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osrf / robocup3ds

Gazebo support for the RoboCup 3D simulation league.
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Initial agent positions are unstable #24

Closed osrf-migration closed 8 years ago

osrf-migration commented 8 years ago

Original report (archived issue) by Jens Fischer (Bitbucket: Gama11).

By default, agents are positioned in the center of the field, which seems to trigger collisions with the ball until the agent eventually falls over:

After falling over, the agent is moved elsewhere (because of the CheckOffSidesOnKickOff() violation I assume). Resetting the playmode to BeforeKickOff now resets the agent's joints, which is nice. However, this is again an unstable position; when the agent is dropped on PlayOn (he seems to be floating slightly before), he falls over:

For contrast, in SimSpark, the agent is initially positioned in the corner of the field, in what seems to be a perfectly stable position:

All of this was tested with an agent that doesn't send any effector messages to the server.

osrf-migration commented 8 years ago

Original comment by Jens Fischer (Bitbucket: Gama11).

osrf-migration commented 8 years ago

Original comment by Jens Fischer (Bitbucket: Gama11).

The first issue can be reproduced with a slightly modified version of the Walking Agent shared on the mailing list: https://github.com/Gama11/Walking_Agent/tree/gazebo_issue_24

osrf-migration commented 8 years ago

Original comment by jasonzliang NA (Bitbucket: jasonzliang).

I have fixed the problem where the agent spawns in the center of the field with Pull request #54. The agent falling is probably due to different physics in Gazebo and the fact that the robot is not sending joint velocity information. To change things to be more like Simspark you would need to increase the model's joint stiffness parameters.

osrf-migration commented 8 years ago

Original comment by Jens Fischer (Bitbucket: Gama11).

Nice, that seems to solve the collisions with the left leg. There's still a weird issue where the left lower arm is stuck inside of the upper arm:

osrf-migration commented 8 years ago

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

I see that too but seems unrelated with this issue. @Gama11 , do you mind to file a new issue? I'm about to close this one as seems fixed in pull request #54.

osrf-migration commented 8 years ago

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

Fixed in pull request #54

osrf-migration commented 8 years ago

Original comment by Jens Fischer (Bitbucket: Gama11).

I guess we need two new issues then since there's also the problem of the agent falling over without effector messages.

osrf-migration commented 8 years ago

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

Sounds good.