[ODE] Question about joint

[Tor ...]

Hi, 

Thanks for your help, maybe I misunderstand something because
I'm confusing about the anchor and axis of the hinge as follow :

1. If I initial object by attach 2 bodies  with hinge at (0, 0, 1), then I set its position to new coordinate such as

(5, 5, Z) by using dBodySetPosition. Do I need to reset new anchor to the (5, 5, 1) ? 

2. If I initial object by set the axis of hinge as dJointSetHingeAxis(joint_hinge, 0, 1, 0) then I rotate the bodies around Z-Axis by using dBodySetRotation. Do I need to set the new axis for hinge ?   

Are there anyway to move and rotate bodies attach by joint without the need to set new anchor and axis of hinge ?

Thanks again in advance.


PS. I donn't know how to reply thread ODE mailing list. If this message has any mistake sorry for that.

Tor ...
> ----- Original Message -----
> From: GLANDIERES, Céline <cglandieres at sogitec.fr>
> To: "Tor ..." <aramboy at kittymail.com>, ode at ode.org
> Subject: RE: [ODE] Question about joint
> Date: Mon, 5 Mar 2007 14:26:04 +0100
> 
> 
>   Hi,
> 
> I have the same pb at the beginning, I decreased the mass body (set 
> to 0.05) to decreased the effect of inertia and now my system is 
> stable. For information, I set the others paramters to ERP = 0.1 
> and CFM = 10-6.
> If it doesn't work you perhaps the center or the axis of your hinge 
> joint are wrong.
> 
> Céline
> 
> -----Message d'origine-----
> De : Tor ... [mailto:aramboy at kittymail.com]
> Envoyé : dimanche 4 mars 2007 03:54
> À : ode at ode.org
> Objet : [ODE] Question about joint
> 
> Hi, this is the first post for me. If there is any mistake, sorry for that.
> 
> I have searched for my problem and saw that someone already post it 
> but there are no answer.
> 
> 
> I'm using ode in legged robot simulator.
> I use hinge joint to build robot's leg but I have faced these problem
> 
> 1. bodies that attached by joint are oscillate (slip) although I'm 
> not apply any force or any movement. I think it's joint error 
> problem, so I set ERP to 0.8 or 1.0 and CFM to 0.0 but it's still 
> not stable. How can I solve this problem.
> 
> 2. I construct the robot legs(which composed of many body for each) 
> at the center coordinate. How can I move them to the desired 
> position because I use the same function to construct 2 legs and 
> have to set it in different position.
> 
> Thanks in advance.
> 
> 
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