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

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

Hi Yuan,

On Sat, 2007-06-16 at 11:29 +0800, Yuan Xu wrote:
> Hi Joschka,
> 
> > Which version are you using, current CVS or the 0.5.6-preview?
> 
> 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...
> 
> Yes, everytime. Since it is corrected by ODE quickly, you can got the
> screen shot frame by frame with the logfile. And it is reasonable
> according to the codes, all body rotations are set to only Z rotation.

I'm sorry, I somehow thought you were referring to the movement that the
InitEffector performs. You are right, of course, the BeamEffector only
sets Z-Rotation. Since the rotation feature doesn't reliably work right
now (at least not when used several times, cf. messages on the Sserver3D
ML), I think I'll comment out the code for the rotation for the final
release. I won't have time to fix this issue, so teams will have to turn
by themselves :-(

> >
> > 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.
> 
> Yes, it works after comment out the joint stops.

OK, thank you for the confirmation.

> > 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 :-(
> 
> Well, doing is usually harder than thinking.
> Maybe human referee can take this responsibility ;-)

Yes, I think so, too. We'll have to have some kind of statement in the
rules that forbids, e.g. using the feet as wheels, but it's difficult to
formulate it to be "non-fuzzy".

It seems certain, though, that we can not use joint stops reliably right
now. I will comment out the joint stops for the final release.

Thanks again for doing these tests,
Joschka