Re: Re: judo_without_texture + "robot demonstration in Paris"

djp79u wrote:

>>1) avoid self penetration of robot joints (I saw too much robots doing 
>>impossible moves due to self penetration of joints).
>>    
>>
>
>Further to this, would it be possible to restrict the range of motion
>for the knee servos to reflect a 'kneecap'.  In other words instead of
>the range being -3.14 to 3.14 rads would it be possible to restrict
>the range to 0 to 3.14 so that the knee may only bend back.  This
>would be more humanlike and there are several nice walking algorithms
>that rely on a kneecap.
>
>  
>
Right. I will do this as soon as possible since this is easy to 
implement and will immediately improve the quality of movements.

>
>I've been doing a little experimentation, although I was using webots
>4.0.16 I was still using the judo.wbt from 4.0.12.  When trying to
>upgrade to judo.wbt from 4.016 I encountered the GDK error, here is
>the error I get:
>
>Xlib: sequence lost (0x100e3 > 0xfc) in reply type 0x0!
>Gdk-ERROR **: 41
>  serial 227 error_code 41 request_code 228 minor_code 0
>Gdk-ERROR **: 49
>  serial 249 error_code 49 request_code 161 minor_code 8
>Xlib: sequence lost (0x1013a > 0x13a) in reply type 0x0!
>Gdk-ERROR **: BadImplementation (server does not implement operation)
>  serial 314 error_code 17 request_code 20 minor_code 0
>Xlib: sequence lost (0x10003 > 0x13e) in reply type 0x0!
>Xlib: sequence lost (0x10000 > 0x13e) in reply type 0x0!
>
>So the problem is in the world file not webots itself.  I haven't been
>able to test the two knew world files yet as my mail account is down.
>  
>
This is a very useful information. I will investigate it...
Thanks!

-Olivier


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