Re: New worlds

gollum is not a very good robot, but here what it gives with the new world :
* it is walking, but a bit more slowly (it is like sliping on the floor)
* It is enable to turn on one leg, but not at the same angle as the one given to
the leg (sliping again)
* it can no longer get up after a fall
 
I tried a but of GA, it seems to work, but after more than 150 resets, I got
(after 5 minutes)
ODE Message 3: LCP internal error, s <= 0 (s=0.0000e+00)
ODE Message 3: LCP internal error, s <= 0 (s=-0.0000e+00)
ODE Message 3: LCP internal error, s <= 0 (s=-0.0000e+00)
ODE Message 3: LCP internal error, s <= 0 (s=-1.7077e+07)
ODE Message 3: LCP internal error, s <= 0 (s=0.0000e+00)

and the robots disapered from the world.  the gps matrix seemes full of NaN

With the previous world, webots was able to run for more than 24h and I have
never get any error.

What I think about this world : except the ODE Message bug, it seems good but
I need a bit more experimentations

-- 
Benoît Pothier (gollum) -+- [email protected]


* Olivier Michel <[email protected]> [040109 18:15]:
> 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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