Re: [simspark-devel] GyroRatePerceptor

[Hedayat V. <hed...@ai...>]

Hi,

Thanks for your answer. I've attached my patch against 
collisionperceptor and perceptorhandler.

I didn't send it before because it was just my first experiment with the 
server development and it doesn't
seems to be usable enough. First, it is not flexible enough as the 
collisionperceptor should be attached to
a collider object (e.g. BoxCollider) and (I think!) it is not possible 
to add a collisionperceptor in the agent's rsg file.
More importantly, there is no contact joint information!

I think that the ContactJointHandler (or a subclass of it) should be 
changed to provide enough information to
the touch sensor (if present) including the ID of contact joints. I'll 
go in this direction (creating a new touch
perceptor and modifying the ContactJointHandler class) if you are agree.

Good luck,
Hedayat


/*jbo...@un...*/ wrote on 05/15/2007 08:43:10 AM:
> 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
>