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  1. This mod adds a PartModule that enable generic animations to move sub parts! Thus, it is a light-weight option for modders and players to use instead of the more advanced robotics mods out there. Even works for stock parts! When a part contains components that move (due to animations, gimballing or moving control surfaces), this part module can move any connected part in response. Thus, a part modder may add a moving boom, rotators, hinges etc without learning anything more than they already know from before. Parts are moved by using physical forces in the joints. This means that they will obey the laws of physics. Limitations & known issues #3 There is a caveat for physics-less parts - while they and any other physics-less sub-parts to them will move with the animation, any physics-enabled sub-parts will not. For example, a cubic strut connected to a hinge will move with it, but a tank connected to the cubic strut will not. Basic usage AnimatedAttachment will be automatically added to all parts containing a ModuleAnimateGeneric, ModuleGimbal or ModuleControlSurface. So there is no need to do anything else to your config. Players simply use the "Deploy" button or similar to run the animation and any connected sub-part will move with it. Advanced usage A player can adjust this in the VAB by enabling the stock feature "Advanced tweakables" in the settings and then right clicking the animated part, to set maximum force and spring strength. Part modders may potentially override the default settings in the part module, but this has not been tested much yet. Mods using AnimatedAttachments Rocket Emporium contains several parts that uses this part module Compatibility This mod has been tested for compatibility with * KJR * KIS/KAS License Released under CCA-NC-SA 4.0. Credit Thanks to @Rudolf Meier, @blowfish and others for answering many questions about quaternions and whatnot, and @HebaruSan for the awesome work with CKAN. Change log Download Download from CKAN or from github.
  2. We all use and love infernal robotics. It offers great possibilities and adds a very important part of space exploration to the game: robotics. But we all know that there are also limitations and problems with the project. The idea of this project is to solve all those problems and take it to a new level. Main points of the project: major parts of the code will be re-written, made more robust, more efficient and easier to understand correct handling of reversals of servos in the editor as well as in flight during undocking and redocking enabling collisions of parts connected with servos fixing the problem that parts move away from their original attachement points over time minor bugfixes in gui adding ik for robotic arms (maybe in an other project) ... One thing that will not work is backwards compatibility. The new version will offer almost the same functionality and almost the same interfaces. But it is already clear, that it cannot offer exactly the same. This is also why a parallel installation of the new version with the old one is planed. If you do have comments on this, ideas, things you think someone should look into, then please write it in this thread. The latest beta (almost rc) versions can be found here (source code) It is recommended to use KJR Next with this mod. It is an improved version of original KJR and works correctly with the moving parts of Infernal Robotics and other mods. [WIP] Kerbal Joint Reinforcement - Next (source code) the Infernal Robotics Sequencer can be found here (source code) ... but there is also a new development going on for this mod! More info will follow... the Infernal Robotics Active Struts (a new project using the old models) can be found here (source code) This project wouldn't have been possible without the support and help of @ZodiusInfuser Meiru
  3. Using the new robotics hinges, rotors and pistons released with Breaking Ground DLC, build a catapult, trebuchet, onager, ballista, mangonel or just an overly enthusiastic Ferris wheel to fling a Kerbal to the Island Airfield. Since I'm still tinkering with the parts and not 100% this is possible (UPDATE: @neistridlar has categorically proved that it is!) there will be 2 leaderboards: Distance - Furthest distance from the launch site reached by your intrepid Kerbal Time - If anyone actually managed to reach the Island Airfield, then the entries will be ranked by fastest time Rules: Stock KSP, Making History and Breaking Ground (or any subset of these ) Other informational, visual and audio mods that don't modify gameplay, including KER and MechJeb allowed No reaction engines - spin, flip or twist your way to victory instead! Decouplers are OK, but any thrust gained should be incidental. No physics exploits e.g. ladder drives or phantom collider force powered shenanigans However reaction wheels and/or stock bearings are fine, if you're crazy enough! Start from the KSC launchpad or runway Craft should be unpowered after it leaves the...erm...device. Gliding or personal parachutes to eke out extra range is fine. There will be a Rogues' Gallery category for folks who want to go their own way Check this out thread for inspiration: Distance: 33.6 km @neistridlar 32.1 km @neistridlar @neistridlar 6.9 km @neistridlar 1.0 km @Vanamonde 375m @SkunkTwerks Time to Airfield: 9:54 @neistridlar Applying an ingenious combination of pistons and leverage, was the first to catapult a glider all the way to the Island Airfield. ~~~Rogue's Gallery~~~ Folks who took the challenge in a different direction... @Tyr Anasazi Applying the time honored MOAR LEGS approach, kicked a capsule on a ballistic trajectory all the way to the Island Airfield in a speedy time of 2:17. Nice shuttlecock air brake design on the capsule ensured a smooth stable ride on the way over.
  4. I am in the process of making functional recreations of all the Thunderbirds and am currently working on Thunderbird 1. I have made a rough replica of the design that is able to do a vertical takeoff and turn horizontally. I had the idea of using robotics from the breaking ground dlc to make the extendable wings using hinges, however they don't seem to be stable. When going at highspeeds the wings just flail around making them useless, I am wondering if anyone has any idea on how to make extendable wings that work at high speeds
  5. [a part mod inspired by Luna, Venera, Insight, Sojourner, Curiosity, plus some convenience stuff] Introduction Hi there, space-traveler! Don't just stand there; come in, look around, try out our classic hot-pants - the originals, the best, famous around the solar system! And, welcome to... Aah, more interested in rocket parts, aye? Well, no matter, we got that too. As of now, our line-up consists of just two manufacturers of very essential cosmos equipment. Martin & The Probes The up-town start-up company Martin & The Probes was funded by the income gained from the chart-topping hipster band with the same name. They focus on neat stuff for your everyday probe needs. RB-1 Spherical Probe Container (1.25m non-atmospheric lander) This product has been called the flag ship of M&TP, at least by their commercial department! This very handy spherical container protects your important scientific equipment, that someone is paying for you to bring to some place despite every scientific opportunity there having been exhausted already! Crash tolerant, comes with internal batteries and is like totally round - you'd be crazy not to buy it! RB-2 Reentry sphere (1.875m atmospheric lander) Land your probes in style with this heat resistant thingamabob! Made from the finest plastic composites on the planet. Well, on a planet. RB-4 Space Container (3.75m space or lander fairing) This positively large deployable fairing is a great fit whenever you need to send way too much sensitive equipment to space. Comes with an extra bottle of spray paint! Thermal Fairing (3.75m top cover for heat shield) Land in style on distant planets using the latest in cone-based technology! AID-X1 (0.625m decoupler) Ever wanted to put a non-stackable item on both the top and bottom of your probe? Fret no more - the Advanced Interstage Decoupler is here you help you! AID-X2 (1.5m decoupler) The larger version of the interstage decoupler lets you stack even bigger non-stackable things together! Astro Composites International Here at ACI we believe space is 20% science and 80% fashion! We focus on structural rigid components for your spectacular rocketry moments! Lightweight Hex Platform (2.5m inner diameter - probe lander platform) Sometimes, building probes vertically doesn't really cut it - spruce things up with this amazing probe platform, which comes with integrated holes! Hex Struct (1.25m - structural building block) No-one is really sure what this is intended for, so we usually just store our designer wellies in it. The top can be removed, but only by our senior engineers. Review Download Download from CKAN (RocketEmporium) or grab it from here. Dependencies Some parts (the robotic ones) are fully dependent on AnimatedAttachment to do anything useful. Many more will benefit greatly from it being installed. It will allow you to attach solar panels on the probe containers, for example. Known issues * The view from the cameras doesn't contain all effects, like atmosphere. Compatibility No known issues with any 1.4.x version. Has not been tested with earlier versions. Change log License Published under Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International Public License. Credits Thanks to @Atubara for the awesome artwork in the top =) Visit for more great fan-art!
  6. So the problem i have right now is... i have my hinges and servos for the landing leg set to lock in custom action group 1 since unlocking them made my landing gears freak out and bounce my ship when landed. As you can see in the video, when i press action group 1, my parts starts moving especially the ones connected to my wing. In the video i kept pressing action group 1 in order to demonstrate this phenomenon. They just move around and stays there forever afterward. I have to launch the vessel again every time. The servos for my wing's rotation isn't set to my action group so they shouldn't interfere with me locking bottom robotics. Here is the link to my craft file. bubble test.craft?dl=0 I havent used any mods for this vehicle. I have enabled autostrut and rigid attachments pretty much everywhere except the robotic parts since they stopped working when i turned autostrut on. And is there a way to stop my centre core of ships rotating? I just want the engine and wing part to rotate while the centre part of the ship stays balanced. And how do i stop my wings from wobbling even tho i have enabled autostrut on? Thank u in advance. Edit- there is a canard attached to the tail which seems to move together in the video. I disabled all the control surface on them so that it doesn't move on its own. (Just wanted to let you know that it isn't caused by it) edit2) if anyone wants to download the vessel and check what’s causing it, here’s how to do it. 1-spawn the vessel. 2-Use kal1000 or rotate servos so that engine is pointed downwards.(where the tiny con is located is the intake) 3- takeoff and press 1.(action group1 to unlock robotic parts at the bottom for landing gear) 4-Press 3 to use robotics for landing gear. Retract the gear with g key. 5-use wing servos to control the thrust vector. then if u keep pressing 1 u will see there definitely is a problem.
  7. Description Gecko KEMU Pure Stock + Breaking Grounds DLC Texture mods are Restock and Textures Unlimited Make sure to turn on SAS and enable Radial Out Press 1 to start walking (on repeat) Press 2 to jump or to crouch (on repeat) (jumping only available on low gravity planets) Press 3 stop all Reaction Wheels Press 4 Toggle Solar Panels I, K toggle Tail with Clamp J, L toggle Radar Arm A stock aircraft called Gecko KEMU. Built with 210 of the finest parts, its root part is probeStackSmall. Built in the SPH in KSP version 1.9.1. Details Type: SPH Class: rover Part Count: 210 Pure Stock KSP: 1.9.1 Highly Recommend Turn on Infinite Energy. Does have enough to travel a few hundred meters before needing a charge. Downloads:
  8. KSP 1.9.1 64x, fresh install, no mods I have 2 different Rotation Servo f-12's that are mirrored with wings at the end, I'm trying to get them to fold out to give lift to my craft. In the VAB when I put them at their max angle they deploy fine, but when I launch the craft and try to deploy the wings only 1 side works. Removing 1 side from symmetry does nothing, even if I invert the angle value still nothing happens. Autostrut is not on(although this never affects anything) Inverting the direction of the servo causing the part that doesn't move to jerk to 1 direction, then it returns to the centerline. Link to video showing what happens: Output_log.txt:
  9. Tutorial covers the basics of the UI, how the timeline works, as well as examples & tips to make things far easier to work with. Breaking Ground - Robotics Tutorial on Youtube
  10. Hello, first time posting here I'd like to know if it's possible to change the direction of a motor in flight with the controller. I noticed in the KAL-1000 controller there's an option to "toggle motor direction" but I don't know how to use it. I included an image below: I've tested it in flight and it doesn't change the motor direction when I play the rail. Any ideas?
  11. Image Gallery Kerbal X: Steam: Control Cargo: K and I Keys Lower and Raise Control Doors.: L and J keys Open Close
  12. Description Welcome to the next generation of the planetary lander, the Shiva series. Capable of 3,200+ Detla-V Comes with 7 Nerv engines and 4 spark engines. Able to carry medium and light loads for transport. (small and medium dock ports) Seats 4. Ability to extract ore and convert to fuel. 2 ways to land upright or glide down for touch down using air brakes and gear wheels. Take her to the stars today! KerbalX:
  13. I have encountered a possible bug/issue with robotics and a lack of power when one of my base modules in physics range (mun base) runs out of power. Every piece of robotics goes into slowmo when adjusting traverse rates and/or target angles -- by which I mean the animation is very, very slow and jerky - and the game misses some of the animation(s). The game sort of slows down - although that might just have been my PC and not the game. I resolved the issue by moving a few of the modules (those that have wheels due to a contract) to an orientation where they were able to get direct sunlight, but I thought I should warn others of a possible problem that they might encounter.
  14. Don't let this overwhelming power go to your head with the Kerbal Mobile Suit. Only trained Pilots allowed. Auto Pilot Available How to pilot: Press T (SAS) and use Radial to stay upright. Press 1 To Engage Walk Type (S, A, D) to maintain stability when needed. (warning q and e are reverse personal preference) Kerbal X:
  15. Explore the Kerbal Universe like never before with Kerbal Space Program: Breaking Ground, the latest expansion pack for KSP. Breaking Ground is all about exploration, experimentation, and technological breakthroughs. Study mysterious Surface Features on all of the moons and planets of the Solar System. Set up a base and deploy experiments for the long-term study of celestial bodies, and test your creativity with brand new robotic parts. Breaking Ground will help you and the Kerbals reach new horizons, all in the name of Science! Robotic Parts Take your creativity to the next level! Brand new robotic parts, include hinges, rotors, pistons and rotational servos. These parts come with new control mechanics and let you create all sorts of inventive vehicles and crazy contraptions to aid the Kerbals in exploring their Universe! Surface Features Find interesting Surface Features, like mineral formations, meteors, craters, and some even more curious planetary features across the solar system. Study them and collect valuable scientific data with a brand-new Rover Arm! Deployed Science Bring equipment for experiments with you from Kerbin and deploy them on the surface of a celestial body to take measurements over time. Set up a science station and put your crew to work. From seismometers to weather stations, there are plenty of experiments for you to try out! Additionally, we’ve kept our promise that all players who purchased the game through April 2013 will receive the expansion for free. To redeem the game click here and follow the instructions. Kerbal Space Program: Breaking Ground Expansion is now available on Steam, the KSP Store, and will soon be available on GOG and other third party resellers. As with every release this thread will be used to bundle all general discussion about the new DLC so that the forums can continue to actively host threads on other topics as well. CLICK HERE for the official release announcement for Kerbal Space Program: Breaking Ground Expansion. Happy launchings!
  16. KSP: 1.8.1 Windows 64bit Problem: Hinge leads to pinwheeling, see linked video. Mods installed: Both DLC and below. All the mods are current according to CKAN 1.26.6. Those marked are pre-1.8.0: AutomatedScienceSampler Chatterer ChattererExtended ClickThroughBlocker CommunityDeltaVMaps DistantObject DistantObject-default DockingPortAlignmentIndicator EasyVesselSwitch EnvironmentalVisualEnhancements KerbalAlarmClock KerbalEngineerRedux KerboKatzUtilities ModuleManager NavballDockAlignIndCE PlanetShine PlanetShine-Config-Default RealTimeClock2 Scatterer Scatterer-config ScienceRelay StageRecovery StockVisualEnhancements SVE-MediumResolution SVE-Sunflare TacFuelBalancer TextureReplacer Toolbar ToolbarController Trajectories TransferWindowPlanner PRE-1.8.0 TriggerAu-Flags unBlur PRE-1.8.0 UNDOCKINATOR PRE-1.8.0 VaporVent WaypointManager xScienceContinued Reproduction steps: I have a station en route to Minmus. The station uses 2 of the hinges to deploy solar panels. Launched, extended and performed trans burn no problem. Switched to Space Center and a few Kerbal days later switched back. The result is here, sort of amusing (10 second video, about 14MB). Anyone seen this before and short of redesigning without the hinge, how can i fix it? My mod list is above in case one of these is the issue (I sort of doubt it.). Note that in the same game save I have a hinge in a shuttle as part of a grabber arm and it works fine. Update: Reduced mods to just these two, as they have parts on some of my craft. KerbalEngineerRedux ( VaporVent (1.1.10) Switched to station and still pinwheeling. Homer
  17. I was wondering - is there a way to make this kind of contraption work? I would like to have a hinged telescopic arm support another hinged part so it can handle higher torque.
  18. Memory Mapped Files The closest example to this technique is kRPC, which I experimented with about a year ago when developing my F-22 drone racer. I discovered there was a significant delay between the server and client however. I was drawing a Vector3 representation every frame at my vessels position, which would fall further and further behind the craft as it's velocity increased. I have used Unity's uNet client and local server and have not experienced this lag before, which has me stumped on the cause. I would be interested to chat with someone who knows more about this mod, or anyone who has also experienced this. Because of the lag I was experiencing with kRPC, I decided to build my own "bridge" using Memory Mapped Files. These allow multiple processes to share memory space, which can be used to store several different types of data structures. While these are easily the fastest way to send data, there is one major complication for this project. Mmap files are only supported in .net 4+, while KSP targets 3.5. My solution to this is to start a custom process at launch, which handles the memory map "bridge", then I send/receive values via the process's i/o stream. This allows me to send hundreds of values back and forth each frame, at 50+ ksp fps, which is perfect for the time being. My next goal however is to send much larger data structures over the bridge. I really want to get camera feeds from KSP into Unity, so that I can begin implementing VR control into my mods. I have successfully sent a Texture 2D byte array from a camera across the bridge on a frame-by-frame basis, but the problem is when I need to incorporate the process i/o. Converting the array to a string every frame gives less then 2fps in Unity. The solution to this is to get mMap files working in .net 3.5. I tried many different ways before settling on the additional process, with no luck. I do have a potential solution however, but could use some input from any .net guru's out there. Inverse Kinematics The IK code is all custom, but it's pretty amature. I rely on SOHCAHTOA and the law of cosines for everything. Unity gives me a lot of cheats that aren't available in real time. Vector3.distance for example easily gives me the distance between two points. It all works though, and I plan to expand it out to more joints. The neck arm also allows rotational target matching. PID Controller Servos Each servo has it's own tunable PID loop which uses the error between the actual and IK servo angles as its process controller. This output sets the speed of the servo on a frame-by-frame basis. I only have a basic knowledge of PID tuning, so if anyone out there would like to share some advice it would be greatly appreciated. Gait Sequencing & Steering Right now the only gait sequence that exists is walking at a set speed. Steering is the last thing I still need to do. I wrote some simple stride length adjustment code, which allows setting the desired stride length for both the right and left legs at the beginning of each stride. The actual steering is adjusted by a PID loop which decreases one side's stride length by a percentage of its default length. So my stride length is 2 meters, and the steering PID can shorten that by up to 5%. Terrain Mapping & Active BalanceThe hexapod now has full terrain mapping and navigation capabilities. Instead of using the vessel height to position the ground and foot targets, each foot target is now placed on the ground directly beneath it.Each hip target is now set according to the ground position of it't foot. There are two ways of setting the hip targets. Right now the hip targets are set at the average height of all the foot ground positions plus the target height. I've realized since recording the video it would be best to just set the hip targets so that the vessel is always the target height above the ground. Or some combination of the two. The first method helps going up hill, while the second is preferable for down hill. Also setting the hip height half way between the highest (foot ground + target height) and the lowest would be the way to insure each foot has the best chance of hitting it's target when going over extremely rugged terrain.The vessel also knows if it is traversing up a hill, is level, or traversing down a hill, and sets the color of the ground accordingly. Right now nothing changes according to that, but eventually the gait will respond to the different slopes. I tried taking it out to the mountains but I still need to find a way to orient the gyroscope to a level surface, even when the launch point is not level. The triangle begin drawn on the ground represents the leg group that is actually moving the hexapod forward. VR Implimentation As soon as I can get the camera feed from KSP to display to a render texture in Unity, I will be able to start moving forward with VR implementations. I have several things that will be pretty easy to accomplish right off the bat. I will be able to have the robotic head match the rotation of the HMD head, and display the camera feed to a HUD. I will also be able to control the arms of the mech using touch controllers. I have some thoughts on getting VR to work natively in KSP as well. This has been done before, with mixed results. I'd like to see if I could do better. Collaboration and Testing Let me know if you'd like to contribute in any way. If you'd like to help and know any Unity/C# that would be great, but I could use help with tuning and design as well. There are a lot of variables that need to be tweaked, as well as design changes to the mechs themselves. Let me know if you have any interest in helping and I can probably find something for you to do. There is also the potential for a real life counterpart. This is something I would definitely need help with, as my hardware skills are almost non-existant. I am planing on buying a frame in the near future, and would love to have some help implementing my Unity controller in the real world. If this interests you, there is lots of info already on this thread page. TODO Veering while walking Turning in place Terrain Mapping Traversing slopes Quadrapod/Bipedal Mech Jumping/Extended flight Thanks for checking it out, lots more to come.
  19. One of the things I want as a difficulty option is for the robotic parts to not wobble, or maybe have a slider that controls how strong the joints are, and have locking joints eliminate all wobble. I've got 2 craft that suffer particularly from this problem: a GLaDOS replica, a little robotic rover with a little head and a mech with a rather primitive run cycle. GLaDOS and the rover sometimes end up headbutting the terrain if I drive them too fast and the mech can't support itself and ends up doing the splits on the floor. I've never used infernal robotics, but from the stability of some of the craft built using it, it appears people have a better time controlling craft that use the IR joints, while craft that use the official joints are floppier. What do you think?
  20. I've been trying to use the new robotic parts to make docking vessels on the ground (rovers) easier. I'm running into some unexpected behavior, which is causing my ground-docking attempts to fail. Often, explosions are involved. I'm wondering if others here have had success with what I'm trying to do. Without robotic parts, docking two vessels on the ground is frustrating, as everything has to line up perfectly. Often, what worked during testing doesn't work on a body with different gravity, or if the mass of one or both vessels changes. I'm trying to use the robotic arms to make docking vessels on the ground easy. Here's an example rover. Has a small servo, small hinge, small piston, another small hinge, and a Dock Port Jr. The arm has enough articulation and extension available to reach and align with docking ports at various heights. However, here's what happens. One vessel (sometimes both) is thrashed violently. Sometimes ends in explosions. Sometimes ends with one vessel flung away. This one is probably going to end with a bang.. What appears to be happening is during docking, one docking port instantly changes it's orientation, dragging the vessel it's attached to along with it. Here's one example: Here's another example. The docking ports were lined up perfectly, but ended up looking like this after they joined. I'm using a stock game, 1.7.2 (2555), with Making History and Breaking Ground, no mods. I've tried different size docking ports and robotic parts, with similar results. Auto struts is disabled (although I tried auto struts on as well). I'm stumped.
  21. I've been experimenting with the new robot parts, specifically pistons and hinges, as ways to either retract (using pistons) pairs of powered wheels into the body of an amphibious boat-base or lift them out of the water (using hinges); but I keep having problems. The pistons won't deploy at the same rate (even if they're set to the same rate and damping), they don't always extend to the full programmed length, and they just aren't very sturdy when extended. My hinged experiments have been much simpler, pairs of wheels attached to the hinges by the long girders, but when I trigger their action group they don't move. They swing up eventually, but not all of them. At the moment my experimental base has about 20 pairs of upswinging powered wheels, and maybe my computer can't handle so many movements. Has anyone else had better luck with retractable powered wheels? I'm trying to develop an amphibious base for Eve, so the wheels pretty much have to be the TR-2L Ruggedized wheels and the experimental bases mass in the 90 to 200 ton range. This is what I'm doing with hinges. And this is what I'm trying with pistons.
  22. What does the damping on the new pistons and hinges do?
  23. One of the first things I tried to do with the Breaking Ground is make a quadrupedal robot in a similar fashion to BostonDynamics SpotMini. It... works. Barely This version has a "Stand" and "Walk" function, with work-in-progress "Sprint" function. It's almost uncontrollable without reaction wheels, but that's likely due to poor programming on my part, of which was a pain to do. The main issue with this style of quadruped that I found is that the servos don't move quick enough to get any decent speed from it, though it does still work. Here is a video showing it walking: The craft file can be found here: If anyone can make it work better, I'd love to see it!
  24. [Edit: For the updated stand-alone version of this tutorial, go here] So I started off getting my video recording & editing software back so I could make an animated GIF for reddit to showcase my robotics powered rover deployment system. But of course I ended up remembered how much fun doing videos can be, and wanted to share the method I found that took my programming time from 3+ hours to less than 1, so the 6+ hours I'd spent programming the arm & doing a comedy showcase GIF ended up spiraling into another 8+ hour editing session. I think it's my most polished video thus far; spent sooo much time working on the timing and ironically half way through editing I realised that if I used THE SAME METHOD that worked so well for the robotics programming I'd be done already. It was nice though, got the last bit done far faster ^^ Well, enjoy, I hope it is useful!
  25. So I had a thought today, "Would mecanum wheels work in KSP?" The answer is: Yes. They do, in fact, work. For those wondering what mecanum wheels are, they are wheels that allow lateral (sideways) movement. They are wheels that are made with smaller wheels/rollers around their circumference of them, canted at a 45 degree angle from their center axis. I made a short video demonstrating a drivetrain in KSP using them: I'm not entirely sure what applications you could use this for in KSP, but it is interesting that they work in the game, and I thought I would share that. Have fun!