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

[Yuan Xu <xy...@ya...>]

Hi Jan,


> 
> I made the following observation. I let the
> soccerbot try to do some 
> squats, i.e. after the init command it only sent the
> fixed string
> "(rle4 -0.5)(rle2_3 0.5 0)(lle4 -0.5)(lle2_3 0.5
> 0)". The movement 
> *always* started with a little jump. Commenting out
> the (setHighStopDeg 
> 0 X) statements for rle4 and lle4 made this go away.
> Changing the 
> allowed maxangle from 0 to 1 also made the jumping
> go away.  So the 
> problem could be that the joints are already at a
> stop, when the 
> movement starts.

Great!
That reminds me that the some values of HOAP-2
specification are 91, 31 ;-)

> 
> Perhaps adding 1 degree to the max/min would be okay
> (see above).
> Yuan could you test this?
> 

OK, I will try.

      BEST WISHES!
  
  
 Xu Yuan
 
School of Automation
Southeast University, Nanjing, China

mail:   xuy...@gm...
          xy...@ya...
web:   http://xuyuan.cn.googlepages.com
--------------------------------------------------











	
		
___________________________________________________________ 
Mp3疯狂搜-新歌热歌高速下
http://music.yahoo.com.cn/?source=mail_mailbox_footer