Error code predictor for servos

[robEllenberg]

A big issue with simulation currently is that it is very optimistic about strength and endurance of motors. Real experiments fail often due to:

• motor over torque
• "big" error
• jam error (collisions and such)

Therefore, it would be useful to predict this in simulation. Perfect accuracy is unlikely due to the stiffness of the robot, but even a rough idea would help.

Todo: predict above errors based on motor state (torque, velocity, past history)

[robEllenberg]

Need Matlab functions through the openrave text server for:

• center of mass
• link masses
• inverse dynamics
• joint velocities

Others?

Development in Rob's openrave fork, feature/matlab-textserver