It is supposed that you choose one of the solutions or propose a Joint based hack :P
I guess wheelDiameter wheelSeparation Torque would be the easiest

On Dec 13, 2007 4:12 AM, Nate Koenig <> wrote:
On Dec 6, 2007 9:36 PM, Jordi <> wrote:
> I have seen that the pioneer controller is almost generic. The only thing
> left seems to be the wheelDiam and wheelSep in the code.
> To solve this, it can be several solutions:
> - Add wheelDiameter and wheelSeparation as XML nodes of the controller
> - Add leftWheel and rightWheel as XML nodes of the controller
> - Some hack based on the joints (I don't know how but will avoid adding more
> XML nodes)

These changes are fine. And you can add in a parameter for the torque.


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Jordi Polo
Natural language processing laboratory