[ODE] RE: biped

[Gene Ruebsamen]

Great! I'll have to try those values.. Did you set the ERP to 0.2 and CFM to
0.05 in all the joints?

One thing I noticed is in my code I have posted is the mass of the feet
inproportionate to the rest of the body (ie too low!). Once I increased the
mass, it helped stability a bit; however, it seems that if the legs twist a
certain way, then things go crazy!! One way of solving the problem has been
to set the TimeStep very small; however, that makes the simulation sooooo
very slow!

The way I made the MPEG was I captured still frames (i think it's CTRL-W) in
drawstuff, and then used the berkely mpeg tools to make an mpeg out of the
.ppm files.  Cumbersome.. but it works.

If anyone is interested in taking a look at my humanoid example code, you
can view it at: http://www.realtyroad.com/gene/  I'd appreciate any
comments...

Gene

> -----Original Message-----
> From: Darken, Chris [mailto:cjdarken@nps.navy.mil]
> Sent: Thursday, February 21, 2002 3:44 PM
> To: 'gene@erachampion.com'
> Subject: biped
>
>
> Gene:
>
> I like your biped!
>
> I had pretty good luck getting rid of the dramatic artifacts in the
> biped.cpp I downloaded by making ERP 0.2 and CFM 0.05.  But there
> are still
> some wiggles in the leg that don't look quite right to me.  I
> really wish I
> could make an MPEG movie like you did so I could study the motion more.
> What did you use to make the movie?
>
> Chris Darken
>
>
>