Re: Movement creation and sharing...

[email protected] wrote:
> Hi,

Hi !!

> As mentioned before I’ve been working on the new site for the next judoka
> competition (http://roboka.org).

Good work ! I really like it.

 > Now the site more or less finished I can focus again on
 > creating useful tools for the competitors.

Cool ! A really good point for new commers. A risk is indeed 
that they get dishearten when they would see the work already 
done by people involved in past contest.

> The goal I set my self is to produce a movement creation tool witch
 > enables competitors to easily create, use and share their
> movements.

Mmmhhh. Sorry, but I am not sure it would be really usefull.
You suppose everybody use sequence of position for robot 
motion. And if I remember, it was the solution used by a lot 
of the switzerland students. Of course, with this sort of 
coding, all the work done is lost if even a small parameter is 
changed (friction, joint limit...).

If it is a good solution at the begining, I don't think top 
ranked robot use it.

As I am concerned, my *vaporware* ;) robot don't use this. I 
have written high level fonction to achieve any motion.

To move the arm, I have just to set :
- the required final fist position relative to the shoulder
- a normalized tabulated space trajectory
- and the speed motion.
And the function produce during the simulation the sequence of 
angle position of the elbow and of the two axis of the 
shoulder to meet the defined fist tractory.

So, I can't give any sequence of angle position. Even 
extracting them will give something that may not be usable as 
it changes with the real time aspect of the simulation.

So, this sort of sequence may be usefull for new commers.
But I don't think people have such sequence for all the motion 
they achieve.. if so... my god !!! They really need my 
functions ;)
But they probably already use the same sort of high level 
functions I am using.

So for me, your idea is good, but won't be so usefull, except 
for first new commers steps.

> The goal is to enable the sharing of movements between competitors. For example
> someone might decide to post the stand up movement on the wiki. New competitors
> will then be able to use it without having to spend days (weeks?) coding. This
> will hopefully speed up the evolution of all competitors and increase the
> accessibility of the competition.

Could be. But contributed functions are almost done when 
people have written something better :) In the mean time they 
keep it for their personal use :)

I think the best way for new commers is to deal with an "old" 
competitor to get their motion system. I have already proposed 
my walking function to friends of me interested by the 
contest. Its a cool function : you just have to tell were to 
go and it do the rest with the legs :) except that the rest is 
actually falling on the floor because of the ankle joint limit 
(as soon as I try to do a step with a realistic size and not a 
grand-father walk :)

 > ... This way, motions could be loaded/created
> directly from the movement creation tool and later used by the controllers
> without needing to code anything.

Cool. Just put this "movement creation function" in the robot 
and you don't need sequence of angles anymore :)

> I am also relying on all of you to get some feedback/ideas from experienced
> competitors about my project and ideas.

You get my unexperienced ones.

> I am open to any critiks and remarks
 > (Is any body interested in these standards/tools?).

As explained before, not me.

> Keep in mind these tools should
> help you and new competitors not just decorate the web sit :-).

I think it is a cool tool for the first steps of new commers.

> To all of you who made it to the end of this mail:
 > congratulations and thanks for the interest
> Jean-Philippe

:)
I think worring for new commers is the most important thing to 
get new participants. So, thanx a lot for them.

My contribution will just be to give my functions to my 
friends... if I succeed to achives theses functions.. Actually 
I have just promised them.. some vaporware ;)

Bothari, fighting with the f***ing ankles joints limits !!!



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