Re: Re: New worlds

With the new world, I got 

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=nan)
ODE Message 3: LCP internal error, s <= 0 (s=0.0000e+00)

after 15 minutes

sorry...

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

* Olivier Michel <[email protected]> [040112 11:29]:
> Hi,
> 
> Thanks for all the feedback. It seems that although the new worlds are 
> breaking most behaviors of existing robots, adapting the robots to these 
> new conditions is not impossible. Please read my comments at the end of 
> this message.
> 
> Mike wrote:
> 
> >The new world is more challenging, but not too restrictive.
> >
> >I was able to modify my robot controller to stand up from a fall in the new
> >world within the 5 second time limit.
> >I have not completed modifying my robot's walking and turning routines yet,
> >but I think they only need a few modifications to keep the robot from
> >slipping.
> >  
> >
> Thanks for these investigations. It seems that the robots slips more in 
> this new world ? However, do not fine tune everything right now since we 
> may still modify a little bit these worlds (see below).
> 
> Benoît wrote:
> 
> > 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 
> 
> 
> Thanks for this feedback. Although I am not sure why you get those LCP 
> internal errors, it might come from the fact that the robot is much more 
> heavy now... I maybe should also increase the friction coefficients to 
> fix this issue and avoid the slippery.
> 
> Carmine wrote:
> 
> > 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.
> 
> 
> Currently, this new world is just submitted for review. I will let you 
> know if we decide to adopt it. However, I think it will change a little 
> bit before we adopt it.
> 
> Tsuy wrote:
> 
> >hi olivier
> >
> >I found the new judo world not optimal for my controller (Gogo_Yubari). The
> >idea with the selfcollision i found a good idea. but why do we change the
> >angles range? is this necessary to avoid selfcollision or is this sony's
> >robot-specification?
> >
> >tsuy
> >  
> >
> Sony's robot-specification are unkown, but for sure in any robot, servo 
> angles are limited.  So I tryed to set decent values for each servo 
> (although they do not match exactly any existing robot). Moreover 
> self-collision cannot be applied to two consecutive joints and joints 
> limits should be used to avoid self-collision with consecutive joints. 
> So, I believe that servo limits are necessary. However, I am open to 
> discuss every limit value and fix those that are causing troubles. For 
> example the hip_3 limits may prevent some robots to perform a beautiful 
> "splits" down to the floor. If you like we might decide to increase 
> these limits, so that the "splits" can reach the floor. But is it really 
> necessary ?
> 
> I attached to this message a modified judo.wbt world with greatly (x10) 
> increased friction coefficients (coulombFriction and 
> forceDependentSlip). This new world should behave more like the current 
> official world concerning friction issues (and possibly LCP solver as 
> well). I appreciate your feedback about it.
> 
> -Olivier
> 
> 
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