Re: [simspark-devel] Help: Try to use other effectors/perceptors than Hinge- and Universal-Joints

[Yuan Xu <xuy...@gm...>]

Hi,

hinge joint and universal joints perceptor and actuator are located at
spark/plugin/sparkagent

I think it is possible to configure what you want, if you can include ball
and slide joint from ODE.

Good luck!

On Thu, Mar 1, 2012 at 9:27 PM, Stefan Glaser <gla...@gm...> wrote:

> Hello,
>
> I'm trying to use SimSpark as a simulator for a student project at my
> university. In this project we want to model some more complex physical
> bodies and develop some behaviors to it.
>
> I'm well informed about anything related to the RCSoccer simulation. I
> know its perceptors, effectors, its values and also something about the
> configs and the .rsg files in general.
>
> The point I'm struggling with is that we want to use other joints
> provided by ode than just Hinge- and Universal-Joints, e.g. Ball-Joints
> and Slider-Joints. I tried to study the source code for a while and
> realized that on the one hand I can find the corresponding definitions
> in the "odeimps" folder, but I'm not able yet to find anything about
> sensing or manipulating these kind of joints in the code.
> I also wonder if it is possible to specify cyclic connected body parts.
> For example think of a digger (earth mover) that has a stretchable arm
> configuration with a passive hinge joint and a hydraulic cylinder
> connected by two further passive hinge joints applying the force to move
> the configuration. Is such a configuration currently possible?
>
> I'm still not really familiar with the SimSpark source code, maybe
> someone can give me a pointer on where to look, or where I can get
> information about other joints available in the simulator.
>
> Thanks,
> Stafan Glaser
>
>
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-- 
Best Regards,

Xu, Yuan