Thank you very much for all the answers. <div><br></div><div>I could not find how to send questions at OpenHRP website. Could you point me where i can find that?</div><div><br></div><div>I was having problems trying to replicate the tutorial because it does not explain which are the dependencies that should be included. I was not looking at the source code becouse i did not know where it was. Now i know where to look. </div>
<div><br></div><div>About the IK. For sure i will need Real Time with a real robot. But for now i am just testing a few concepts so as far as OpenHRP compute it synchronously i will be ok. But for sure would be nice to see how to use OpenRAVE code with OpenHRP3 as they got good kinematic solver support.</div>
<div><br></div><div>Is the <a href="https://groups.google.com/forum/?fromgroups=#!forum/rtm-ros-robotics" style="margin:0px;padding:0px;border:0px;vertical-align:baseline;text-decoration:initial;color:rgb(102,17,204);font-family:Arial,Helvetica,sans-serif;font-size:13px;background-color:rgb(255,255,255)">rtm-ros-robotics</a><span style="color:rgb(34,34,34);font-family:Arial,Helvetica,sans-serif;font-size:13px;background-color:rgb(255,255,255)"> list the most appropriated place to ask OpenHRP3 questions?</span></div>
<div><span style="color:rgb(34,34,34);font-family:Arial,Helvetica,sans-serif;font-size:13px;background-color:rgb(255,255,255)"><br></span></div><div><font color="#222222" face="Arial, Helvetica, sans-serif">Thank you again for all the help!</font></div>
<div><font color="#222222" face="Arial, Helvetica, sans-serif"><br></font></div><div><font color="#222222" face="Arial, Helvetica, sans-serif">Best regards,</font></div><div><br><div class="gmail_quote">On Mon, Nov 12, 2012 at 11:59 AM, Kei Okada <span dir="ltr"><<a href="mailto:k-okada@jsk.t.u-tokyo.ac.jp" target="_blank">k-okada@jsk.t.u-tokyo.ac.jp</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">Hi,<br>
<br>
I posted a replay to here<br>
<a href="https://groups.google.com/forum/?fromgroups=#!topic/rtm-ros-robotics/Trj9l-_tEYM" target="_blank">https://groups.google.com/forum/?fromgroups=#!topic/rtm-ros-robotics/Trj9l-_tEYM</a><br>
<div><div class="h5"><br>
On Mon, Nov 12, 2012 at 10:33 AM, Ando Noriaki <<a href="mailto:n-ando@aist.go.jp">n-ando@aist.go.jp</a>> wrote:<br>
> Is there anyone who can answer to this question?<br>
> Probably JSK has some experience bridging between OpenHRP3 and ROS :-)<br>
><br>
> Best regards,<br>
> Noriaki Ando<br>
><br>
><br>
><br>
><br>
> ---------- Forwarded message ----------<br>
> From: Luis Filipe Rossi <<a href="mailto:luisf.rossi@gmail.com">luisf.rossi@gmail.com</a>><br>
> Date: 2012/11/9<br>
> Subject: [openrtm-beginners:00389] OpenHRP3 Questions<br>
> To: <a href="mailto:openrtm-beginners@openrtm.org">openrtm-beginners@openrtm.org</a><br>
><br>
><br>
> Hello,<br>
><br>
> I am not sure if this list is the most appropriated to ask questions<br>
> related to OpenHRP3. If not, could you please give me this<br>
> information?<br>
><br>
> My PHd Thesis is related to biped robot gate control, so i am not much<br>
> interested for now in image processing and path planning. Basically<br>
> all i need is a good Dynamic Simulation Tool for biped robots and<br>
> OpenHRP3 seems to be the most accurate option so far (maybe gazebo in<br>
> the future due to the DRC).<br>
><br>
> First question. What advantage do i get using OpenHRP3 with ROS in<br>
> special regarding gate control?<br>
><br>
> Second question. I got a bit confused with the documentation on the<br>
> OpenHRP3 website. I was able to create a controller and control a<br>
> model however there are several topics that do not explain if they are<br>
> related to a controller or just creating a simulation environment (as<br>
> the Forward Kinematics and Inverse Kinematics one). Is there any place<br>
> that i can find the source files that generated the examples? Any<br>
> better documentation or tutorial? Lets say i am programming a<br>
> controller and inside the controller i want to load the model i am<br>
> controlling to perform inverse kinematics. Is that possible? When i<br>
> load a body is it automatically included at my simulation or can i<br>
> just use it as a data base to perform calculation?<br>
><br>
> Third question, how do you guys generated the SamplePD joint positions<br>
> and Velocities? ZMP based? Could you guys describe the algorithm used?<br>
><br>
> Any help would be appreciated.<br>
><br>
> Best regards,<br>
><br>
> --<br>
</div></div>> Lu «¿s Filipe Rossi<br>
> Electrical Engineer<br>
<div class="im">> Biomechatronics Lab. / Grupo de Sensores Integr «¡veis e Sistemas<br>
> Escola Polit «±cnica<br>
</div>> Universidade de S ǻo Paulo<br>
<div class="im HOEnZb">> Cel. <a href="tel:%2B55%20%2811%29%207662-9234" value="+551176629234">+55 (11) 7662-9234</a><br>
><br>
><br>
> _______________________________________________<br>
> openrtm-beginners mailing list<br>
> <a href="mailto:openrtm-beginners@openrtm.org">openrtm-beginners@openrtm.org</a><br>
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><br>
><br>
><br>
> --<br>
> Noriaki Ando, Ph.D.<br>
> Senior Research Scientist, RT-Synthesis R.G., ISRI, AIST<br>
> AIST Tsukuba Central 2, Tsukuba, Ibaraki 305-8568 JAPAN<br>
> e-mail: <a href="mailto:n-ando@aist.go.jp">n-ando@aist.go.jp</a>, web: <a href="http://staff.aist.go.jp/n-ando" target="_blank">http://staff.aist.go.jp/n-ando</a><br>
> OpenRTM-aist: <a href="http://www.openrtm.org" target="_blank">http://www.openrtm.org</a><br>
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</div></div></blockquote></div><br><br clear="all"><div><br></div>-- <br><div>Luís Filipe Rossi<br>Electrical Engineer</div>
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