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Mouses94
Mouses94

Reputation: 1

Limit the angle of the rotation motors

is it possible to limit the rotation motors of an industrial robot (IRB4600/40) in WeBots? As an example: the motor should no longer have a freedom of 2 Pi in both directions, but only 1 Pi each.

I need this for a reinforcement learning task that I want to carry out with WeBots. However, I would like to be able to limit the space in which actions are performed.

An idea for this: I could specify maximum/minimum positions at which the robot stops learning. However, this is a solution that I am not satisfied with.

Therefore the question: Is there a WeBots node with which I can limit the rotation angle of motors?

Many Thanks Moritz

Upvotes: 0

Views: 198

Answers (1)

Olivier Michel
Olivier Michel

Reputation: 900

You can set a value to minPosition and maxPosition for each RotationalMotor node. See the documentation here. If you want to do this for a robot that is defined in a proto file, you will have to edit the corresponding proto file accordingly.

Upvotes: 1

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