Inmoov freecad Assembly

[Matt Z]

Hello All

Alain Grattard and I assemble the inmoov on the freecad software , it is not finished but you may already have noticed a fairly complete . We continue gradually

this is the link for data dowload :

https://mon-partage.fr/f/GdJim2sQ/

[Jordi RC]

Thank you very much for the contribution to see in FreeCAD, this will help us to know much more InMoov assembly, great job!

Jordi RC

PonteMaker, Galicia, Spain

[Alain GRATTARD]

Mise à jour ici

[Anton Fosselius]

Awesome!! I was planning on doing this sometime, as I only use FreeCAD.

Love to get things on my TODO list done by other people.

By any chance are you planning to control Inmoov with ROS and make a urdf/SDF file for inmoov so we can run and simulate it with Gazebo? Because that's something that have been on my todo list for 2 years ;)

[Mats Önnerby]

I like the idea of having a urdf to describe the InMoov robot. I'm not using ROS, but a model of the robot in an already established structure would still be very good, for simulation and also for forward and inverse kinematics for the robot. I found several robots that are using urdf to describe them http://library.isr.ist.utl.pt/docs/roswiki/Robots.html. The Nao is smaller but very similar in structure to InMoov, so the urdf for Nao could be a good starting point. http://library.isr.ist.utl.pt/docs/roswiki/Robots(2f)Nao.html

http://wiki.ros.org/nao_description

[Anton Fosselius]

I have been planning on making a gui script (python+qt) to be able to set the length / weight / 3d model for each link for a generic humanoid structure. Then have the script export the URDF.
Then you can easily try out different configurations for your inmoov. I think I mentioned this here on the board sometime around 2012..

It would be really cool to have automatic joint detection for the 3d files. but have not found any good way of implementing this yet. (To do complete scan of a 3d mesh and then make shape matching is harder then it sounds..)

Anyone know a good 3d mesh analysis library?

[Anton Fosselius]

Seriously guys, this is starting to creep me out.. http://the-diyer-diary.blogspot.se/2015/03/modelling-humans-and-humanoids-part-one.html?m=1

[Muhammad Badr]

Matt and Alain, many thanks. I had started to import parts into solidworks on my university computer but was concerned about what will I do after I leave the uni. I had completely forgot about FreeCAD. So thank you for your files and for reminding me :-)

lol, sorry to creep you out Anton, though I don't know what exactly that I wrote that caught your attention, that post is mainly about simulating the inmoov itself, with intentions to utilize this simulations to try and design some legs and for projects involving interaction with humans, not to try out different configurations, well at least not directly.

Actually, I also had a very similar idea to your gui script. I wanted to make something like (or modifying) makehuman (http://www.makehuman.org/) in which you can customize the appearance (and also the technical features) of a humanoid robot, which would be inmoov for start. I had hoped for a complete solution which you can produce simulation files and print files along with documentation and assembly instructions. I later realized this is more of a tool chain of separate pieces of software each doing something on its own, especially the task of chopping down large segments into manageable print files with assembly features and suitable for individual printers. This is definitely something way beyond my capabilities, I'd love to share ideas and brainstorming effort though if anyone is willing to dive in such a task, I'd certainly love to see it happen even if I cannot contribute.

As for your question on mesh analysis library, I don't know if this is exactly what you mean but I believe point cloud library (PCL - http://pointclouds.org/) can handle meshes, also I believe I've read somewhere that meshlab has an api that allows you to interface with. Both are c++ though, so I don't know how feasible would it be to interface it with a python script.

[Anton Fosselius]

The thing that I found creepy was that I was that I wrote this:

"By any chance are you planning to control Inmoov with ROS and make a urdf/SDF file for inmoov so we can run and simulate it with Gazebo? Because that's something that have been on my todo list for 2 years ;)"

Only to find that it was already done or at least started in the link I found the day after ^_^

Right now I am playing around with different prototypes for humanoid legs that will hopefully one day be compatible with inmoov or at least help improve the inmoov legs when they are released.
The aim is to build something as cost efficient as possible.

[Anton Fosselius]

Oh thanks for that one! I will play around with makehuman tonight.

I will also look into creating a inmoov/urdf workspace in Freecad.

It will be two workspaces one for making the urdf and one that is more like "rviz" but without ros bindings (what's the point in replicating rviz if you got the urdf and ros :p)

There are already a robot workbench, might extend from that.

I have been waiting for a good reason to start poking in the FreeCAD code again.

[Anton Fosselius]

Sorry for spamming, but this is fun :D

Will put it on github when you can create links and save them as URDF, i can currently create one link and save it as a .urdf file based on this: http://wiki.ros.org/urdf/Tutorials/Building%20a%20Visual%20Robot%20Model%20with%20URDF%20from%20Scratch

But have not yet properly connected the functionality with my FreeCad functions & Gui.

[Anton Fosselius]

I am working on the inmoov hand in FreeCAD 17 (from git) 

I think i have to fix those fingers..

for link movement see this: https://www.youtube.com/watch?v=56LOty4Yh1E&feature=youtu.be

[Anton Fosselius]

Latest progress on the hand in FreeCAD 0.17

https://www.youtube.com/watch?v=BV_oCienirU&feature=youtu.be

[gael langevin]

Great Anton, this is getting somewhere!!

Gael Langevin

Creator of InMoov

InMoov Robot

@inmoov

2016-05-13 10:50 GMT+02:00 Anton Fosselius <anton.f...@traxfamily.com>:

Latest progress on the hand in FreeCAD 0.17

https://www.youtube.com/watch?v=BV_oCienirU&feature=youtu.be

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