[ODE] Detecting sliding during collision

Joshua Bongard jb382 at cornell.edu
Thu Jan 12 11:55:30 MST 2006

I'm evolving a walking robot in ODE, and want to penalize gaits that cause
the legs or body to slide over the ground. Anyone know of any intelligent
way to do that? I guess I could poll the displacement of objects that are
in contact with the ground plane on 2 consecutive time steps, and detect
whether displacement is above a certain threshold, but maybe there's a
better way?


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