Re: [simspark-devel] status of development

[Sander v. D. <sgv...@gm...>]

Hey,

The current 058 has a more important bug: it explodes everytime when you try
to move the joint away from the max/min angle. Setting both the fudge factor
and the bounce to 0 solves this for me, it also solves the shaking problem
for the Nao. I have tried it many times and couldn't get the joints 'stuck'
at their min or max value, like you report. I will test on some more
machines though. If it does occur it's a bigger problem then the shaking and
then I think your solution is good.

Sander

On Wed, Jun 11, 2008 at 10:00 AM, Feng Xue <hen...@ma...>
wrote:

>  Dear all,
>
> As the Email below said, there is a shake bug if the joint
> reaches its max/min angle and is set positive/negative
> speed.
>
> According to team's reports(the explosion problem), I think
> maybe this shake bug contributes something, so I decide to
> disable the shake in hingeffector.cpp and universaleffector.cpp
> by:
> If in min angle, negative speed will be rejected.
> If in max angle, positive speed will be rejected.
>
> These codes will change the physic performance a tiny little.
> But since we will only change the vision in the next release,
> I ask for an authorization :-)
>
>  ------------------------------
>  Best Regards,
> Feng Xue
> 2008-06-11
>  ------------------------------
>  *Sent By：* Feng Xue
> *Sent At：* 2008-05-30 22:18:45
> *Sent To：* Joschka Boedecker
> *CC To：* Yuan Xu; Mosalam Ebrahimi; Ben
> *Topic：* Re: status of development
>
>  Hi all,
>
> I have refined the physics parameters now. It seems good
> according to my test. I hope it can be a RC version.
>
>
> And, I came across a small problem. To make the joint move
> smoothly, I have to set dFudgeParameter to a small value orelse
> there will be a jitter problem. But, if this one is too small and
> the joint reaches/overruns its min/max value, it will never work(
> never come back again) So I have to set the dBounce to 1 to make
> it work. And, this will make the joint shake on the max/min
> position if the agent keeps sending positive/negative joint speed.
> I set the maxforce to 10 and is much better. At least,
> teams might not use this "bug" to make some strange movements :-)
>
>
> I believe soccerbot has the same problems too. Talked about the
> soccerbot, here is my opinion. I think we'd better make a stable,
> robust RC version because it is 44 days left now. Adjusting soccerbot
> will cost lots of extra energy. Allowing different robots playing
> on the same field at the same time is very great feature, but again,
> we don't have lots of time to make the match be fairly enough to both
> soccerbot and Nao.
>
>
> And, here is my test report of how many robots can it sim. I only
> do the test with the intergrated monitor for our Nao has reached and
> lots of things are on board now...
> Machine:
>     CPU: Intel E8200 2.66GHZ
>     Mem: 2G
>     Graphic Card: Nvidia 8600GT
> Type 1: Single Thread:
>     Type 1.1: disable inner collision: can sim 7 robots smoothly
>     Type 1.2: add inner collision: 3 too near robots make game unstable...
> Type 2: Multi Thread:
> Type 2.1: disable inner collision: can sim 7 robots smoothly
> Type 2.2: add inner collision: can sim 7 robots smoothly
> I have send this report to Yuan and he will do the outside monitor test.
> And the result seems not good because our target is 5 vs 5 :-(
>
>
> And, another thing, with the joint limit and the max joint speed feature,
> the robot is much more like the real Nao or humanoid robot. And getup is a
> very difficult action. So we'd better implement an extra command like
> 'beam' if all the teams failed to realize getup action :-) But no hurry,
> we need feedback from teams.
>
>
>  ------------------------------
>  Best Regards,
> Feng Xue
> 2008-05-30
>  ------------------------------
>  *Sent By：* Joschka Boedecker
> *Sent At：* 2008-05-30 00:20:34
> *Sent To：* Yuan Xu; Ben; Feng Xue
> *CC To：* Mosalam Ebrahimi
> *Topic：* status of development
>
>  Hi all,
>  I'm sorry that I've not been able to follow the server development too
> closely recently :-( I know that some of you have been working on the
> restricted vision perceptor, and some TC members have been asking
> about the status of its development. Could you please give me an
> update on that, and what features were implemented? Also: how about
> testing, does it work reliably?
>  @Yuan: Sahar has asked whether it would be possible to make the final
> release for RC08 at the end of this week. Concerning the changes that
> affect the game play, I think we have implemented everything we
> planned for, right? We can still improve the visuals until middle of
> July since they don't affect the game... Do you think you could make
> the release this weekend or early next week?
>  Thanks to everybody in advance for the information, and big thanks for
> your great work with the development this year!
>  Best regards,
> Joschka
>
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