Answers to Frans and others

Hi,

Sorry for the delay answering question on the list...

>in messages 921/923 Cosmin Dancu requested 4 touch sensors per foot.
>It would fit nicely in Kimaita's upcoming major upgrade (a
>multi-threaded approach with separate threads for sensors and motion
>control).
>
>A very sensible extension, if you want to use feedback to maintain
>balance. The primary point in balance is the (correct) contact with
>the floor, and when using GPS you really don't know if and how the
>feet are touching the floor.
>
>The Japanese matial arts robot you hinted us about 2 weeks ago, has a
>lot more: "... It can perform back flips and karate moves thanks to
>138 pressure sensors..."
>
>Question:
>Currently the touch sensors return a binary value (an integer in the
>range 0..1). Are they upgraded to pressure sensors, with e.g. a 8 or
>10 bit resolution (range 0..255 or 0..1024) ?
>  
>
Sure, that would be nice. I will check how complicated this can be and, 
if not too difficult for me, try to implement it.

>Currently I am working on some new moves for Kimaita. Because the move
>logic is all (in state engines in) java code and tuning servo rotation
>and time is very sensitive, I find myself recompiling and reloading a
>lot, up to 2 or 3 times a minute.
>
>One of the complicated repetitive actions is to change the view point
>of  Webots so that I can clearly see my robot in close-up. The other
>repetitive actions are 3 mouse clicks, but the viewport takes several
>shift, zoom and rotate mouse-dragging actions. Also the resulting
>viewpoint is never the same, making it difficult to compare changes of
>the robot posture from screen shots taken.
>
>Would it be possible to add a way to choose a specific, user defined
>viewpoint in Webots? 
>Of course it would be nice to have a non-volatile list of selectable
>viewpoints with names defined by the user. 
>But, an option "keep last viewpoint on reload" (without storing it) in
>the preferences menu would also be a great help.
>
The best thing would be to allow user defined viewpoints. I will add 
this on my TODO list...

>Kimaita now uses his own log file (log.txt), which is available for
>download after the match. (in fact a utility class duplicates log
>output to both System.out and to the log file, putting specific text
>"[Kimaita]" (and in a next version the simulation time) in front of
>each line.
>
>But also some data is transported between sets and matches in file
>Kimaita.dat. And I plan to make a telemetry data file, and possibly a
>(video) file from camera data.
>But file kimaita.dat, score.txt and others are not availlable for
>download. Can this be changed? E.g. make all files with a specific
>extention (e.g. *.log or *.txt) available for download?
>  
>

Currently only log.zip (resulting from log.txt) and memory.dat (which 
may contain any binary information, not zipped) are available for 
download. Actually, these are soft links to the controller's directory 
files. Moreover, not all users may want to publish all their *.dat and 
*.txt files. The most simple for me is to add a number of predefined 
filenames to be make available for download, like the log.zip and 
memory.dat files which are already available for download. If you need 
more file names, please let me know (and give me file names).

>It would also be nice if the file (modification) date/time is shown in
>the file listing.
>
Ok, this sounds pretty easy to add...

debrunne wrote:

>Hi there
>
>I still got no clue why this happens, but when I call the 
>servo_get_position(joint[i]), it returns the correct ABSOLUTE value...
>(if servo is at -1.0f or +1.0f, it returns 1.0f)...
>  
>
Yes, that's a bug which I am about to fix...

Hey, Kubiak seems be nicely progressing today...

-Olivier


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