Robot model stalls (STALL), when size [x y z] is not much higher than geometric robot model.

Player v.3.0.1
Stage-3.2.2
Kubuntu on wmware
tests, examples and similar works as intended.


Player loads world file with objects and robot nicely without reporting
errors.
When control client is connected and attempts to move robot, the Robot
returns a "STALL" similar to what happens when collisions occur.
also the robot is updated with a nice yellow image ( !  )

This happens at the first update of motors, if and only if the size
parameter in z value gets close to the defined geometry.
if the size is specified to be much higher, there is no problem, and stuff
works.

This is unnerving as the robot in question should have had stuf placed ontop
of the geometry, and this becomes weird when the bug requires everything to
be scaled un-naturally in the height..

example:

define AGV_base position
(
color "gray"
drive "diff"
gui_nose 1

obstacle_return 1
laser_return 1
ranger_return 1
blob_return 1
fiducial_return 1

localization "gps"
localization_origin [0 0 0 0]
)

define AGV AGV_base
(
  # These corresponds to the maximum x y and z of the robot in meters.
  size [1.30 0.73 0.45]
  # if size becomes less than 0.45 robot model reports STALL instead of
moving

 #mass estimate is probably way off anyway (Kg)
 mass 50.0

 #centre of rotation, (if not defined the geometric centre was used...)
 origin [0 0 0 0]

#AGV base frame bottom shape
block (
points 10
point[9] [  -0.20 0.365]
point[8] [   0.8    0.365]
point[7] [   1.1  0.225]
point[6] [   1.1   0.221]
point[5] [   0.75  0.221]
point[4] [   0.75 -0.221]
point[3] [   1.1  -0.221]
                point[2] [   1.1  -0.225]
point[1] [   0.8   -0.365]
point[0] [  -0.20 -0.365]
z [ 0.10 0.15 ]
)

)

notice in the example that the only geometry is a floating base, not
touching the ground, not being higher than 0.15, however if the size drops
below 0.45 everything fails.
-- 
Civ.ing. Henrik Dalsager Christensen
mobil: 29247472
http://www.zcuba.dk

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