[Robotics] Blender Ubuntu 9.10 iTaSC branch build -> fail

[Benoit Bolsee]

Select the armature, go in Pose mode.
Select a bone and add an IK constraint.
Now an "Inverse Kinematics" panel shows up.
expand the panel and you will see the solver selection menu.
Select iTaSC and another 'iTaSC parameter' panels shows up
Now you can select various options of the iTaSC algorithm. 
The most important ones are the timestep selection and Maximum velocity.
 

-----Original Message-----
From: robotics-bounces at blender.org [mailto:robotics-bounces at blender.org]
On Behalf Of Florian Lier
Sent: vendredi 31 juillet 2009 22:03
To: Blender and Robotics
Subject: Re: [Robotics] Blender Ubuntu 9.10 iTaSC branch build -> fail


Hey,

ahh ok - sorry for double posting this.
I accidentily skipped reading this:


cd <itasc_dir>

cp config/linux2-config.py user-config.py

<edit user-config.py: python version, player off>

python scons/scons.py

Now blender 2.5 iTaSC builds successfully and I can load my .blend
files.

Now :) tell me how to add the new IK Solver, I couldn't find it in the
contraints
menu.

Florian


Florian Lier wrote: 

Hmmm,

ok - checked out the latest src, seemed to compile, then I got the
following error:

source/blender/blenkernel/intern/node.c:31:20: Fehler: Python.h: No such
file or directory
scons: ***
[/home/fl0/BlenderITASK/build/linux2/source/blender/blenkernel/intern/no
de.o] Error 1
scons: building terminated because of errors.

I've used the following commands as described in the Blender wiki, I
although installed all deps:


cd ~ ; \

mkdir blender-svn ; \

cd blender-svn ; \

svn checkout https://svn.blender.org/svnroot/bf-blender/trunk/blender
blender; \

cd blender; \

echo "BF_OPENAL_LIB = 'openal alut'" > user-config.py; \

python scons/scons.py;





Is there any other approach?





Second question:



Benoit said that I won't be possible to use the gameEngine and compute
the 

joint angles ... BUT what about the way I'm doing it now - just move the
robots'

model in the 3D view and run a script?





Thanks in advance - Florian

  


Florian Lier wrote: 

Hey,



nice work Benoit ... I'll test my robot modell too - as soon as I can 

build 2.5 on my machine.

Got some weird compile errors too ... I'll try the svn update.



I added the video!



Cheers, Florian



Benoit Bolsee wrote:

  

Hi,



I received from the KUL a nice robot model and I tested it with iTaSC.

You can see the result here: http://vimeo.com/5857397



It allowed me to test the performance of iTaSC compared to the old

solver. The difference is amazing! iTaSC is able to operate this robot

in real time at 25 fps using 10% of one CPU core (E8400 @ 3GHz). This

percentage does not include the time spent on graphic (4%). In this test

iTaSC computes 100 iterations per second.



The exact same test but using the old solver uses 99% of one CPU core

and runs at 4.4fps. This means that iTaSC is about 56 times faster than

the old solver and produces much more coherent results. This is without

SSE optimization (significant performance gain can be expected from

Eigen2 template library when SSE optimizations are enabled).



When I enable the auto step algorithm, the performance doubles but the

movements are slightly less stable.  



The iTaSC algorithm is available in the itasc branch (based on blender

2.5) and tests builds are available at graphicall.org



Regards,

Benoit



P.S. Florian, can you add this video to the Blender and Robotics group

in Vimeo. I couldn't find how to do it.



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