R: New worlds

Oliver,
    I did a quick and rough tests. My robot is no longer able to walk,
rotate and get up. :P
I need to redisign all the procedures even because I do not know anything
about genetic algorithms. I hardcoded my movements empirically!
For me it is not a problem, but I would like to be sure we are going to use
that new world before making any effort in redeveloping the code.
Ciao
    Carmine
  -----Messaggio originale-----
  Da: Olivier Michel [mailto:[email protected]]
  Inviato: venerdi 9 gennaio 2004 18.20
  A: [email protected]
  Oggetto: [webots-contest] 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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