Quantcast

Simulator and customising ODE paramaters

classic Classic list List threaded Threaded
1 message Options
Reply | Threaded
Open this post in threaded view
|  
Report Content as Inappropriate

Simulator and customising ODE paramaters

Martin Peniak
Hi guys,

This email is for those who are not so familiar with ODE. Some of you might for example experience problems when doing object object manipulation in the simulator. You might want objects to be more slippy, softer or bouncy and you can set all these properites in the iCub_Sim.h file in the nearCallback function. From my experience these parameters, when set well, can dramatically improve your simulation.
Please see section 7.3.7 in the ODE manual to see that parameters you can change (http://ode.org/ode-latest-userguide.html). To enable a particular group of parameters you will have to add an appropriate flag in the nearCallback function. For example I needed some slippage, softness and contact approximation that is not enabled by default so I addded to following flags:
.....................................................................................................................................
contact[i].surface.mode = dContactSlip1| dContactSlip2| dContactApprox1 | dContactSoftCFM;
....................................................................................................................................

then you just add some lines where you define values of these parameters, in my case it was:

.........................................................
contact[i].surface.mu = dInfinity;
contact[i].surface.mu2 = 0;
contact[i].surface.slip1 = (dReal)0.0006;
contact[i].surface.slip2 = (dReal)0.0006;
contact[i].surface.soft_cfm = 0.0001;
........................................................

Best Regards,
Martin Peniak

www.martinpeniak.com
"It is no measure of health to be well adjusted to a profoundly sick society"
------------------------------------------------------------------------------
Open Source Business Conference (OSBC), March 24-25, 2009, San Francisco, CA
-OSBC tackles the biggest issue in open source: Open Sourcing the Enterprise
-Strategies to boost innovation and cut costs with open source participation
-Receive a $600 discount off the registration fee with the source code: SFAD
http://p.sf.net/sfu/XcvMzF8H
_______________________________________________
Robotcub-hackers mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/robotcub-hackers
Loading...