[robocup-msrs] Problems with movement

[Kyle Johns]

I've asked Nicolas from Robosoft to respond with ideas.

-Kyle

________________________________________
From: robocup-msrs-bounces at cc.gatech.edu [robocup-msrs-bounces at cc.gatech.edu] On Behalf Of Jackson Paul Matsuura [jackson at ita.br]
Sent: Sunday, July 01, 2007 11:23 AM
To: robocup-msrs at cc.gatech.edu
Subject: [robocup-msrs] Problems with movement

Kyle, George.

I`m having trouble with a movent that do not ends. And it is quite simple.

I`m just tring to reach a position with (1.57, -1,.57, 0), but the problem
happens with (1, -1.57, 0) and (1.57, -1.57, 0) too (just for one leg).
I tried it in the back left leg, so the movement is not blocked by other leg
or by the robot body, but even not being blocked and visualy appearing to be
completed the "IsMoving" continue true and I cannot give other movement command.
I thought that it just be some problem with the torque needed to reach that
position, but I lowered the gravity to 0,01 and the RobuDog was still unable
to complete this simple movement.

Should you try that movement? Just to me be sure if it is a problem with my
file or with the server?
This the de LegMouvement that I`m using.

    <RobuLegMouvement>
      <name>BrasilPNZ</name>
      <Mouvements>
        <SerialManipulatorControlRequest>
          <Controls xmlns="http://www.robosoft.fr/2006/11/serialmanipulator.html">
            <JointControl>
              <Mode>Position</Mode>
              <Target>1</Target>
              <Reached>false</Reached>
            </JointControl>
            <JointControl>
              <Mode>Position</Mode>
              <Target>-1.57</Target>
              <Reached>false</Reached>
            </JointControl>
            <JointControl>
              <Mode>Position</Mode>
              <Target>0</Target>
              <Reached>false</Reached>
            </JointControl>
          </Controls>
        </SerialManipulatorControlRequest>
      </Mouvements>
    </RobuLegMouvement>

And this is the DogMouvement

    <DogMouvement>
      <Name>BrasilGiro12c</Name>
      <motion>
        <SingleMouvement>
          <mouv>
            <string>LegZero</string>
            <string>LegZero</string>
            <string>BrasilPNZ</string>
            <string>LegZero</string>
          </mouv>
        </SingleMouvement>
      </motion>
    </DogMouvement>


Thanks

Jackson
Brasil-MC

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