Re: Problem with Judoka1 Reset Angle

Olivier,
The new version works with the evaluation version of Webots.

Thank you,
Mike Jost

> 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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