Load both 18DOF or 19DOF motions into a Hybrid Bioloid
Load both 18DOF or 19DOF motions into a Hybrid Bioloid
by smoothchat
Thu Oct 12, 2006 12:10 am
I have an opportunity to buy a 19DOF Bioloid.
The 19DOF bot normally has the waist at ID1 and the rest being ID2-19.
To be compatible with future 18DOF motions, I will build a 'Hybrid' using the 18DOF instructions. ID1-18 with the 19th servo in the waist as (ID19).
This will allow me to load 18DOF motions that people create and post. It will also allow me to post my own 18DOF motions to share with other 18DOF owners.
But what happens when I load up the motion editor. I can load an 18DOF.rbt file and pretend that I don't have a waist, but I'd like to load the legacy 19DOF.rbt, but all the IDs will not match my Hybrid.
Does anyone know if it's possible to remap the IDs by altering the ***.rbt file? In other words, I want to be able to have the motion editor work properly with my Hybrid bot. It would also be nice to have the 3D display appear correctly.
My next challenge would be to load a legacy 19DOF motion into my Hybrid. If a modified *.rbt file caters for this, that would be fantastic, but I suspect I'll have to write a conversion program to modify the actual motion file.
Has anyone else played with this idea. If so, please post your findings.
Thanks.
The 19DOF bot normally has the waist at ID1 and the rest being ID2-19.
To be compatible with future 18DOF motions, I will build a 'Hybrid' using the 18DOF instructions. ID1-18 with the 19th servo in the waist as (ID19).
This will allow me to load 18DOF motions that people create and post. It will also allow me to post my own 18DOF motions to share with other 18DOF owners.
But what happens when I load up the motion editor. I can load an 18DOF.rbt file and pretend that I don't have a waist, but I'd like to load the legacy 19DOF.rbt, but all the IDs will not match my Hybrid.
Does anyone know if it's possible to remap the IDs by altering the ***.rbt file? In other words, I want to be able to have the motion editor work properly with my Hybrid bot. It would also be nice to have the 3D display appear correctly.
My next challenge would be to load a legacy 19DOF motion into my Hybrid. If a modified *.rbt file caters for this, that would be fantastic, but I suspect I'll have to write a conversion program to modify the actual motion file.
Has anyone else played with this idea. If so, please post your findings.
Thanks.
by smoothchat
Sat Oct 14, 2006 2:08 am
Oh well, I've taken the plunge.
I've bought a new 18DOF kit plus extra actuator to build it into a 19DOF. However, I will allocate the IDs as per the 18DOF to be compatible with the new kits (and all those motions files which people will post.
I will put the waist at ID19
I'll be able to experiment with the issues I raised in my previous post in this thread.
Just to re-iterate, It appears that the new 18DOF kits have their arm and leg IDs assigned from 1-18. The original 19DOF kit was assigned from 2-19 (ID1 was the waist).
This poses a problem if I want to share my motions with others who have different configurations.
I have written an app to convert the motion files. It will convert a legacy 19DOF file to a Hybrid (like my bot), and vice versa. It will also allow you to assign any ID to another ID (up to 30). I will know if it works once my kit arrives and I progress up to building the humanoid. Once tested, I will post the exe file. Probably on the www.tribotix.com site.
This program should help with compatibility issues with motion files, but may not address the issues of the 3D display when editing them.
Anyway, gonna be lots of fun very soon.
I've bought a new 18DOF kit plus extra actuator to build it into a 19DOF. However, I will allocate the IDs as per the 18DOF to be compatible with the new kits (and all those motions files which people will post.
I will put the waist at ID19
I'll be able to experiment with the issues I raised in my previous post in this thread.
Just to re-iterate, It appears that the new 18DOF kits have their arm and leg IDs assigned from 1-18. The original 19DOF kit was assigned from 2-19 (ID1 was the waist).
This poses a problem if I want to share my motions with others who have different configurations.
I have written an app to convert the motion files. It will convert a legacy 19DOF file to a Hybrid (like my bot), and vice versa. It will also allow you to assign any ID to another ID (up to 30). I will know if it works once my kit arrives and I progress up to building the humanoid. Once tested, I will post the exe file. Probably on the www.tribotix.com site.
This program should help with compatibility issues with motion files, but may not address the issues of the 3D display when editing them.
Anyway, gonna be lots of fun very soon.