New worlds

Hello,

I just completed a couple of new judo worlds taking into account the 
sugguestions of Mike and Alexander:

(1) judo.wbt: use a density of 900 kg/m3 for the robot and a max torque 
of 9 N*M for every servo. Moreovoer, servo limits have been added as 
follow to limit self-collisions:

ankle_1: -0.7 to 0.7
ankle_2: -0.7 to 0.7
back_1: -2.0 to 1
back_2: -0.5 to 0.5
elbow: -2.8 to 0
hip_1: -1.7 to 1.4
hip_2: -1.6 to 0.9
hip_3: -1.0 to 0.5 (this one might be controversed... ;))
knee: -2.5 to 0.2
shoulder_2 -3.14 to 0
shoulder_1: no limits

(2) judo_nodisplay.wbt: same as the previous one, but the robot camera 
are not displayed to avoid the window overlaping problems described by 
Alexander.

Both files are included in the judo.zip attachement.

Could you test these worlds with your controllers and let me know what 
do think about them ? Thanks.

-Olivier

 

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