Re: [simspark-devel] Another problem of nao:sensors

[Joschka B. <jos...@am...>]

Hi Feng,

On Apr 14, 2008, at 1:23 PM, Feng Xue wrote:

>
>     Ben reminds me that I forget the visionperceptor in nao.rsg, so  
> I remember that lots of sensors that equipped on Nao have not  
> implemented. Here is a list of all the sensors of Nao:
>     32 x hall effect sensors

As far as I know, these are used to measure the joint angles, so they  
are somewhat equivalent to our HingePerceptors. It would be  
interesting to measure these sensors and get accurate statistics in  
the future though.

>     8 x FSR, 4 in each foot (use FRP instead?)

Yes, I think we can use FRP instead for now. But we need some  
statistics of the real sensors in the future here, too, I think.

>     2 x gyro meters
>     3 x accelerometers

We currently only have the GyroRatePerceptor  which returns the  
angular velocity of the body it is attached to (actually, we could  
change the name to just be "gyro", because it essentially _is_ a gyro  
sensor). We could make another sensor that delivers the linear  
acceleration of the body it is attached to, that would correspond to  
an accelerometer (correct me if I'm wrong). We might use the ODE  
dBodyGetLinearVel (or better: its wrapper in the Body class in oxygen)  
and figure out the acceleration in successive steps.

Another problem is that these sensors are usually very noisy, and we  
don't employ any noise at all yet. Yet again, we should gather  
realistic statistics.

>     2 x bumpers

Well, we have the touch sensors, but I'm not completely sure whether  
they are equivalent to these bumpers :-/

>     2 channels sonar (This is cool!)
>

Oh really? I didn't know that!

>
>     Do all of them should be implemented?

I'd say for now it would be great if someone could implement the  
accelerometer and the sonar (maybe we can find some specs/statistics  
about sonar sensors on the internet).

I wanted to mention one other thing: I guess it's time we think about  
downward-compatibility. I mean, we should take care not to change the  
existing perceptors/effectors so that older binaries will still be  
usable (this is one of the great features of the 2D simulator :-) ).  
Maybe we can come up with a naming convention, or sth. like that.

Cheers,
Joschka