[ODE] Robot simulation with ODE

[Ken M]

Make that Erwin de Vries, sorry Erwin!

Ken

----- Original Message -----
From: "Ken M" <wgold@flyingplastic.com>
To: <ode@q12.org>; "Francisco Jesús Martínez Serrano" <franjesus@yahoo.com>
Sent: Wednesday, February 20, 2002 4:03 PM
Subject: Re: [ODE] Robot simulation with ODE


> If you check out the ODE CVS tree, you'll find a nice integration between
> ODE and Opcode 1.1 from Erwin Van Dries thus I would suggest using Opcode
> 1.1
>
> Viewing the polyhedra would be your only implementation need at that
point.
>
>
> Ken
> ----- Original Message -----
> From: "Francisco Jesús Martínez Serrano" <franjesus@yahoo.com>
> To: <ode@q12.org>
> Sent: Wednesday, February 20, 2002 3:13 PM
> Subject: [ODE] Robot simulation with ODE
>
>
> > Greetings,
> >
> > I'm trying to implement a robotics simulator (there's no code yet). And
> > ODE is one of the possibilities for doing the dynamics. The drawstuff
> > part of ODE could be used for the graphics. However, I believe there are
> > some issues missing from ODE that I would need to work on my own (code
> > would be contributed to ODE if Russ likes it).
> >
> >   -Polyhedra representation in the drawstuff part. This shoudn't be a
> >    problem.
> >
> >   -Polyhedra collision functions (which library is better? SOLID,
> >    V-COLLIDE, SWIFT++ etc don't give penetration depths, I believe)
> >
> >   -Another integrator since (as I read in the manual), ODE's one is not
> >    very accurate.
> >
> >   -Of course, a specification for the robot data (geometry, mass,
> >    inertia, joints, etc)
> >
> > Anyway, maybe ODE is not my best choice and I should try some other
> > library like DynaMechs which, I believe, already handles poliedra pretty
> > well (the collision stuff remains to be done).
> >
> > By the way, I apologize for the mistakes I surely made.
> >
> > Any help, suggestion or info (about what is done or what could be done)
> > would be apreciated.
> >
> > Thank you.
> >
> > --
> > http://obelix.umh.es/web/franjesus/
> > keyserver wwwkeys.eu.pgp.net
> > -
> > Remember: While root can do most everything, there are certain
> > privileges that only a partner can grant.
> > -- Telsa Gwynne
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