Re: [simspark-devel] Simspark Todo

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

Hey,

    Thanks for your quick reply!

    It is not because of the contact joint thing because I didn't handle any collision...

    And, one more thing, can you give a manual of how to use the Camera perceptor? 
    It seems that it didn't work according to the msg received by the agent.
   



Best Regards,
Feng Xue
2008-05-18



Sent By： Sander van Dijk
Sent At： 2008-05-18 22:09:29
Sent To： Feng Xue
CC To： Joschka Boedecker; Yuan Xu; simspark-devel
Topic： Re: Re: Re: [simspark-devel] Simspark Todo

Hey,


2008/5/18 Feng Xue <hen...@ma...>:

Hey,

About the motors, I think setting them as correct as described in the document is not necessary. Besides, the motors in the leg has stronger force compared to that in the arm. But it is hard to represent it via setting dParamMaxForce because ODE is taking this parameter as a reference, not strictly accuracy according to my experiments. I logged the feedback of body1 and body2, and the torque added to body1 and body2 is larger than the value set via dParamMaxForce. This is particularly strange.

Were these much larger? Maybe these extra torques are due to contact forces on the two bodies? Again, I don't know yet if this is necesary, we will have to see what behaviors people come up with. It might just make it even a bit more realistic.


About the universaljoint, here is my reasons that I abandon the universaljoint that time:
    1. It is not as good as hingejoint in the joint limit aspect.
    2. The two axises of universaljoint has orders. Which axis goes first depends on the parameter sequence passed to dJoitnAttach. It is not as clearly as two hingejoint.

OK sounds fair, I was just wondering about it :-)


 Anyway, I'll try to test universal joint since universal joint is used in soccerbot now.

OK. you're doing great work! hopefully I can actually do some work soon again too, instead of just talk ;-)

Sander