Framsticks

XX[| *:2,1:2][...]

with the XX and the neuron [| *:2,1:2], we have articulation as a leg or
arm. The articulation bend in only one direction.

--
by ABB.
alainbb@mailclub.net
http://gallery.uunet.be/AlainBB
http://www.ecolo.be/watermael-boitsfort

How soon will the new genotypes appearing on this forum be available in a
new genotypes file?

MX[|/:1.410,9:-1]X[|-1:1]MX[|/:1,9:-1]X[|-1:1]MMX[|-1:1,-2:-1]FXMMX[|/:1,9:-
1]X[|-1:1.606]MX[|/:1,9:-1]X[|-1:1]MX[|-1:1,-2:-1]XMX[|/:1,9:-1]X[|-1:1.606]
MX[|/:1,9:-1]X[|-1:1.570]MX[|-1:1,-2:-1]X[|-1:1.874]X[|-1:1,-4:-0.944]MX[|/:
1,9:-1.273]X[|-1:1]MX[|-1:1,-2:-1]XMX[|/:1,9:-1]X[|-1:1.606]MX[|/:1,9:-1]X[|
-1:1]MMX[|-1:1,-2:-1]X[|-1:1]X[|-1:1,-4
:-1]X[|-1:1,-3:-1]X[|/:1,4:-1]X[|-1:1]MX[|-1:1]X[|-1:1.970]X[|-1:1]MX[|/:1,2
:-1]X[|-1:1]MX[|-1:1]

I understand f0 will partialy resolve this but I would like to hear
comments to alternative solutions.

One annoying factor for me is the inability in f1 to specify that two
sticks can move relative to each other at multiple angles. While (X,X)
describes the angles the two sticks occupy within the container () this
is only applicable to the plane the () exists in.

For a real life example I am thinking of a ball and socket joint like a
shoulder with many muscles attached to the torso frame and limb allowing
the attached limb to move in many directions at once. Even the base of
an insect leg has several muscles attached in various angles. Framsticks
look to have freedom of movement in all directions provided a force is
active. But (X[|],X[|],X[|]) means all muscles move on the same plane
and using RX[|] to rotate the stick doesn’t change the direction of
force on the stick. The stick is rotated but not the muscle so the force
is applied in the same direction. Using @ has a similar effect.

There is no feature to further describe additional angles on alternate
planes. Perhaps axial muscle types such as Z|, Z@, X|, X@, Y|, Y@ ?
But again...Cartesian planes are just one solution.

Of course three-dimensional coordinates of the muscle attachment points
along the stick would really be neat, but that would change the focus of
the Framsticks application. Nonetheless, I find the singular plane of
operation to be very limiting.

Comments from other designers?

-zac

Is it possible with f1genotype to create a closed structure as "table"
in other.gen ?

--
by ABB.
alainbb@mailclub.net
http://gallery.uunet.be/AlainBB

This is for MacKo.

Could you please make it possible to specify the default neurone inertia,
force and sigmoid parameters. And even an evolvable default per fram ie each
fram would have it's own evolvable default neuron parameters that each new
stick would use and any sticks that didn't specified there own values would
use.

What do you think?

Cheers,

Ander

In reply to Maciej:

I imagine there might well be a demand. Programs like Autodesk 3D studio
have quite a large user base (around 100,000 in this case). Other programs
like the Germany-based Cinema 4D (www.maxon.de) are beginning to catch up,
too. Plug-in and standalone software does exist for the animation of legged
animals, especially humans. These typically work either by importing
motion-capture data, or through alignment of a 'skeleton' into a series of
keyframe postures. Motion capture generally gives better results, although
the user is, of course, limited to the range of files which are made
commercially available. One such program I use is LifeForms
(www.charactermotion.com) in conjunction with Cinema 4D.

Motion capture data for non-human animals is quite hard to come by - I've
been looking! So you can imagine how impressed I am with Framsticks. Just
look how something like Klay Williams' Sleeper struggles to get itself the
right way up, then walks away! The quality of the movement is very, very
good - it would be almost impossible to reproduce such dynamical realism by
setting keyframes. Computer animators everywhere would just love to be able
to get such great quality motion into their work.

Ian

How is it possible that this creature move ?

With one stick ?

X[| 1 :-0.782][@ G :-741.994][@ G :294.200]

--
by ABB.
alainbb@mailclub.net
http://gallery.uunet.be/AlainBB

First, I'd like to thank MacKo for creating such an interesting and well
though-out simulation.

I downloaded Framsticks last week, so I'm still what I would consider a
"newbie". I was trying to design a quadruped with somewhat realistic
movement, but kept running into a problem where my FS kept flipping itself
over before it would move very far. In a fit of serendipity, I twisted the
legs around and came up with a design I call Sleeper. It begins life on its
back, and taking advantage of the natural tendency to flip over, rights
itself and begins walking.

Below is the genotype:

llffflllX(lllcccrrXlllFFFlllX,ffflllXlllfffMMMX[|1:.7][@-1:1.5,1:1,3:-1,2:.5
,4:-.5](lllcccrrXlllFFFlllX[T:1][S:1],ffflllIIX,lllCCCRRXlllFFFlllX[T:1][S:1
]),lllcccrrXlllFFFlllX)

Again, I'm still very new at this, so any input or feedback would be greatly
appreciated.

Thanks,

Klay Williams

For all who would like to evolve Framsticks which
can move both on land and in water: below is a good
description of simulator settings and world.

The first attempt:
(a(assssXssssssssssXsssX[@ 0 :1.000,0 :-423.831,= :1.000]LLLMsssssssswwX[ = :-2.127][| /
:-4.597][| ! :1.000,G :-766.932,G :4.511]LLMMMMwX[@ 0 :4.316,1 :-2.436]LCCMssQX[| -1
:363.650,0 :-2.395,0 :2.398,G :-1.421,0 :-1.301]),)

(horizontal velocity 0.02 with velocity precision 10).

.sim file:

# created Fri Aug 18 11:21:56 2000
# by Framsticks simulator (30-May-00) [MS Windows]
sim_params:
model:1
oldneurons:0
capacity:200
delrule:0
descol:0
debug:0
AutoKill:1
cr_c:0
cr_life:0
cr_v:1
cr_gl:0
cr_nnsiz:0
cr_di:0
cr_vpos:0
cr_vvel:0
cr_norm:1
fitfun:0
fitm:2
fitma:5
enablestats:0
cr_simi:0
testvel:10
cr_energ:0
MaxCreated:1
p_nop:40
p_mut:40
p_xov:10
xov_mins:0
Energy0:50
grow:0
corpsen:0
e_meta:1
aging:0
em_stat:0
em_dyn:0
sun:0
feed:0
feede0:10
autosave:20
overwrite:1
filecomm:0
wrldtyp:1
wrldsiz:100
wrldmap:~
m 10 10
0 0 - 9 9 9 9 9 9 -
0 0 - 9 9 9 9 9 9 -
0 0 - 9 9 9 9 9 9 -
0 0 - 9 9 9 9 9 9 -
0 0 - 9 9 9 9 9 9 -
0 0 - 9 9 9 9 9 9 -
0 0 - 9 9 9 9 9 9 -
0 0 - 9 9 9 9 9 9 -
0 0 - 9 9 9 9 9 9 -
0 0 - 9 9 9 9 9 9 -
~
wrldwat:3
wrldbnd:2
mut_str:5
mut_neu:10
mut_exmod:eEwW
mut_exrec:S
mut_exctl:
gm_repair:1
gm_xosegm:0
geno_f1_sm0:0.05
geno_f1_sm1:0.02
geno_f1_sm2:0.02
geno_f1_sm3:0.02
geno_f1_sm4:0.1
geno_f1_nm0:1
geno_f1_nm1:0.1
geno_f1_nm2:0.05
geno_f1_nm3:0.1
geno_f1_nm4:0.05
geno_f1_nm5:0.1
geno_f1_simNN:1
geno_f1_simSN:1
geno_f1_simSS:1
geno_f1_simNS:1
geno_f1_simStr:4
geno_f4_mut1add:0.5
geno_f4_mut1del:0.2
geno_f4_mutAdd2div:0.2
geno_f4_mutAdd2link:0.2
geno_f4_mutAdd2rep:0.1
genkonw0:1
genkonw1:1
genkonw2:1
genkonw3:1

you can also try another world definition, it might
produce more robust creatures which can step onto the
land from water...

m 10 10
0 0 0 | | 0 0 | | 0
0 0 - 9 9 - 0 9 9 -
0 0 - 9 9 - 0 9 9 -
0 0 0 | | 0 - 9 9 -
0 | | 0 0 0 - 9 9 -
- 9 9 - 0 | 0 0 | 0
- 9 9 - 0 9 | | 0 0
- 9 9 0 - 9 9 9 - 0
0 | | - 9 9 9 9 9 -
0 0 0 0 | | | | | 0

Maciej