tuckerpo / inmoov-442 Goto Github PK

This allows the user to build the simulator, open it, and use our plugin by only typing one command into the terminal

Add a button to the InMoov plugin that makes the robot move as if it is doing a robot dance.

Place my plugin features in my plugin and combine with mvp plugin

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Create and attach thighs to waist/hips. Create knees/lower leg and attach to thighs.

Steps in the readme doesn't work
Copying CMakeCache.txt file doesn't work because it uses /home/osboxes/choreonoid directory.
osboxes should be replaced with own sudo user.

feels good man

Add arm swing to leg animation

Write makefiles to allow plugin to be built into the choreonoid project

Create controller that makes robot walk

Update bash script to boot choreonoid properly for Ubuntu 14.04 LTS and install proper libraries.

These screenshots or video will be posted on the Beta site to show a non technical user exactly what they need to do starting from the Beta site to having choreonoid working with our plugin. Ideally, it should not require any technical knowledge or explanations i.e. the directions should mainly be click here/on this.

Finalizing beta release

Allows the user to setup the simulator and our plugin by only clicking

Get our project to work properly on Windows and Mac

put the code for the beta release on the beta site

Need to create base of the legs model. Using waist as the model base.

current workaround
sed -i -e 's/\r$//' Run.sh

For more info:
https://askubuntu.com/questions/304999/not-able-to-execute-a-sh-file-bin-bashm-bad-interpreter

Figure out way to move joints independently

Instead of having to download the choreonoid repository and our repository and then moving files ect. all necessary files for interacting with our software as an end user will be available in a single archive to be made available on our landing page.

create prototype youtube video for demonstration purposes

Create the base function headers for bipedal kinematics either in-line .cc or as an interfacing .hh file

Minimal Requirement:
Add a button to the InMoov plugin that makes the robot move as if it is dancing in a disco style, or if you prefer the optional and very optional methods will satisfy the minimal requirement.

One Possible Technical Outline For Implementing Minimal Requirement:

1. Add a button to the InMoov plugin named "disco"
2. Write a function in the InMoov plugin code that is activated when the disco button is clicked.
3. Figure out how to move the joints of only the right arm or only the left arm such that the robot moves it's hand in the following format:
   -if arm joints are not along the path of the diagonal from the opposite waist to the far reach of the side the arm is on, move the hand toward the opposite side of the body in front of the waist
   -if arm is at the front of the opposite waist, or was previously moving upward, move the hand diagonally upward toward the side of the robot that the hand is on
   -if the hand has reached it's upper joint limit, or was previous moving downward, move the hand downward diagonally toward the opposite side of the robot in front of the waist

Optional and Definitely Not a Requirement:
Implement disco maneuver in controller code and ensure that the physics works properly in simulation.
This will likely require a decent understanding of calculus and control theory.

Very Optional and Most Definitely Not a Requirement
Build a new robot model using all of the stl files for the InMoov robot available at
http://inmoov.fr/inmoov-stl-parts-viewer/

You would have to download the stl files by each body section i.e. chest, biceps, forearm, etc.., then incorporate them into a model. In addition, it would help to define the mass of each part, center of mass, inertia etc., to match that of the InMoov robot's upper body. After that, you will need to approximate the physical properties that the nonexistent InMoov robot legs might have.

After creating the model, write a controller that can manipulate that model in the simulator and implement the disco maneuver.

This will likely require an advanced and solid grasp of physics, calculus, and control theory.

Create walk plugin for my model and cnoid project file to load my model and plugin for choreonoid

Output positions of all joints to file while using plugin, to be able to load later as a MultiValueSeq

Ensures that physics engine can be "reasonably" applied to model and allows for keystrokes to affect the behavior of the robot.

Fixed crash that happens when the plugin buttons are pressed with wrong model selected.
Also did code management to make it more eligible.