[ODE] Re: RE: Contact in articulated bodies (newbie question)

[Joshua Hale]

Dear Daniel & Erin,

Thanks for your responses. I tinkered with the settings a bit following 
Erin's advice and setting the ERP to a value much much lower than what I 
had before (about 0.5 or something) really helped to stabilize the 
model. It makes sense since 0.5 is probably WAY to high to be a sensible 
drift correction factor. I did have some problems related to the 
construction of the model but I already ironed them out.

Sometimes parts of the model fall through the floor though, which is a 
bit strange but I am not too upset because it only happens when the 
model falls over and I'm not interested in anything other when the feet 
alone are supporting my figure.

Thanks again,

Josh.


Daniel Marbach wrote:

>Hi,
>
>In case that you didn't yet solve your problem: I experienced similar problems
>when something was wrong with my articulated bodies - in my case it was never
>related to contacts with the floor.
>
>You also have to check all your articulated joints. For example, if your bodies
>intersect (by mistake) when you create them (well I guess in your case that
>doesn't matter since you don't collide them), and then you fix them together
>with a joint, this obviously leads to strange results as taking off into the
>sky.
>
>Also when I had bugs in my joint position controller I observed things like
>this... Refer to the previous thread 'joint position control' - I (and other
>users) had problems when using controllers and setting joint limits.
>
>Daniel
>
>----------------------------------------
>Daniel Marbach
>Bitziusstr. 9
>CH-3006 Bern
>
>Tel: 031 351 11 09
>WWW: http://icwww.epfl.ch/~marbach/
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-- 
Joshua G. Hale, Ph.D.				Tel +81 774 95 2403
ATR Computational Neuroscience Laboratories	Fax +81 774 95 1236
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