Re: [simspark-devel] GyroRatePerceptor

[Joschka B. <jbo...@un...>]

Hi Hedayat,

Hedayat Vatankhah wrote:
> Well, I don't know what's going on but it seems that you have not 
> received my previous emails or they have been missed among many 
> others! Anyway, to summarize:
> 1. A simple touch sensor is available already. Instead of deriving a 
> class from the CollisionPerceptor, I decided to change it because I 
> found it almost useless! (It adds non-printable objects to predList!). 
> Currently, it provides a little more than what you've mentioned: it 
> provides the names of all of the collidees with their corresponding 
> contact points (which is at most 3 contact points when to surfaces are 
> completely touching (ODE docs)). So, for example it says that the left 
> foot is touching the ground at this/these point(s).


Does anybody know what/if the CollisionPerceptor was/is used in its 
current form? I think it's not used, so we might want to extend it in 
the way Hedayat proposed above.

>
> 2. Then, I decided to add pressure information to the percept. I think 
> that I should use joint feedback information of the contact joints. 


Right.

> So, the handler should create contact joints and then get the feedback 
> information from them. Is it correct?!
>


That sounds correct.

> 3.If needed, my sourceforge login is hedayat!
>


I created a developer  account for you for the sserver CVS a while ago :-)

Could you please send me your sources for the touch perceptor? I'd like 
to take a look, if you don't mind.

Thanks for your efforts,
Joschka


>
> /*jbo...@un...*/ wrote on 05/02/2007 01:36:42 AM:
>> Hi Hedayat,
>>
>> Hedayat Vatankhah wrote:
>>
>>> First of all, sorry for the long delay.
>>>
>>
>> No problem, I know everybody is busy right now.
>>
>>> Anyway, I've written a simple gyro rate sensor. This sensor can be 
>>> attached to some part of the robot to receive gyro rate information 
>>> (for example, it can be attached to the agent's torso). I've used 
>>> the angular velocity of Body which seems to be what is desired. 
>>> Currently the output is like this: (gyro (<name> <xrate> <yrate> 
>>> <zrate>))
>>>
>>
>> Thanks a lot for the nice work! I submitted your code to the sserver 
>> CVS (in the rcssserver3D module) already :-)
>>
>> About the touch sensor: I was thinking that this could be (maybe) 
>> derived from the CollisionPerceptor (just overriding the Percept 
>> method in a very simple way -- if there are collidees the add a 
>> percept "1", if there are no collidees in the list, add a "0") and 
>> then using it together with the PerceptorHandler (might have to 
>> change a little, but not much I think). This is just a suggestion 
>> though and there might be better ways (comments?).
>>
>> Thanks again for helping!
>>
>> Joschka