Re: Problem with Judoka1 Reset Angle

Olivier,

I am using the Windows evaluation version of Webots and passing the reset
string in the Java function emitter_send( ).  I tried replacing the
judo_reset_supervisor.exe file in the
Webots/controllers/judo_reset_supervisior/ directory but it did not reset
the Judoka1 robot correctly when I executed the emitter_send( ) function.  I
also tried creating a /controllers/judo_reset_supervisor/ directory in the
directory where I have my test robots running.

Mike Jost

> Mike,
> Thanks for reporting this problem. It comes from the fact that the
> judo_reset_supervisor controller retrieves the angle vector at the
> beginning of the simulation but after a few simulation steps. And since
> the initial angle for JUDOKA_1 is 0 1 0 0, the physics engine may switch
> it to something like 1 0 0 0.000002 in the very first simulation steps
> before the supervisor gets the value. Then, when you apply a rotation
> with the initial value, the angle vector is wrong... I fixed that by
> forcing the value of this vector to 0 1 0 in the supervisor program.
> That should correct the problem. Here is a fixed version of
> judo_reset_supervisor (source code: judo_reset_supervisor.c, Linux
> binary: judo_reset_supervisor.gz and Windows binary:
> judo_reset_supervisor.zip). Mike, please let me know if that fixes the
> problem.
>
> -Olivier
>
> Mike Jost wrote:
> >Olivier,
> >
> >The reset angle for Judoka1 rotates the robot around the X axis instead
of
> >the Y axis.  The reset angle for Judoda0 is correct.
> >
> >Passing the reset string "stand me up 1  0.0  -0.5  1.57" for Judoka1
gives
> >the attached screen capture Judoka1_Angle_1.57.jpg.
> >Passing the reset string "stand me up 1  0.0  -0.5  3.14" for Judoka1
gives
> >the attached screen capture Judoka1_Angle_3.14.jpg.
> >
> >Thanks,
> >Mike Jost (FreeTime)




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