Re: [simspark-devel] The joint limits issues

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

Hi Feng,

On Apr 11, 2008, at 10:38 PM, Feng Xue wrote:
> Hi all,
>
>     The joint limits feature in ode is not very good. If a joint  
> angle is not between the min and max(typically caused by errors),  
> and you are trying to make the joint angle return to the normal,  
> then, a large force is produced and it will cause a "jumping  
> motion". Though I used the fudgefactor to reduce the force, it is  
> not as perfect as what I expected.
>
>     So, I decide to write some codes in hingeeffector.cpp to check  
> the velocity sent by agent so that if the velocity may cause a "out  
> of range joint angle", I can disable it or reduce the velocity. Is  
> there any other ideas?

I think this is also the way that Yuan went when he worked on the  
joint limits last year. Yuan, do you have any advice on this?

Cheers,
Joschka