[robocup-msrs] Problems with movement

[Dalmasso Nicolas]

Jackson,

I think the problem is that you've reached the angle limit on one of the
axis. To simulate the real robudog's joint limits, we've set limits on
each axis of each leg, just have a look at the robuDOG-real.xml (/store).

So, I don't remember but I think no joint can reach PI/2, just try to
reduce your angle value.

Nicolas

> 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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>


-- 
Nicolas Dalmasso
Polytech'Nice Sophia-Antipolis