Simulation Tools update - CDL

1. Simulation Tools update - CDL G. Clark Haynes, gch@cs.cmu.edu

2. Status Report – 2/6 • Just using ‘cpp’ to include other files and do macro processing, rather than building it into language. • Ability to make four bar linkages not working. • Springs not added to CDL language yet • Lingering bugs with segfaults from Arachi DE. G. Clark Haynes, gch@cs.cmu.edu

3. Still using ‘cpp’ for macro processing. Segfaults fixed. Springs added to CDL language – you just need to add parameters to a joint Example: RevoluteJoint : (k = 2.0, damping = 1.0); Working fine for rigidly fixed objects. Problematic for springs in series, particularly when they’re bashed against ground (such as RHex legs) Four bar linkages working (see movie) CDL can read in PCM files, and surfaces react appropriately. Only current example is a sticky surface More coming as PCM is developed Status Report – 3/11 G. Clark Haynes, gch@cs.cmu.edu

4. Use to Linkage Designers • Rigid body simulations are working 100%, • Easier access to position/velocity/force data still needed, but not difficult to do. • With a couple days of work, we could get it driving a RiSE hip module, and thus, a full RiSE bot. G. Clark Haynes, gch@cs.cmu.edu

5. Still TODO • Need to lay framework for CDL libraries • RTI (interface to RHexLib) working, but needs more testing, refinement. • Documentation G. Clark Haynes, gch@cs.cmu.edu

6. Movies • Fourbar.mov • 60 LOC (30 for the math) • Springbox.mov – simple prismatic spring • 15 LOC • Springboard.mov – diving board simulated by multiple revolute springs. Balls ‘stick’ to each other once they collide. • 60 LOC • No movie, but a full-featured RHex can be modeled in about 100 LOC G. Clark Haynes, gch@cs.cmu.edu