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

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

Hi Joschka,

I have tried on this work,
after some testing, I think maybe we also need to restrict the max
request joint angle velocity.

After changes (set vel to 0 while out of range in effector ),
the agent falls down on the ground while it requests the Rle5_6 to 9000 deg/sec,
but the foots were twitching.
But while the agent request 90000 deg/sec, the robot were flying, (
not disjoint, a little better than before ).
I think the 9000 deg/sec is the highest reasonable value ( 180deg/0.02s ),
even more less value is acceptable, since we can not control the robot
with such velocity properly.

And there is a parameter named dParamFudgeFactor in ODE relative to
this issue. ( chapter 7 )
Setting the value smaller will be also helpful. ( another parameter ;-\ )

What about your idea?

> This sounds reasonable (actually, I remember now that we implemented
> something similar in our HOAP-2 robots to protect them ;-) ). This
> should not be too hard to implement, since HingeEffector and
> UniversalJointEffector both have a reference to their respective Joint
> as a member variable. Using this, we can easily get all the information
> like current joint angle, and joint stops :-) Would you like to try?
>


-- 
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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