Hello, Comments below...
On Wed, Jul 9, 2008 at 1:49 PM, Kamil Muszyński <[EMAIL PROTECTED]> wrote: > My questions/problems: > 1. Dribbler bar is a cylinder, which has to rotate at some speed. I've > connected it with the chassis (black shape on the left) with hinge joint : > <joint:hinge name="dribbler_joint"> > <body1>dribbler</body1> > <body2>chassis</body2> > <anchor>dribbler</anchor> > <axis>0 1 0</axis> > </joint:hinge> > so there is only one connection point at the center of the dribbler > cylinder. When dribbler is rotating and robot is doing a turn, dribbler > 'needs some time' to follow that turn (rotating round his center along the z > axis). Can I connect dribbler to the chassis in a diffrent way (so there > will be 2 connection points - one at each end of the dribber) to make it > more stable? You can use two hinge joints, one at each end of the cylinder. There is another tag for a joint called <anchorOffset>, that will allow you place the joint anchor at arbitrary locations. > 2. Ball, once it's kicked, doesn't stop - even though friction coeffs for > field and ball are set to be more than 1.0. Try setting the friction coeffs higher. > 3. Kicking device - I've created it using a box attached to a chassis with a > slider joint. To kick, i've modified a Differential_Position2d controller so > it can apply force to the slider joint. My problem is that to kick a ball > with satisfying speed the force should be quite large, so the box (kicking > device) can move very fast for a short distance. Because of the step time > and the great force used to move a joint box misses (or seemes to penetrate) > the ball (so O| turns into |O :) ). I know that is because of the step > time - problem disappears if I make it smaller (currently I'm uising 0.001) > and the collision beetwen box and ball is detected correctly, but that makes > simulation extremly slow. Is there any way to avoid this problem? You could fake the kick, but writing a custom controller for your robot. When the controller receives the "kick" signal, the robot will apply a force directly to the ball. This will require your robot to know if a ball is in the kicking device. > Thanks for advice (and sorry for the images:) ) > Kamil > > -- > View this message in context: > http://www.nabble.com/Modeling-Robocup-league-in-gazebo-tp18370471p18370471.html > Sent from the playerstage-gazebo mailing list archive at Nabble.com. > > > ------------------------------------------------------------------------- > Sponsored by: SourceForge.net Community Choice Awards: VOTE NOW! > Studies have shown that voting for your favorite open source project, > along with a healthy diet, reduces your potential for chronic lameness > and boredom. Vote Now at http://www.sourceforge.net/community/cca08 > _______________________________________________ > Playerstage-gazebo mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ------------------------------------------------------------------------- Sponsored by: SourceForge.net Community Choice Awards: VOTE NOW! Studies have shown that voting for your favorite open source project, along with a healthy diet, reduces your potential for chronic lameness and boredom. Vote Now at http://www.sourceforge.net/community/cca08 _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
