[Opensim-dev] robot simulation

[Dalien Talbot]

hi Jordi,

I will let the others with more experience correct me, otherwise my personal
replies are inline...

On Fri, Feb 29, 2008 at 8:00 PM, Jordi <mumismo at gmail.com> wrote:

>
> Hi,
>
> I am collaborating in the development of a robotic simulator (
> http://playerstage.sourceforge.net/wiki/Gazebo).
> I wanted to add a multiuser mode oriented to allow competitions. Searching
> around I have found OpenSim.
>
> I have being asking about this in the chat channel and basically OpenSim
> lacks and needs to accommodate this kind of simulator at least the
> following:
>
> - realistic physic simulation (IMHO
> http://www.adrianboeing.com/pal/index.html is the way to go)


we have the ODE as one of the physics engines. I guess one could implement
more engines, but I personally think that a greater stability with a few is
better than "somewhat working" but too many.


>
> - sensors: cameras (multicameras), lasers, contact, gyroscopes,
> temperature, microphones, GPS , etc.


This is the RL devices ? I suspect they could be implementable as modules..


>
> - joints, articulated bodies
> - code to make articulated bodies move, reach etc using the joints and the
> physic


This is an interesting area - I'm personally fascinated by an idea of having
the "real" body somehow transmit the movements to the "virtual" one - if
this is what you have in mind. I think we were not focusing on that so far,
but a good thought on that area would be useful, imho.


>
> - External interfaces so that programs can control all that (in their own
> process without using scripting )


I think Tedd could comment on this, but I am not sure which exactly kind of
interfaces do we talk here - REST, or something else ? There's currently a
way to make "native" scripts in C#, rather than in LSL.


>
>
>
> What OpenSim has that our simulator lacks is :
> - multiuser environment
> - project visibility
> - Tons of tools, models, etc
> - Scripting
> - good navigation system in the world
>
>
> I am considering switching efforts to OpenSim but I want to know if
> invasive changes like those would be welcomed. Keep in mind that the
> simulation will be much more computer intensive. Also, maintaining the
> interfaces for external programs can be tedious and get few users.


I think all of these could be implemented as modules - so you do not affect
the "general population" if the functionality is of limited use to all. On
the other hand, you expose the potential of your technology to a potentially
large base.


>
> Also, it seems that OpenViewer is in an early stage of development. Some
> of those changes would need support from the client.


Speaking of the animating the avatar - I was thinking that since the
animations are quite small in nature, it might be possible to have a
"continuous stream of small animations" to allow the precise control over
the movement of the avatar in-world.


>
>
> Any comments welcomed.
> Mostly: it would be welcomed? Anyone interested in helping with this?
>

I guess you could set up your own git trunk and expose it via wiki, and then
let the world decide :)

For now I host the public git repo at: http://opensim.be/git/opensim-svn.git

it mirrors everything that happens in trunk, a few hours away.

/d


>
> bests,
>
> --
> Jordi Polo Carres
> NLP laboratory - NAIST
> http://www.bahasara.org
>
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>
>
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