Re: Problem with Judoka1 Reset Angle
Olivier Michel <[email protected]> Wed, 17 Mar 2004 12:51:50 +0100
| Newsgroups | gmane.comp.cybernetics.webot.contest |
|---|---|
| Organization | Cyberbotics Ltd. |
| Message-ID | <[email protected]> |
Mike,
This is my mistake. The patch I actually created doesn't work properly.
Here is a modified version which I tested and seems to work fine with
the evaluation version.
-Olivier
Mike Jost wrote:
>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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judo_reset_supervisor.c
(text/x-csrc, 4.7 KB)
/*****************************************************************************/ /* File: judo_reset_supervisor.c */ /* Version: 1.0 */ /* Date: 10-Oct-03 */ /* Description: Supervisor for the Robot Judo Contest */ /* Author: [email protected] */ /* */ /* Copyright (c) 2003 Cyberbotics - www.cyberbotics.com */ /*****************************************************************************/ #include <device/robot.h> #include <device/supervisor.h> #include <device/receiver.h> #include <stdio.h> #include <stdlib.h> #include <string.h> #define ROBOTS 2 /* number of robots */ #define SERVOS 22 /* number of servos in each robot */ static int verbose=1; static NodeRef robot[ROBOTS]; static NodeRef servo[ROBOTS][SERVOS]; static float robot_initial_position[ROBOTS][7]; static float servo_initial_position[ROBOTS][SERVOS][7]; static float robot_current_position[ROBOTS][7]; static float servo_current_position[ROBOTS][SERVOS][7]; static char *servo_name[SERVOS]={ "back_1","back_2","left_hip_1","left_hip_2","left_hip_3","left_knee", "left_ankle_1","left_ankle_2","left_shoulder_1","left_shoulder_2", "left_elbow","neck","neck_tilt","right_hip_1","right_hip_2","right_hip_3", "right_knee","right_ankle_1","right_ankle_2","right_shoulder_1", "right_shoulder_2","right_elbow"}; static DeviceTag receiver; void reset() { receiver=robot_get_device("receiver"); } int main() { int k,l,m; char name[32]; const char *text; float x,z,alpha; robot_live(reset); receiver_enable(receiver,64); for(k=0;k<ROBOTS;k++) { sprintf(name,"JUDOKA_%d",k); robot[k] = supervisor_node_get_from_def(name); supervisor_field_get(robot[k], SUPERVISOR_FIELD_TRANSLATION_AND_ROTATION, (void *)robot_current_position[k],128); for(l=0;l<SERVOS;l++) { sprintf(name,"%s_%d",servo_name[l],k); servo[k][l]=supervisor_node_get_from_def(name); supervisor_field_get(servo[k][l], SUPERVISOR_FIELD_TRANSLATION_AND_ROTATION, (void *)servo_current_position[k][l],128); } } robot_step(128); /* get and save initial positions of robots and servos */ for(k=0;k<ROBOTS;k++) { if (verbose>1) printf("SUPERVISOR robot %d: T:%g,%g,%g R:%g,%g,%g,%g\n",k, robot_current_position[k][0], robot_current_position[k][1], robot_current_position[k][2], robot_current_position[k][3], robot_current_position[k][4], robot_current_position[k][5], robot_current_position[k][6]); for(m=0;m<7;m++) robot_initial_position[k][m]=robot_current_position[k][m]; // we have to correct the rotation angle which may have changed due // to physics simulation before the supervisor process starts // (bug reported by Mike Jost) robot_initial_position[k][3]=0; robot_initial_position[k][4]=1; robot_initial_position[k][5]=0; for(l=0;l<SERVOS;l++) { if (!supervisor_node_was_found(servo[k][l])) fprintf(stderr,"SUPERVISOR: servo %s_%d not found\n",servo_name[l],k); if (verbose>1) printf("SUPERVISOR servo %s: T:%g,%g,%g R:%g,%g,%g,%g\n", servo_name[l], servo_current_position[k][l][0], servo_current_position[k][l][1], servo_current_position[k][l][2], servo_current_position[k][l][3], servo_current_position[k][l][4], servo_current_position[k][l][5], servo_current_position[k][l][6]); for(m=0;m<7;m++) servo_initial_position[k][l][m]=servo_current_position[k][l][m]; } } for(;;) { /* never ending loop */ l = receiver_get_buffer_size(receiver); if (l) { text = receiver_get_buffer(receiver); if (strncmp(text,"stand me up ",12)==0) { if (sscanf(text,"stand me up %d %f %f %f",&k,&x,&z,&alpha)==4) { robot_initial_position[k][0]=x; robot_initial_position[k][2]=z; robot_initial_position[k][6]=alpha; } printf("setting robot %d to position %g %g %g - %g %g %g %g\n", k, robot_initial_position[k][0], robot_initial_position[k][1], robot_initial_position[k][2], robot_initial_position[k][3], robot_initial_position[k][4], robot_initial_position[k][5], robot_initial_position[k][6]); supervisor_field_set(robot[k], SUPERVISOR_FIELD_TRANSLATION_AND_ROTATION, robot_initial_position[k]); for(l=0;l<SERVOS;l++) supervisor_field_set(servo[k][l], SUPERVISOR_FIELD_TRANSLATION_AND_ROTATION, servo_initial_position[k][l]); } } robot_step(64); } return 0; }
judo_reset_supervisor.gz
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judo_reset_supervisor.zip
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