Re: judo.wbt bug under Linux fixed

>I just underline a bug I have found, wich is still present in the 
>webots version 16 :
>
>  
>
>>I don't succeed to move my arm the way I requested it.
>>It seems that the reached position can't be farther than actual
>>"position +/- 3.14".
>>So, if my arm is at position 0, I succesfully ask it to reach
>>position 2 (in radian). But if after that, if I ask it to reach 
>>position -2, instead of reaching this position through the 0 
>>position, it reach it the shorter way, through the 3.14 radian 
>>position...
>>    
>>
>
>And it can lead to an unwanted self body penetration...
>  
>
Yes, I understand your concern. However, it is not recommanded to 
request to big position changes. If you want to move a joint from 2 to 
-2, you should specify some intermediate positions, otherwise the 
built-in controller will choose the shortest path, which is not always 
the one you want.

I plan to introduce joints limits to avoid some self penetration 
problems. Other self penetration problems will be handled by collision 
detection... In the meanwhile, I would like to ask all competitors to 
avoid performing movement showing self-penetration of the robot body or 
joints. Such movement will be prohibited soon by the joint limits and 
the self collision detection. Hence your robots will have troubles if 
they currently self penetrate...

-Olivier


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