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<p style="margin-bottom: 0cm; margin-top: 0pt;">Hi all,</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;">These are some comments
about the simspark documents:</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;"><b>user docs:</b></p>
<p style="margin-bottom: 0cm; margin-top: 0pt;">gettingstarted.tex: in
Fedora, all of the simspark requirements are available in the official
Fedora repository. So, they can be installed with a "yum install"
command in a default Fedora installation with internet access. I can
provide the exact command if there is any interest about it. (Also,
with rpm package for simspark, a "yum localinstall
rcssserver3d-{version}.rpm" should install all of the required packages
(excluding development packages needed for server compilation.)</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;"><br>
</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;">(Currently, the RPM
package is an all-in-one package. Hopefully, I'll split it to more
packages (such as simspark-libs, simspark-devel, soccer, soccer-devel,
rsgedit, simspark-docs, soccer-docs, etc!)</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;"><br>
</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;">simspark.tex:</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;">Yes, Gyro perceptor
uses the body's local coordinates.</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;">Joschka's comments
about FRP calculation are correct. About the force unit, I can't find
anything about it in ODE docs, but it should be the standard unit
(newton).</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;"><br>
</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;">(A question: currently,
the FRP perceptor doesn't generate anything when there is no contact.
Should it send zero force and center vectors in these situations?!)<br>
</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;"><br>
</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;">And for joint
effectors, the unit of passed parameter is the desired speed of the
motor in Rads/sec (but it seems that it should be changed to
degrees/sec like the perceptors. right?)</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;"><br>
</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;">Good luck,</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;">Hedayat<br>
</p>
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