 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@... >> >> > 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@... >> >> 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@... >> > 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@... >> 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@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```
 Re: [PlayerStage-Gazebo] Objects sinking through floor From: Rein Appeldoorn - 2011-06-09 09:01:38 ```The boundingboxes seem to be right in both cases. But what I thought is that the in the -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 wrote: > Well, I always use for visual section - please check if the > bounding boxes used for collision detection are OK when you use > instead of . 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 : > > 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: > > > > 0.02 > > > > 0.04 0.04 0.04 > > > > > > When I check this in my gazebo-simulation, it seems to be right. But in > your > > model you use: instead of , 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 > >> and 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: > >> > >> > >> 0.0001 > >> 0 0 0 > >> 0 0 0 > >> > >> 0 0 0.01 > >> 0 0 0 > >> 0.02 > >> 0.3 > >> 2e6 > >> 2e6 > >> 120 > >> 0.5 > >> > >> 0.7 > >> 0.7 > >> > >> 0.045 > >> > >> 0.02 0.02 0.02 > >> unit_sphere > >> Gazebo/Robocup_orange > >> > >> > >> > >> > >> > >> Also global parameters like step time, erp and cfm does matter, I'm > >> using those values: > >> 0.002 > >> 0.9 > >> 0.01 > >> > >> I hope that will help you, > >> > >> Best regards, > >> Kamil Muszyński > >> > >> > >> 2011/6/9 Rein Appeldoorn : > >> > 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: > >> > > >> > > >> > ----------------------------------------------------------------------------------- > >> > > >> > > >> > > >> > >> > 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"; > > >> > > >> > 5 > >> > > >> > > >> > 0.005 > >> > 0 0 -9.8 > >> > 0 > >> > 0.8 > >> > true > >> > 100 > >> > 1.3 > >> > 100.0 > >> > 0.0 > >> > 0 > >> > > >> > > >> > > >> > fltk > >> > 800 600 > >> > 0 0 > >> > > >> > > >> > > >> > 0.8 0.8 0.8 1.0 > >> > > >> > Gazebo/CloudySky > >> > > >> > false > >> > stencilModulative > >> > > >> > > >> > > >> > > >> > 0 0 0 > >> > 0 0 0 > >> > true > >> > > >> > > >> > > >> > 0 0 1 > >> > 1000 1000 > >> > 100 100 > >> > 100 100 > >> > Gazebo/GrassFloor > >> > 109999.0 > >> > 1000.0 > >> > > >> > > >> > > >> > > >> > > >> > > >> > > >> > 0.025 0 1 > >> > false > >> > > >> > > >> > > >> > 0 0 0 > >> > 0.015 > >> > 0.02 > >> > > >> > > >> > 0.03 0.03 0.03 > >> > unit_sphere > >> > Gazebo/White > >> > > >> > 109999.0 > >> > > >> > > >> > > >> > > >> > > >> > > >> > > >> > > >> > -3 0 5 > >> > true > >> > > >> > point > >> > 0.8 0.8 0.8 > >> > 0.1 0.1 0.1 > >> > 20 > >> > > >> > > >> > 0.3 0.01 0 > >> > > >> > > >> > > >> > > >> > > >> > > >> > > >> > ----------------------------------------------------------------------------------- > >> > > >> > 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 > >> wrote: > >> > > >> >> Hi, > >> >> > >> >> you can check to see if contactSurfaceLayer is small, e.g. > >> >> > >> >> 0 > >> >> > >> >> in addition, you might want to make sure is 0. > >> >> > >> >> hope this helps. > >> >> > >> >> John > >> >> > >> >> On Wed, Jun 8, 2011 at 11:00 AM, Rein Appeldoorn > >> >> 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@... > >> >> > 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@... > >> >> 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@... > >> > 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@... > >> 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@... > > 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@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```
 Re: [PlayerStage-Gazebo] Objects sinking through floor From: Kamil Muszynski - 2011-06-09 08:49:34 ```Well, I always use for visual section - please check if the bounding boxes used for collision detection are OK when you use instead of . 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 : > 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: > > 0.02 > >    0.04 0.04 0.04 > > > When I check this in my gazebo-simulation, it seems to be right. But in your > model you use: instead of , 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 >> and 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: >> >> >>         0.0001 >>         0 0 0 >>        0 0 0 >>         >>                 0 0 0.01 >>                 0 0 0 >>                 0.02 >>                0.3 >>                2e6 >>                2e6 >>                120 >>                0.5 >> >>                0.7 >>                0.7 >> >>                0.045 >>                 >>                        0.02 0.02 0.02 >>                        unit_sphere >>                        Gazebo/Robocup_orange >>                 >>         >> >> >> >> Also global parameters like step time, erp and cfm does matter, I'm >> using those values: >> 0.002 >> 0.9 >> 0.01 >> >> I hope that will help you, >> >> Best regards, >> Kamil Muszyński >> >> >> 2011/6/9 Rein Appeldoorn : >> > 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: >> > >> > >> ----------------------------------------------------------------------------------- >> > >> > >> > >> > > >    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"; > >> > >> >    5 >> > >> >     >> >        0.005 >> >        0 0 -9.8 >> >        0 >> >        0.8 >> >        true >> >        100 >> >        1.3 >> >        100.0 >> >        0.0 >> >        0 >> >     >> > >> >     >> >        fltk >> >        800 600 >> >        0 0 >> >     >> > >> >     >> >        0.8 0.8 0.8 1.0 >> >         >> >            Gazebo/CloudySky >> >         >> >        false >> >        stencilModulative >> >     >> > >> >     >> >     >> >        0 0 0 >> >        0 0 0 >> >        true >> > >> >         >> >             >> >                0 0 1 >> >                1000 1000 >> >                100 100 >> >                100 100 >> >                Gazebo/GrassFloor >> >                109999.0 >> >                1000.0 >> >             >> >         >> >     >> >     >> > >> >     >> >     >> >        0.025 0 1 >> >        false >> > >> >         >> >             >> >                0 0 0 >> >                0.015 >> >                0.02 >> > >> >                 >> >                    0.03 0.03 0.03 >> >                    unit_sphere >> >                    Gazebo/White >> >                 >> >                109999.0 >> >             >> >         >> >     >> >     >> > >> > >> >     >> >     >> >        -3 0 5 >> >        true >> >         >> >            point >> >            0.8 0.8 0.8 >> >            0.1 0.1 0.1 >> >            20 >> > >> >             >> >            0.3 0.01 0 >> >         >> >     >> >     >> > >> > >> > >> > >> ----------------------------------------------------------------------------------- >> > >> > 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 >> wrote: >> > >> >> Hi, >> >> >> >> you can check to see if contactSurfaceLayer is small, e.g. >> >> >> >> 0 >> >> >> >> in addition, you might want to make sure is 0. >> >> >> >> hope this helps. >> >> >> >> John >> >> >> >> On Wed, Jun 8, 2011 at 11:00 AM, Rein Appeldoorn >> >> 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@... >> >> > 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@... >> >> 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@... >> > 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@... >> 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@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```
 Re: [PlayerStage-Gazebo] Objects sinking through floor From: Rein Appeldoorn - 2011-06-09 08:41:58 ```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: 0.02 0.04 0.04 0.04 When I check this in my gazebo-simulation, it seems to be right. But in your model you use: instead of , 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 > and 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: > > > 0.0001 > 0 0 0 > 0 0 0 > > 0 0 0.01 > 0 0 0 > 0.02 > 0.3 > 2e6 > 2e6 > 120 > 0.5 > > 0.7 > 0.7 > > 0.045 > > 0.02 0.02 0.02 > unit_sphere > Gazebo/Robocup_orange > > > > > > Also global parameters like step time, erp and cfm does matter, I'm > using those values: > 0.002 > 0.9 > 0.01 > > I hope that will help you, > > Best regards, > Kamil Muszyński > > > 2011/6/9 Rein Appeldoorn : > > 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: > > > > > ----------------------------------------------------------------------------------- > > > > > > > > > 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"; > > > > > 5 > > > > > > 0.005 > > 0 0 -9.8 > > 0 > > 0.8 > > true > > 100 > > 1.3 > > 100.0 > > 0.0 > > 0 > > > > > > > > fltk > > 800 600 > > 0 0 > > > > > > > > 0.8 0.8 0.8 1.0 > > > > Gazebo/CloudySky > > > > false > > stencilModulative > > > > > > > > > > 0 0 0 > > 0 0 0 > > true > > > > > > > > 0 0 1 > > 1000 1000 > > 100 100 > > 100 100 > > Gazebo/GrassFloor > > 109999.0 > > 1000.0 > > > > > > > > > > > > > > > > 0.025 0 1 > > false > > > > > > > > 0 0 0 > > 0.015 > > 0.02 > > > > > > 0.03 0.03 0.03 > > unit_sphere > > Gazebo/White > > > > 109999.0 > > > > > > > > > > > > > > > > > > -3 0 5 > > true > > > > point > > 0.8 0.8 0.8 > > 0.1 0.1 0.1 > > 20 > > > > > > 0.3 0.01 0 > > > > > > > > > > > > > > > ----------------------------------------------------------------------------------- > > > > 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 > wrote: > > > >> Hi, > >> > >> you can check to see if contactSurfaceLayer is small, e.g. > >> > >> 0 > >> > >> in addition, you might want to make sure is 0. > >> > >> hope this helps. > >> > >> John > >> > >> On Wed, Jun 8, 2011 at 11:00 AM, Rein Appeldoorn > >> 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@... > >> > 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@... > >> 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@... > > 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@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```
 Re: [PlayerStage-Gazebo] Objects sinking through floor From: Kamil Muszynski - 2011-06-09 07:38:59 ```Hello, here is a sample ball model I'm using for my simulations. Notice the and 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: 0.0001 0 0 0 0 0 0 0 0 0.01 0 0 0 0.02 0.3 2e6 2e6 120 0.5 0.7 0.7 0.045 0.02 0.02 0.02 unit_sphere Gazebo/Robocup_orange Also global parameters like step time, erp and cfm does matter, I'm using those values: 0.002 0.9 0.01 I hope that will help you, Best regards, Kamil Muszyński 2011/6/9 Rein Appeldoorn : > 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: > > ----------------------------------------------------------------------------------- > > > >    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"; > > >    5 > >     >        0.005 >        0 0 -9.8 >        0 >        0.8 >        true >        100 >        1.3 >        100.0 >        0.0 >        0 >     > >     >        fltk >        800 600 >        0 0 >     > >     >        0.8 0.8 0.8 1.0 >         >            Gazebo/CloudySky >         >        false >        stencilModulative >     > >     >     >        0 0 0 >        0 0 0 >        true > >         >             >                0 0 1 >                1000 1000 >                100 100 >                100 100 >                Gazebo/GrassFloor >                109999.0 >                1000.0 >             >         >     >     > >     >     >        0.025 0 1 >        false > >         >             >                0 0 0 >                0.015 >                0.02 > >                 >                    0.03 0.03 0.03 >                    unit_sphere >                    Gazebo/White >                 >                109999.0 >             >         >     >     > > >     >     >        -3 0 5 >        true >         >            point >            0.8 0.8 0.8 >            0.1 0.1 0.1 >            20 > >             >            0.3 0.01 0 >         >     >     > > > > ----------------------------------------------------------------------------------- > > 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 wrote: > >> Hi, >> >> you can check to see if contactSurfaceLayer is small, e.g. >> >> 0 >> >> in addition, you might want to make sure is 0. >> >> hope this helps. >> >> John >> >> On Wed, Jun 8, 2011 at 11:00 AM, Rein Appeldoorn >> 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@... >> > 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@... >> 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@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```
 Re: [PlayerStage-Gazebo] Objects sinking through floor From: Rein Appeldoorn - 2011-06-09 07:08:24 ```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: ----------------------------------------------------------------------------------- 5 0.005 0 0 -9.8 0 0.8 true 100 1.3 100.0 0.0 0 fltk 800 600 0 0 0.8 0.8 0.8 1.0 Gazebo/CloudySky false stencilModulative 0 0 0 0 0 0 true 0 0 1 1000 1000 100 100 100 100 Gazebo/GrassFloor 109999.0 1000.0 0.025 0 1 false 0 0 0 0.015 0.02 0.03 0.03 0.03 unit_sphere Gazebo/White 109999.0 -3 0 5 true point 0.8 0.8 0.8 0.1 0.1 0.1 20 0.3 0.01 0 ----------------------------------------------------------------------------------- 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 wrote: > Hi, > > you can check to see if contactSurfaceLayer is small, e.g. > > 0 > > in addition, you might want to make sure is 0. > > hope this helps. > > John > > On Wed, Jun 8, 2011 at 11:00 AM, Rein Appeldoorn > 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@... > > 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@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```
 Re: [PlayerStage-Gazebo] Objects sinking through floor From: John Hsu - 2011-06-08 18:34:42 ```Hi, you can check to see if contactSurfaceLayer is small, e.g. 0 in addition, you might want to make sure is 0. hope this helps. John On Wed, Jun 8, 2011 at 11:00 AM, Rein Appeldoorn 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@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > -- John Hsu, Ph.D. Senior Research Engineer Willow Garage Inc. +1-650-475-2809 ```
 [PlayerStage-Gazebo] Objects sinking through floor From: Rein Appeldoorn - 2011-06-08 18:00:51 ```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 ```
 Re: [PlayerStage-Gazebo] Actarray controller problem From: Rein Appeldoorn - 2011-06-08 17:54:06 ```Hi, Yes, I tried all of that but nothing fixed the weird behavior. Now, when I'm on 0.9, it works fine. Perhaps my installation of 0.10 was wrong but the other elements of gazebo seemed to work fine. Rein On Wed, Jun 8, 2011 at 7:22 PM, John Hsu wrote: > Hi, > > have you tried the following for stabilizing physics simulations in > general? > > - decrease time step size > - decrease gains > - decrease torque > > with gain = 0, you should recover the behavior of the model without the > actarray, in theory... > > John > > On Wed, May 18, 2011 at 6:37 AM, reinzor >wrote: > > > > > Hi, > > > > I's working on a project with player and gazebo. My Gazebo-models are > > already set up and now I want to controll the joints of my models. In my > > model, there are 16 joints that I want to move; therefore I would like to > > use the generic actuator array controller. When I set-up the controller > > like > > this: > > > > " > > > > 200 > > 1 > > > > ...etc > > > > " > > > > The model starts acting really weird and bounces away. Even when I do > this > > with a single hinge, just a stator and a rotor, the same thing happens. > > Does > > anybody know how I can get this to work or is my approach totally wrong? > > > > Thanks in advance! > > > > Regards, > > > > Rein > > > > - Gazebo 0.10.0 > > - Player v.3.0.2 > > - Linux 10.04 LTS > > -- > > View this message in context: > > > http://old.nabble.com/Actarray-controller-problem-tp31646982p31646982.html > > Sent from the playerstage-gazebo mailing list archive at Nabble.com. > > > > > > > > > ------------------------------------------------------------------------------ > > 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@... > > 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@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```

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