Re: [simspark-devel] Fixed joint limit issue, nao model V1.0

[Feng X. <hen...@ma...>]

Hi Joschka,

    The current joint limit of leg joint 3:
    left: [-25, 45], right: [-45, 25], and its axis is y.

    So, this phenomena will happen: one leg in in part of the other leg. 

    And such kind of phenomena will happen too when arm joint 1 is -90 and right arm joint 4 is 90(left arm joint 4 is -90), that is lowerarm is in torso!

    So, I think, add these pairs of collision will solve these situation:
    First pair:  left shank and right shank
    Second pair: left lowerarm and torso
    Third pair:  right lowerarm and torso

    Maybe there is another better solution :-D

Cheers!



Feng Xue
2008-04-17



Sent By： Joschka Boedecker
Sent At： 2008-04-17 15:04:10
Sent To： Feng Xue
CC To： simspark-devel
Topic： Re: Fixed joint limit issue, nao model V1.0

Hi Feng,


On Apr 16, 2008, at 10:33 PM, Feng Xue wrote:

Hi all,

    I have fixed the joint limit issue. 


Great :-)


Please see my latest rsg files. I tested all the joints from the speed 0.1 to 10, and it seemed that those parameters are good for the joint limit. 


I'll take a look as soon as I'm free.


So we have a V1.0 nao model now :-D


:-D

   Thanks Sander and Yuan's help!

    By the way, I have those questions to ask:
    1. Where should the vision perceptor be installed. On the head?


Yes, I would say definitely in the head. That's where it belongs ;-)


    2. Should we add some collide such as(two shank collide) to make it more realistic?


I'm not sure I understand what you mean. Can you explain this in more detail please?


Cheers,
Joschka