Re: [simspark-devel] new problem of new server

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

Hi Yuan,

On Sat, 2007-06-16 at 02:42 +0800, Yuan Xu wrote:
> Hi Joschka,
> 
> I do some tests under the situation that one agent connected server, I
> faced new problems ;-(

Which version are you using, current CVS or the 0.5.6-preview?

> (1) see http://picasaweb.google.com/xuyuan.cn/RCS/photo#5076361988020790178
>     * Situation: after beam action
>     * Problem: the lower torso rotation is not correct

Does this happen everytime? I have never observed this as of yet...

> (2) see http://picasaweb.google.com/xuyuan.cn/RCS/photo#5076361988020790194
>     * Situation: after first joint action, the action was "(rae1_2
> -0.137532 0.623955)"
>     * Problem: the body disjoint while the agent starting use joint
> effector, and after that moment it seems OK.
>                However this is very bad, because when the agent try to
> walk, it will jump at the beginning ;-(

Could you please try to comment out the joint stops in the soccerbot.rsg
file? I suspect them to have something to do with this problem. 

The joint stops were easy to implement, but I'm afraid that some ODE
parameters might have to be adjusted to be able to use them in a stable
way. If this is the case, I have to remove the joint stops again for
now, since we don't have much time to find good parameters currently :-(

> I hope we could fix them quickly.

Me too, believe me ;-) Thanks for your help!

Joschka