2011/10/21 Herman Bruyninckx <Herman [dot] Bruyninckx [..] ...>

> On Fri, 21 Oct 2011, Adolfo Rodríguez Tsouroukdissian wrote:
>
> All,
>>
>> I was wondering if the iTaSC repository is open for lurkers, like myself
>> :). I have noticed
>> that there has been some recent activity in the iTaSC wiki [1], but there
>> is not yet enough
>> information to answer my curiosity. I'm mostly interested in knowing how
>> to specify
>> constraints between frames.
>>
>> An ex-intern of us (Marcus Liebhardt) implemented a motion retargeting
>> system [2] for
>> teleoperating our robot from mocap data, and I'd like to evaluate the use
>> of iTaSC for
>> specifying the constraints in this problem. The constraints are few and
>> simple: 6dof pose
>> tracking, 3dof position or orientation tracking only, and 2dof (parallel)
>> axis tracking.
>>
>> I appreciate any pointers,
>>
>
> For motion retargeting, I would like to use _dynamic_ constraints between
> the demo system and the target system, not just the kinematic ones that the
> current iTaSC code supports... Wouldn't you?

Herman,

The scope of my inquiry was limited to how I could specify a problem we have
already formulated (kinematic constraints only) by using iTaSC, and maybe

convince myself to give it a try. Nick was kind enough to send me a
presentation in a private email (size too large for the ML), which got me
going.

As to your question, dynamic constraints do make sense in the context of
motion retargeting. I just want to approach the problem one step at a time
(and one intern at a time ;) ). Maybe you could develop a bit more your
reply by mentioning which dynamic constraints would make sense to you, so I
can answer more precisely if I would like to use them as well :).

Cheers,

Adolfo.

>
>
> Best,
>>
>> Adolfo.
>>
>> [1] http://orocos.org/wiki/orocos/**itasc-wiki<http://orocos.org/wiki/orocos...
>> [2] http://www.pal-robotics.com/**software/motion-retargeting<http://www.pal...
>>
>
> Herman
>
>
> --
>> Adolfo Rodríguez Tsouroukdissian
>> Robotics engineer
>> adolfo.rodriguez@pal-robotics.**com <adolfo [dot] rodriguez [..] ...>
>> http://www.pal-robotics.com
>>
>> PAL ROBOTICS S.L
>> c/ Pujades 77-79, 4º4ª
>> 08005 Barcelona, Spain.
>> Tel. +34.93.414.53.47
>> Fax.+34.93.209.11.09
>>
>> AVISO DE CONFIDENCIALIDAD: Este mensaje y sus documentos adjuntos, pueden
>> contener
>> información privilegiada y/o confidencial que está dirigida exclusivamente
>> a su
>> destinatario. Si usted recibe este mensaje y no es el destinatario
>> indicado, o el empleado
>> encargado de su entrega a dicha persona, por favor, notifíquelo
>> inmediatamente y remita el
>> mensaje original a la dirección de correo electrónico indicada. Cualquier
>> copia, uso o
>> distribución no autorizados de esta comunicación queda estrictamente
>> prohibida.
>>
>> CONFIDENTIALITY NOTICE: This e-mail and the accompanying document(s) may
>> contain
>> confidential information which is privileged and intended only for the
>> individual or entity
>> to whom they are addressed. If you are not the intended recipient, you
>> are hereby notified
>> that any disclosure, copying, distribution or use of this e-mail and/or
>> accompanying
>> document(s) is strictly prohibited. If you have received this e-mail in
>> error, please
>> immediately notify the sender at the above e-mail address.
>>
>>
>>
> --
> K.U.Leuven, Mechanical Eng., Mechatronics & Robotics Research Group
> <http://people.mech.kuleuven.**be/~bruyninc > Tel: +32 16 328056
> EURON Coordinator (European Robotics Research Network) <
> http://www.euron.org>
> Open Realtime Control Services <http://www.orocos.org>
> Associate Editor JOSER <http://www.joser.org>, IJRR <http://www.ijrr.org>

Hi,

On 10/21/2011 09:37 PM, Herman Bruyninckx wrote:
> On Fri, 21 Oct 2011, Adolfo Rodríguez Tsouroukdissian wrote:
>
>> All,
>>
>> I was wondering if the iTaSC repository is open for lurkers, like myself :). I have noticed
>> that there has been some recent activity in the iTaSC wiki [1], but there is not yet enough
>> information to answer my curiosity. I'm mostly interested in knowing how to specify
>> constraints between frames.
I'm cleaning up the code and as you can see, write the documentation
expect something soon!

nick
>>
>> An ex-intern of us (Marcus Liebhardt) implemented a motion retargeting system [2] for
>> teleoperating our robot from mocap data, and I'd like to evaluate the use of iTaSC for
>> specifying the constraints in this problem. The constraints are few and simple: 6dof pose
>> tracking, 3dof position or orientation tracking only, and 2dof (parallel) axis tracking.
>>
>> I appreciate any pointers,
>
> For motion retargeting, I would like to use _dynamic_ constraints between
> the demo system and the target system, not just the kinematic ones that the
> current iTaSC code supports... Wouldn't you?
>
>> Best,
>>
>> Adolfo.
>>
>> [1] http://orocos.org/wiki/orocos/itasc-wiki
>> [2] http://www.pal-robotics.com/software/motion-retargeting
>
> Herman
>
>> --
>> Adolfo Rodríguez Tsouroukdissian
>> Robotics engineer
>> adolfo [dot] rodriguez [..] ...
>> http://www.pal-robotics.com
>>
>> PAL ROBOTICS S.L
>> c/ Pujades 77-79, 4º4ª
>> 08005 Barcelona, Spain.
>> Tel. +34.93.414.53.47
>> Fax.+34.93.209.11.09
>>
>> AVISO DE CONFIDENCIALIDAD: Este mensaje y sus documentos adjuntos, pueden contener
>> información privilegiada y/o confidencial que está dirigida exclusivamente a su
>> destinatario. Si usted recibe este mensaje y no es el destinatario indicado, o el empleado
>> encargado de su entrega a dicha persona, por favor, notifíquelo inmediatamente y remita el
>> mensaje original a la dirección de correo electrónico indicada. Cualquier copia, uso o
>> distribución no autorizados de esta comunicación queda estrictamente prohibida.
>>
>> CONFIDENTIALITY NOTICE: This e-mail and the accompanying document(s) may contain
>> confidential information which is privileged and intended only for the individual or entity
>> to whom they are addressed. If you are not the intended recipient, you are hereby notified
>> that any disclosure, copying, distribution or use of this e-mail and/or accompanying
>> document(s) is strictly prohibited. If you have received this e-mail in error, please
>> immediately notify the sender at the above e-mail address.
>>
>>
>
> --
> K.U.Leuven, Mechanical Eng., Mechatronics& Robotics Research Group
> <http://people.mech.kuleuven.be/~bruyninc> Tel: +32 16 328056
> EURON Coordinator (European Robotics Research Network)<http://www.euron.org>
> Open Realtime Control Services<http://www.orocos.org>
> Associate Editor JOSER<http://www.joser.org>, IJRR<http://www.ijrr.org>