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

[Yuan X. <xuy...@gm...>]

Hi Joschka,

After some testing, I think it is hard to got a good balance by
turning global parameters,
and the results depends on many factors: such as the robot mass, robot
control ( high or low gain ).

The ODE parameters effects the robot performance greatly, maybe teams
do not like change at this time...


[...]
>
> Increasing the global CFM is recommended for numerical stability, but it
> may also result in softer joints in general, including the contact
> joints. So if the parameter is increased too much, the ball and the
> robots might sink into the ground! It's difficult, but it might be worth
> playing around with the global CFM and ERP parameters, and maybe also
> try to set local CFM and ERP values for the individual joints (or joint
> stops). As a start, one could try sth. like
>
> world.setCFM(0.01)
> world.setERP(0.9)
>
> in spark.rb, and see if it changes the stability of the simulation in a
> positive way.
>



-- 
Best wishes!

Xu Yuan
School of Automation
Southeast University, Nanjing, China

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