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

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

Hi Yuan,

On Tue, 2007-06-19 at 17:42 +0800, Yuan Xu wrote:

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

Once again, thanks for all the testing :-)

> 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.

That sounds still quite fast, faster than most real robots for sure. The
HOAP-2 robot has very strong motors, and in an accident, I saw it
jumping from 0 to 90 degrees almost instantly (very scary!), but it
wasn't that fast I bet. I wouldn't mind restricting to 9000 deg/sec for
now, it should certainly not be more than that. However, it's another
restriction, and some teams might not be happy about it :-/

Could you control the robot reliably with the restriction of 9000
deg/sec?

> 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?

Yes, I think you're right. Did you find any good value?

Keep up the good work,
Joschka