On Fri, Jun 20, 2008 at 6:16 PM, Benjamin Kloster <[EMAIL PROTECTED]>
wrote:
> Hi everyone,
> I just submitted a few patches to the tracker that add a generic actarray
> controller, an opaque interface for player and a controller that utilizes
> this interface to read out the forces occuring in joints.
>
> I find it easier to learn by example than to study source code, so I have
> attached a simple snake-like robot (Carl = crawling autonomous robotic
> lifeform) that makes use of these patches. I would have submitted it as a
> patch as well, but
> a) I'm not happy with how it looks (if anyone could write a How-To for
> _textured_ Blender export, that would be great)
> b) I think it is a bit too simple to be included in the Gazebo svn. What
> about setting up some kind of repository (be it subversion or ftp) to gather
> some robots for Gazebo?
>
Have you seen the simple car? I made that one and feel ashamed by it was
just an example of how to use wheels.
I think your efforts are very doable and having your example in the SVN
makes Gazebo absolutely better. If Gazebo needs something, it is examples
and models. So I definitely encourage you submit a patch with it.
> I'll try and fix up a contact sensor similar to the jointforce interface in
> the next few days (someone requested it, I think). I'll just have to test it
> a bit more.
>
> Oh, and one final comment about the already submitted patches: the
> jointforce controller is completely incompatible with PAL because the
> abstraction layer doesn't seem to support joint forces at all (figures, my
> work group had to look for ages for a simulator that could give us these
> forces).
>
I think PAL is going to have a big update soon... It may be added.
>
> Regards,
> Ben
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--
Jordi Polo Carres
NLP laboratory - NAIST
http://www.bahasara.org
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