Re: [simspark-devel] Help: Try to use other effectors/perceptors than Hinge- and Universal-Joints

[Stefan G. <gla...@gm...>]

Hi,

thanks a lot for your instant reply, I wasn't expecting such a quick 
response ;)

So my code analysis was not that bad at all, I was also thinking that I 
need additional definitions of effectors and percoptors to this kind of 
joints in the "spark/plugin/sparkagent" folder. As far I can see, it's 
basically just a encoding/decoding of messages. And I tell the system 
about the new percptor/effector options via the export.cpp in that folder.

I found a test rsg file where slider-joint are configured, so I think 
the parsing part of the rsg-files with respect to this joints is already in.

I may try to implement the corresponding perceptors/effectors, but I may 
need some additional help to get it run, since I tried to avoid 
programming c++ so far ;)
But I will ask in this mailing list again, when I get stuck somewhere.

Btw. I tried to setup a Eclipse for developing SimSpark. So far it works 
fine - the only problem I have is that it still uses the installed 
Spark-server instead of the one in the IDE. Are there any known 
constants or something like that, which I have to adjust in order to 
take a different spark-target?

Thanks again!
Stefan


Am 01.03.2012 21:35, schrieb Yuan Xu:
> Hi,
>
> hinge joint and universal joints perceptor and actuator are located at 
> spark/plugin/sparkagent
>
> I think it is possible to configure what you want, if you can include 
> ball and slide joint from ODE.
>
> Good luck!
>
> On Thu, Mar 1, 2012 at 9:27 PM, Stefan Glaser <gla...@gm... 
> <mailto:gla...@gm...>> wrote:
>
>     Hello,
>
>     I'm trying to use SimSpark as a simulator for a student project at my
>     university. In this project we want to model some more complex
>     physical
>     bodies and develop some behaviors to it.
>
>     I'm well informed about anything related to the RCSoccer simulation. I
>     know its perceptors, effectors, its values and also something
>     about the
>     configs and the .rsg files in general.
>
>     The point I'm struggling with is that we want to use other joints
>     provided by ode than just Hinge- and Universal-Joints, e.g.
>     Ball-Joints
>     and Slider-Joints. I tried to study the source code for a while and
>     realized that on the one hand I can find the corresponding definitions
>     in the "odeimps" folder, but I'm not able yet to find anything about
>     sensing or manipulating these kind of joints in the code.
>     I also wonder if it is possible to specify cyclic connected body
>     parts.
>     For example think of a digger (earth mover) that has a stretchable arm
>     configuration with a passive hinge joint and a hydraulic cylinder
>     connected by two further passive hinge joints applying the force
>     to move
>     the configuration. Is such a configuration currently possible?
>
>     I'm still not really familiar with the SimSpark source code, maybe
>     someone can give me a pointer on where to look, or where I can get
>     information about other joints available in the simulator.
>
>     Thanks,
>     Stafan Glaser
>
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> -- 
> Best Regards,
>
> Xu, Yuan