Excellent! That will make things so much simpler! That’s really great news!
Looking forward to seeing the video.
Your pictures reminded me of:
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I can now generate trajectories by moving the physical robot limbs and recording the path, then replaying that back with the click of a button or by copying it into a python program.
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[rant]
Also, fixed a huge bug on Friday night!!! I’ve been struggling with this one for around a year. I was having a lot of trajectory paths fail due to KDL’s IK function returning an error. When this happens the trajectory doesn’t render during that time. I spent uncountless hours googling for an answer and trying to tune the arguments to the KDL’s IK function to try to fix. Turns out…the error code it was returning is not an error LOL ROFL - OMG I could cry. This one I can blame on a documentation problem in the KDL project that does the IK. It was returning error code E_INCREMENT_JOINTS_TOO_SMALL…The fact that it is classed as an “error code” and has E_ prefix you’d think it would be an error…amirite? Well no, it’s not, it just meaned the function returned early because the solution was "easy’. So having that error is actually a good thing and my effort to create trajectories that didnt return this error was simply me making things less performant. lol. If I just ignore the error-thats-not-an-error it all worked. Frustrating that a simple change in docs could have prevented this but I’m so glad to be over it.
[/rant]
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This has the feel of classic “off by 1 errors” (if you think creatively about it!)… My developer 
feels for your pain on this one. I stopped counting how many times in the last few years I’ve had such issues that make me scratch my head for a long time only for it to be the most trivial, inane thing I didn’t catch at first… and then is super obvious afterwards! 
I’m really glad you caught that one out though! Nicely done! Did you submit to that project an update for their doc?
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I was contemplating if I should, but yeah just did.
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My apologies, I am catching up to this thread and looking at your AI/ML board comparison chart. I really appreciate the work of collecting the info, many boards I didnt know about and I’m an “avid collector” lol. My AI/ML “stamp collection” from that list consists of Intel Neural stick, Sipeed Maix, Jetson Nano, OAK-D and of course enough raspberry pies to feed a family. I think the Jetson Nano NX is missing from your list and it blows them all away at 21 TOPS. It’s also a rucksack if you were to put the deb board onto a humanoid. I would love to design a custom carrier board for the NX that is more compact, lighter and with the many LSS bus connection and IMU included. That and the OAK-D would rock. 
Alas, no time at the moment…the Khadis looks interesting but if the software suite isn’t there we probably shouldn’t be the first to try it. The MAiX suffers the same problem (at least it did 8 months ago).
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All of your videos are professional (easy to understand you - great for teaching!).
Well done! A record / playback feature will make things so much easier for everyone.
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True, that is the main issue with using NVidia at the moment. The Nano development board is quite large, and the Nano module alone requires a carrier for connections etc. Same for the TX series. These boards are quite complex and would likely require quite a bit of support even with a successful design, as well as production volume. The Pi 4 + OAK-1 however may do the trick (like your idea of pushing much of the code to Python to it’s modular and runs faster).
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Yeah, agree on all points…and the honkin heat sink required as well adds weight. I wonder if a carrier could be made that supports the NX and a RPi in one (either/or not necessarily both at once). Again, all in the future for now.
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Hahaha…
Really interesting to read, thanks for sharing this info!
The best hardware as of Oct 2021 would be an Nvidia Jetson NX or Nvidia AGX Xavier with a 3D depth camera (Intel D435i maybe).
The major difference maker is a custom-tailored DNN or RDNN (maybe the new deep reinforced learned algos). But the difference lies in how you truly make your reinforcement heuristic function more AI based and making this algo teach and build DNNs.
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Agree with you cmackenzie. I would take it one more step further and try this on AGX Xavier as it is especially a dedicated system (I wouldn’t say SBC or anything). In my opinion, this hardware can truly change the face of robotics & AI/DL.
NX and AGX are not complex if one had enough practice with Linux dev and Python driver dev. The problem lies that we look for existing tailor-made solutions.
But anyhow, AGX Xavier is a dedicated Vison accelerated hardware especially supports the autonomous vehicle dev or robots. It takes a while to get used to it but it will be worth at the end of the day.
I was wondering if we could develop a voice based virtual assistant for these robots based on TensorFlow. Maybe NLP and sentiment analysis also could be integrated. I would say not in connection to any hardware but just the software part. Would that be possible?
@rvphilip Welcome to the RobotShop Community.
What would the “virtual assistant” actually do in the context of a small robot? Given that there are already multiple AI assistants out there which have teams of developers and are quite advanced (Siri, Cortana, Google, Alexa), why develop one from scratch? I see a follow-up thread here: OpenCV and TensorFlow for Chatbot
i saw a Kit on ebay. Looks interesting…i may just get one…
@Rhampton21 This Lynxmotion SES V2 Humanoid kit is still in development, so nobody has a commercial version yet. You must have seen a different humanoid robot.
oh ok thanks for the reply cbenson…this is the Link i saw…i’m not sure if it’s the same or a clone but i am certainly am interested in this type of build project…17DOF Biped Robotic Educational Robot Kit Servo Bracket Ball Bearing Black US-x | eBay
That looks to be a generic Chinese humanoid. Note that it only includes the brackets (no servos, electronics, battery etc.). Even at $64 that’s a great price for metal brackets. However, the quality might be very low (bad bends, bad dimensioning etc.), which might mean issues when trying to get it up and walking.
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oh ok thanks…What got me started in this Robot was about a month ago when i accidently stumbled on a YTube Video on the Meccanoid XL 2.0…I must say i was very intrigued by this 4ft Robot…i bought 3 of them…the G15 KS and the XL 2.0 and the smaller 2.0 2ft version…i’m an adult so i’m not too interested in the Brain it comes with and interacting…but i want to modify it and develop it into something totally different…i’m super excited now… New Hobby in my life…In the mean time i joined this Forum and noticed your post…Now i want Desktop Robots…i’m so hooked on the Technology if this…i fly RC Helicopters & Gliders so i am familiar with a little of these Things…i Fly Big Scale Military Helicopters… All Electric…But this Lynxmotion SES V2 really caught my attention…i must get one…and experience the joy of building…I don’t know coding tho like Arduino & this Raspberry pi…Not too familiar with those but i want to learn…Maybe you can point me in the right direction…There’s 100’s of Robot Kits on Ebay…I’m just going at random but that link i sent you was a small desktop project i thought i might be interested in…Similar to yours but not to be exact of course…Glad to be a part of this community…i want to learn now
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