[ODE] Question about joint

GLANDIERES, Céline cglandieres at sogitec.fr
Mon Mar 5 06:26:04 MST 2007


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.


-----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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