[openrtm-users 02710] Re: Fwd: [openrtm-beginners:00389] OpenHRP3 Questions

[Luis Filipe Rossi]

Thank you very much for all the answers.

I could not find how to send questions at OpenHRP website. Could you point
me where i can find that?

I was having problems trying to replicate the tutorial because it does not
explain which are the dependencies that should be included. I was not
looking at the source code becouse i did not know where it was. Now i know
where to look.

About the IK. For sure i will need Real Time with a real robot. But for now
i am just testing a few concepts so as far as OpenHRP compute it
synchronously i will be ok. But for sure would be nice to see how to use
OpenRAVE code with OpenHRP3 as they got good kinematic solver support.

Is the rtm-ros-robotics<https://groups.google.com/forum/?fromgroups=#!forum/rtm-ros-robotics>
list
the most appropriated place to ask OpenHRP3 questions?

Thank you again for all the help!

Best regards,

On Mon, Nov 12, 2012 at 11:59 AM, Kei Okada <k-okada at jsk.t.u-tokyo.ac.jp>wrote:

> Hi,
>
> I posted a replay to here
>
> https://groups.google.com/forum/?fromgroups=#!topic/rtm-ros-robotics/Trj9l-_tEYM
>
> On Mon, Nov 12, 2012 at 10:33 AM, Ando Noriaki <n-ando at aist.go.jp> wrote:
> > Is there anyone who can answer to this question?
> > Probably JSK has some experience bridging between OpenHRP3 and ROS :-)
> >
> > Best regards,
> > Noriaki Ando
> >
> >
> >
> >
> > ---------- Forwarded message ----------
> > From: Luis Filipe Rossi <luisf.rossi at gmail.com>
> > Date: 2012/11/9
> > Subject: [openrtm-beginners:00389] OpenHRP3 Questions
> > To: openrtm-beginners at openrtm.org
> >
> >
> > Hello,
> >
> > I am not sure if this list is the most appropriated to ask questions
> > related to OpenHRP3. If not, could you please give me this
> > information?
> >
> > My PHd Thesis is related to biped robot gate control, so i am not much
> > interested for now in image processing and path planning. Basically
> > all i need is a good Dynamic Simulation Tool for biped robots and
> > OpenHRP3 seems to be the most accurate option so far (maybe gazebo in
> > the future due to the DRC).
> >
> > First question. What advantage do i get using OpenHRP3 with ROS in
> > special regarding gate control?
> >
> > Second question. I got a bit confused with the documentation on the
> > OpenHRP3 website. I was able to create a controller and control a
> > model however there are several topics that do not explain if they are
> > related to a controller or just creating a simulation environment (as
> > the Forward Kinematics and Inverse Kinematics one). Is there any place
> > that i can find the source files that generated the examples? Any
> > better documentation or tutorial? Lets say i am programming a
> > controller and inside the controller i want to load the model i am
> > controlling to perform inverse kinematics. Is that possible? When i
> > load a body is it automatically included at my simulation or can i
> > just use it as a data base to perform calculation?
> >
> > Third question, how do you guys generated the SamplePD joint positions
> > and Velocities? ZMP based? Could you guys describe the algorithm used?
> >
> > Any help would be appreciated.
> >
> > Best regards,
> >
> > --
> > Lu «¿s Filipe Rossi
> > Electrical Engineer
> > Biomechatronics Lab. / Grupo de Sensores Integr «¡veis e Sistemas
> > Escola Polit «±cnica
> > Universidade de S ǻo Paulo
> > Cel. +55 (11) 7662-9234
> >
> >
> > _______________________________________________
> > openrtm-beginners mailing list
> > openrtm-beginners at openrtm.org
> > http://www.openrtm.org/mailman/listinfo/openrtm-beginners
> >
> >
> >
> > --
> > Noriaki Ando, Ph.D.
> >     Senior Research Scientist, RT-Synthesis R.G., ISRI, AIST
> >     AIST Tsukuba Central 2, Tsukuba, Ibaraki 305-8568 JAPAN
> >     e-mail: n-ando at aist.go.jp, web: http://staff.aist.go.jp/n-ando
> >     OpenRTM-aist: http://www.openrtm.org
> > _______________________________________________
> > openrtm-users mailing list
> > openrtm-users at openrtm.org
> > http://www.openrtm.org/mailman/listinfo/openrtm-users
> >
> > _______________________________________________
> > openrtm-users mailing list
> > openrtm-users at openrtm.org
> > http://www.openrtm.org/mailman/listinfo/openrtm-users
> >
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>



-- 
Luís Filipe Rossi
Electrical Engineer
Biomechatronics Lab. / Grupo de Sensores Integráveis e Sistemas
Escola Politécnica
Universidade de São Paulo
Cel. +55 (11) 7662-9234
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