Re: New worlds

I've just been testing the new world with Sonovabic,
none of his moves work any more (at the moment). I've
had a good look at the restrictions, they seem to be
quite human-orientated. for a robot however I don't
think there should be the same joint-limits (unless of
course you would like to limit to humanoid-robots).

During the design of Sonovabic I made pretty much sure
not to create unlikely movements caused by
intersections and it should be possible to design a
robot capable of the tasks he does. I would be glad if
it could be possible to limit the angles to
robot-concerned limits and not to human ones. for
example it shouldn't be difficult for a robot to bend
the elbow backwards (not that I use that).

In my opinion it would be sufficient to limit most
angles to something like this -3.0 -> +3.0 , as it
would avoid most self intersections. the neck and
shoulder_1 should be the only unlimited ones. Even
with the new settings it will be possible to cause
intersections, especially joints with 3 dimensions of
movement are hardly controllable. I don't think it can
be really managed by limiting joints.

Another solution would be to allow a sort of
angle-offset. e.g. the elbow joint has an angle limit
of 0-2.8 , adding an offset of 0.5 would result in
angle-limits of 0.5-3.3. these values would have to be
set during initialisation and may not be altered
during a match to avoid misuse. the offset itself
could also be limited to avoid intersections.

I wouldn't be too pleased at a change now, as it would
render all my work so far obsolete. the increase of
friction does make sense as slipping is certainly a
problem.

As we are talking about new settings, I would like to
see a new neck-servo enabling looking up and down, and
a rotation of the upper body :)

greetings marc breuer, Sonovabic



 --- Olivier Michel <[email protected]>
wrote: > 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
> 

> ATTACHMENT part 2 application/zip name=judo.zip
 

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