Hi. I'm modifying kinematic model for AIBO ("ERS-7.kin") in order to be able to collide and have mass. I'm working based on some information by Sergei Poskriakov for Webots 5.
I've developed an "almost" working - but headless - model with a main problem. When I move the simulated robot, I have an exception at MotionManager (Exception caught at Motion Manager.cc410 => kinematics::linkTobase: kinematics unspecified for
requested offset" (ocurred during motioncommand updateoutputs).
Is there any way to solve this?
Furthermore, when the robot is stopped it slightly "slips" over the field, line it was on ice. How could I avoid this? Could I give a friction parameter to joint objects?
Thanks in advance
PS: I send attached the modified kin file.
Ignacio Herrero Reder / Tl. +34-18.104.22.168
Dpto. Tecnologia Electronica / Fax: +34-22.214.171.124
E.T.S. Ing. Telecomunicacion / nhr@...
Universidad de Malaga / http://www.dte.uma.es
Campus Universitario de Teatinos
29010 Malaga, Spain