[simspark-devel] (no subject)

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

Hi all,

In the previous Email, I've said that it is hard to 
change hingejoint to universaljoint. And now I find 
another reason. The torso and the thigh should not
collide in the Nao model. And however, uniting any two
of the three joints(in the hip) will let them collide.

However, disable the inner collision is good for 
performance but is bad for looking.(some robot state
looks quite strange)


Considering the two points, here is a draft solution:
1. Not add collider to the body that is in another body.
   This idea is from Joschka and has finished.

2. Remove "disableInnerCollision"

3. Add the pairs that should not collide. In the current
   nao model, we need to add these pairs:
    (1) torso and left thigh
    (2) torso and right thigh
    (3) left shank and left foot
    (4) right shank and right foot
(5) torso and left shoulder
(6) torso and right shoulder


Any comments?




Best Regards,
Feng Xue
2008-05-26