#robotics Logs
Sep 01 2019
#robotics Calendar
06:06 AM Jak_o_Shadows: But why replace IK?
06:11 AM veverak: do not want to write generic IK
06:11 AM veverak: want it to work with generic IK
06:11 AM veverak: * generic walker robot
06:11 AM veverak: do not want to force the user to write IK plugin
06:32 AM Guest9617 is now known as owl
10:47 AM justanotheruser is now known as j
10:47 AM j is now known as justanotheruser
11:46 AM rue_mohr: is the frame information specified?
11:46 AM veverak: yup
11:46 AM veverak: I got tree at input
11:46 AM rue_mohr: distances, joint orientation, offset and range?
11:47 AM veverak: yup
11:47 AM veverak: http://wiki.ros.org/urdf/XML/joint
11:47 AM veverak: URDF is the data format
11:47 AM rue_mohr: looks lots like BVH
11:47 AM veverak: alongside, I've get set of joints which represents "root of leg"
11:57 AM rue_mohr: familiar with BVH?
11:58 AM veverak: nope
11:58 AM rue_mohr: I wonder if technology will always be reinventing the wheel
11:59 AM veverak: it will
12:00 PM rue_mohr: that said, almost ALL FFT code is a port of the port of the port of the origional FORTRAN code written in 1967 by an author who just glued togethor two peoples code
12:01 PM rue_mohr: http://ruemohr.org/~ircjunk/programming/FOUR1.txt
12:04 PM veverak: lol
12:04 PM veverak: seems like line/triangle intersection code
12:04 PM veverak: :)
03:10 PM rue_mohr: FFT
04:17 PM veverak: so
04:17 PM veverak: let's figure out how to effeciently tell if robot is in stable position
04:18 PM veverak: as, if it's center of mass is over the triangle formed by legs that reside on the surface of environment
04:19 PM veverak: naive idea?
04:19 PM veverak: project CoM on the plane formed by the triangle ABC
04:19 PM veverak: move the point CoM into a coordinate systems where one axis is vertex AB, second is vertex AC
04:20 PM veverak: check if CoM is inside [0,0], [1,0], [0,1]
04:20 PM veverak: oh, wait
04:21 PM veverak: I've code somewhere to check collision of triangle nad line in 3D
04:21 PM veverak: hmm, that should do it
07:07 PM logb0t_ is now known as logb0t