resibots/hexapod_simu

All the available simulator integrations for our hexapods

hexapod_simu's Issues

Self-collisions

Whenever I enable self-collisions, bad things happen. At first I was thinking that the problem was the time step. I tried decreasing it as much as possible, but still bad things happen (everything explodes).

We need to investigate this..

Energy/Power consumption

Right now we are computing the energy consumption by "integrating" the torque (force) over each joint and summing them up. Look here and here.

Maybe this is incorrect or there is a better way.

DART GUI improvements

We need to improve DART's GUI.

Complete DART integration

Missing parts in DART integration:

• energy/power consumption
• direction
• arrival/covered angle

Robot Stabilization

hexapod_simu/hexapod_dart/include/hexapod_dart/hexapod_dart_simu.hpp

Line 88 in 7ca5da5

_stabilize_robot(true);

Hi, I was reading into the above line, and was wondering

1. For the purpose of running this code in an EA in sferes2, how could this be avoided? How could it be avoided such that time might be saved when evolving individuals.
2. What would happen if the robot could not be stabilized, and what might be a good remedy?

Const pointer for HexapodDamage

Very little importance detail here. Since we use a pointer for extra damage information, would it make sense to use a pointer to const, or even a const pointer to const ?

The code concerned is in hexapod_dart -> hexapod.hpp:

struct HexapodDamage {
        HexapodDamage() {}
        HexapodDamage(const std::string& type, const std::string& data, void* extra = nullptr) : type(type), data(data), extra(extra) {}

        std::string type;
        std::string data;
        void* extra = nullptr;
};