Hello,
I'm working on a pendulum model and I'm noticing some inaccuracies when running gazebo with the following world files and pendulum model. What I'm noticing is that the pendulum in the simulation has a wrong period (about a second later than expected). I expect the period to be 2.0071 - my pendulum has a length of 1 as seen in the model file - however after plotting the pose of the ball with respect to time I'm seeing that the period is actually ~2.84.
Currently I'm using ODE as the physics engine however Simbody and Bullet are giving the same results. Any ideas what might be causing this? Thanks!
Oh and I'm using gazebo-6.5.1
Model:
<?xml version='1.0'?>
<sdf version='1.5'>
<model name='pendulum'>
<link name='fixedPoint'>
<pose>0 0 1 0 0 0</pose>
<gravity>0</gravity>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.01</radius>
</sphere>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<shader type='pixel'/>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.01</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<link name='ball'>
<pose>0 0.008999 0.00004 0 0 0</pose>
<gravity>1</gravity>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<shader type='pixel'/>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<joint name="world_J_fixedPoint" type="fixed">
<parent>world</parent>
<child>fixedPoint</child>
</joint>
<joint name="fixedPoint_J_ball" type="revolute">
<child>fixedPoint</child>
<parent>ball</parent>
<pose>0 0 0 0 0 0</pose>
<axis>
<xyz>1 0 0</xyz>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0.000</damping>
<friction>0.000</friction>
</dynamics>
</axis>
</joint>
<plugin name="monitorPose" filename="libmonitorPose.so"/>
</model>
</sdf>
World:
<?xml version="1.0" ?>
<sdf version="1.4">
<world name="default">
<!--<include>-->
<!--<uri>model://ground_plane</uri>-->
<!--</include>-->
<include>
<uri>model://sun</uri>
</include>
<include>
<uri>model://pendulum</uri>
</include>
<physics type="bullet">
<max_step_size>0.00001</max_step_size>
<real_time_update_rate>100000000</real_time_update_rate>
<real_time_factor>1</real_time_factor>
</physics>
</world>
</sdf>
