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pinocchio | flexible implementation of Rigid Body Dynamics algorithms | Robotics library

 by   stack-of-tasks C++ Version: v2.6.5 License: Non-SPDX

 by   stack-of-tasks C++ Version: v2.6.5 License: Non-SPDX

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kandi X-RAY | pinocchio Summary

pinocchio is a C++ library typically used in Automation, Robotics applications. pinocchio has no bugs, it has no vulnerabilities and it has low support. However pinocchio has a Non-SPDX License. You can download it from GitHub.
<p align="center"> <img src="./doc/images/pinocchio-logo-large.png" width="800" alt="Pinocchio Logo" align="center"/> </p>. <p align="center"> <a href="https://opensource.org/licenses/BSD-2-Clause"><img src="https://img.shields.io/badge/License-BSD%202—​Clause-green.svg" alt="License"/></a> <a href="http://projects.laas.fr/gepetto/doc/stack-of-tasks/pinocchio/master/coverage/"><img src="https://gepgitlab.laas.fr/stack-of-tasks/pinocchio/badges/master/coverage.svg?job=doc-coverage" alt="Coverage Report"/></a> <a href="https://anaconda.org/conda-forge/pinocchio"><img src="https://img.shields.io/conda/dn/conda-forge/pinocchio.svg" alt="Conda Downloads"/></a> <a href="https://anaconda.org/conda-forge/pinocchio"><img src="https://img.shields.io/conda/vn/conda-forge/pinocchio.svg" alt="Conda Version"/></a> <a href="https://badge.fury.io/py/pin"><img src="https://badge.fury.io/py/pin.svg" alt="PyPI version" height="20"></a> <br> <!--<a href="https://gitlab.laas.fr/stack-of-tasks/pinocchio"><img src="https://gitlab.laas.fr/stack-of-tasks/pinocchio/badges/master/pipeline.svg" alt="Pipeline Status"></a>-→. <!--Pinocchio: a C++ library for efficient Rigid Multi-body Dynamics computations.
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Security
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kandi-support Support

  • pinocchio has a low active ecosystem.
  • It has 678 star(s) with 206 fork(s). There are 46 watchers for this library.
  • There were 1 major release(s) in the last 12 months.
  • There are 31 open issues and 647 have been closed. On average issues are closed in 5 days. There are 2 open pull requests and 0 closed requests.
  • It has a neutral sentiment in the developer community.
  • The latest version of pinocchio is v2.6.5
pinocchio Support
Best in #Robotics
Average in #Robotics
pinocchio Support
Best in #Robotics
Average in #Robotics

quality kandi Quality

  • pinocchio has 0 bugs and 0 code smells.
pinocchio Quality
Best in #Robotics
Average in #Robotics
pinocchio Quality
Best in #Robotics
Average in #Robotics

securitySecurity

  • pinocchio has no vulnerabilities reported, and its dependent libraries have no vulnerabilities reported.
  • pinocchio code analysis shows 0 unresolved vulnerabilities.
  • There are 0 security hotspots that need review.
pinocchio Security
Best in #Robotics
Average in #Robotics
pinocchio Security
Best in #Robotics
Average in #Robotics

license License

  • pinocchio has a Non-SPDX License.
  • Non-SPDX licenses can be open source with a non SPDX compliant license, or non open source licenses, and you need to review them closely before use.
pinocchio License
Best in #Robotics
Average in #Robotics
pinocchio License
Best in #Robotics
Average in #Robotics

buildReuse

  • pinocchio releases are available to install and integrate.
  • Installation instructions are not available. Examples and code snippets are available.
  • It has 5879 lines of code, 490 functions and 108 files.
  • It has medium code complexity. Code complexity directly impacts maintainability of the code.
pinocchio Reuse
Best in #Robotics
Average in #Robotics
pinocchio Reuse
Best in #Robotics
Average in #Robotics
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pinocchio Key Features

C++ template library,

cache friendly,

automatic code generation support via [CppADCodeGen](https://github.com/joaoleal/CppADCodeGen).

forward kinematics and its analytical derivatives,

forward/inverse dynamics and their analytical derivatives,

centroidal dynamics and its analytical derivatives,

support of multiple precision arithmetic via Boost.Multiprecision or any similar framework,

computations of kinematic and dynamic regressors for system identification and more,

and much more with the support of modern and open source Automatic Differentiation frameworks like [CppAD](https://github.com/coin-or/CppAD) or [CasADi](https://web.casadi.org/).

header only,

C++ 98/03/11/14/17/20 compliant.

[Gepetto Viewer](https://github.com/Gepetto/gepetto-viewer): a C viewer based on [OpenSceneGraph](https://github.com/openscenegraph/OpenSceneGraph) with Python bindings and Blender export. See [here](https://github.com/stack-of-tasks/pinocchio-gepetto-viewer) for a C example on mixing Pinocchio and Gepetto Viewer.

[Meshcat](https://github.com/rdeits/meshcat): supporting visualization in Python and which can be embeded inside any browser.

[Panda3d](https://github.com/ikalevatykh/panda3d_viewer): supporting visualization in Python and which can be embeded inside any browser.

[RViz](https://github.com/ros-visualization/rviz): supporting visualization in Python and which can interact with other ROS packages.

[Justin Carpentier](https://jcarpent.github.io) (Inria): main developer and manager of the project

[Nicolas Mansard](http://projects.laas.fr/gepetto/index.php/Members/NicolasMansard) (LAAS-CNRS): initial project instructor

[Guilhem Saurel](http://projects.laas.fr/gepetto/index.php/Members/GuilhemSaurel) (LAAS-CNRS): continuous integration and deployment

[Joseph Mirabel](http://jmirabel.github.io/) (Eureka Robotics): Lie groups and hpp-fcl implementation

[Antonio El Khoury](https://www.linkedin.com/in/antonioelkhoury) (Wandercraft): bug fixes

[Gabriele Buondono](http://projects.laas.fr/gepetto/index.php/Members/GabrieleBuondonno) (LAAS-CNRS): features extension, bug fixes and Python bindings

[Florian Valenza](https://fr.linkedin.com/in/florian-valenza-1b274082) (Astek): core developments and hpp-fcl support

[Wolfgang Merkt](http://www.wolfgangmerkt.com/) (University of Edinburgh): ROS integration and support

[Rohan Budhiraja](https://scholar.google.com/citations?user=NW9Io9AAAAAJ) (LAAS-CNRS): features extension

[Loïc Estève](https://github.com/lesteve) (Inria): Conda integration and support

[Igor Kalevatykh](https://github.com/ikalevatykh) (Inria): Panda3d viewer support

[Matthieu Vigne](https://github.com/matthieuvigne) (Wandercraft): MeshCat viewer support

[Robin Strudel](https://www.di.ens.fr/robin.strudel/) (Inria): features extension

[François Keith](https://scholar.google.fr/citations?user=cxSxXiQAAAAJ&amp;hl=en) (CEA): Windows support

[Aamr El Kazdadi](https://github.com/aelkazdadi) (Inria): multiprecision arithmetic support

[Nicolas Torres Alberto](https://scholar.google.com/citations?user=gYNLhEIAAAAJ&amp;hl=en) (Inria): features extension

[Etienne Arlaud](https://github.com/EtienneAr) (Inria): RViz viewer support

[Wilson Jallet](https://github.com/ManifoldFR) (LAAS-CNRS/Inria): extension of Python bindings

[Crocoddyl](https://github.com/loco-3d/crocoddyl) A software to realize model predictive control for complex robotics platform.

[TSID](https://github.com/stack-of-tasks/tsid/) A software which implements an Task Space Inverse Dynamics QP.

[HPP](https://humanoid-path-planner.github.io/hpp-doc/ ) A SDK which implements motion planner for humanoids and other robots.

[Jiminy](https://github.com/duburcqa/jiminy) A simulator based on Pinocchio.

[ocs2](https://github.com/leggedrobotics/ocs2) A toolbox for Optimal Control for Switched Systems (OCS2)

[TriFingerSimulation](https://github.com/open-dynamic-robot-initiative/trifinger_simulation) TriFinger Robot Simulation (a Robot to perform RL on manipulation).

[Casadi_Kin_Dyn](https://github.com/ADVRHumanoids/casadi_kin_dyn) IIT Package for generation of symbolic (SX) expressions of robot kinematics and dynamics.

pinocchio Examples and Code Snippets

See all related Code Snippets

default

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@misc{pinocchioweb,
   author = {Justin Carpentier and Florian Valenza and Nicolas Mansard and others},
   title = {Pinocchio: fast forward and inverse dynamics for poly-articulated systems},
   howpublished = {https://stack-of-tasks.github.io/pinocchio},
   year = {2015--2021}
}

Why when clearing the fields in my form with Selenium C# is my form repopulating with data when I hit submit?

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namespace OpenQA.Selenium
{
    public static class WebElementExtensions
    {
        public static void EnterText(this IWebElement element, string text)
        {
            element.Clear();

            if (!string.IsNullOrEmpty(element.GetProperty("value")))
            {
                System.Threading.Thread.Sleep(500);
                element.Clear();
            }

            element.SendKeys(text);
        }

        public static void EnterTextRobustly(this IWebElement element, string text)
        {
            element.EnterText(text);

            if (element.GetProperty("value") == text)
                return;

            System.Threading.Thread.Sleep(500);
            element.EnterText(text);

            if (element.GetProperty("value") == text)
                return;

            System.Threading.Thread.Sleep(500);
            element.EnterText(text);

            if (element.GetProperty("value") != text)
                throw new WebDriverException($"Failed to enter text into a text field. Expected value: '{text}'; Actual value: '{element.GetProperty("value")}'");
        }
    }
}
// for example, in EnterLastName(...)
lastNameInput.EnterTextRobustly(lastName);
namespace OpenQA.Selenium
{
    public static class WebElementExtensions
    {
        public static void EnterText(this IWebElement element, string text)
        {
            element.Clear();

            if (!string.IsNullOrEmpty(element.GetProperty("value")))
            {
                System.Threading.Thread.Sleep(500);
                element.Clear();
            }

            element.SendKeys(text);
        }

        public static void EnterTextRobustly(this IWebElement element, string text)
        {
            element.EnterText(text);

            if (element.GetProperty("value") == text)
                return;

            System.Threading.Thread.Sleep(500);
            element.EnterText(text);

            if (element.GetProperty("value") == text)
                return;

            System.Threading.Thread.Sleep(500);
            element.EnterText(text);

            if (element.GetProperty("value") != text)
                throw new WebDriverException($"Failed to enter text into a text field. Expected value: '{text}'; Actual value: '{element.GetProperty("value")}'");
        }
    }
}
// for example, in EnterLastName(...)
lastNameInput.EnterTextRobustly(lastName);

How do I make the dropdown menus appear horizontally instead of vertically?

copy iconCopydownload iconDownload
<ul class="dropdown-menu">
                <ul class='list-inline'>
                    <li><a href="#" id="">1</a>
                    </li>
                    <li><a href="#" id="">2</a>
                    </li>
                    <li><a href="#" id="">3</a>
                    </li>
                    <li><a href="#" id="">4</a>
                    </li>
                    <li><a href="#" id="">5</a>
                    </li>
                </ul>
</ul>
.dropdown-menu{
min-width: 200px;
}
#list1.dropdown-menu{
min-width: 200px;
}
<ul class="dropdown-menu">
                <ul class='list-inline'>
                    <li><a href="#" id="">1</a>
                    </li>
                    <li><a href="#" id="">2</a>
                    </li>
                    <li><a href="#" id="">3</a>
                    </li>
                    <li><a href="#" id="">4</a>
                    </li>
                    <li><a href="#" id="">5</a>
                    </li>
                </ul>
</ul>
.dropdown-menu{
min-width: 200px;
}
#list1.dropdown-menu{
min-width: 200px;
}
<ul class="dropdown-menu">
                <ul class='list-inline'>
                    <li><a href="#" id="">1</a>
                    </li>
                    <li><a href="#" id="">2</a>
                    </li>
                    <li><a href="#" id="">3</a>
                    </li>
                    <li><a href="#" id="">4</a>
                    </li>
                    <li><a href="#" id="">5</a>
                    </li>
                </ul>
</ul>
.dropdown-menu{
min-width: 200px;
}
#list1.dropdown-menu{
min-width: 200px;
}
<link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/bootstrap@4.5.3/dist/css/bootstrap.min.css" integrity="sha384-TX8t27EcRE3e/ihU7zmQxVncDAy5uIKz4rEkgIXeMed4M0jlfIDPvg6uqKI2xXr2" crossorigin="anonymous">

<!-- jQuery and JS bundle w/ Popper.js -->
<script src="https://code.jquery.com/jquery-3.5.1.slim.min.js" integrity="sha384-DfXdz2htPH0lsSSs5nCTpuj/zy4C+OGpamoFVy38MVBnE+IbbVYUew+OrCXaRkfj" crossorigin="anonymous"></script>
<script src="https://cdn.jsdelivr.net/npm/bootstrap@4.5.3/dist/js/bootstrap.bundle.min.js" integrity="sha384-ho+j7jyWK8fNQe+A12Hb8AhRq26LrZ/JpcUGGOn+Y7RsweNrtN/tE3MoK7ZeZDyx" crossorigin="anonymous"></script>

<main class = container>
  <form action="" method="">
      <div class="container mt-5 text-center">
          <h3 class="text-center">Quick Buy</h3>
          <br>
          <div class="form-group d-inline">
              <button type="button" class="btn btn-warning dropdown-toggle" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
                  Select Movie
              </button>
              <div class="dropdown-menu">
                  <a class="dropdown-item" href="#">Disney's Mulan</a>
                  <a class="dropdown-item" href="#">Tenet</a>
                  <a class="dropdown-item" href="#">Pinocchio</a>
              </div>
          </div>
          <div class="form-group d-inline">
              <button type="button" class="btn btn-warning dropdown-toggle" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
                  Select Cinema
              </button>
              <div class="dropdown-menu">
                  <a class="dropdown-item" href="#">Yellow Dhoby</a>
                  <a class="dropdown-item" href="#">Yellow Vivo City</a>
                  <a class="dropdown-item" href="#">Yellow Bedok</a>
              </div>
          </div>
          <div class="form-group d-inline">
              <button class="btn btn-warning" type="submit">Book Now</button>
          </div>
      </div>
  </form>
</main>
<link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/bootstrap@4.5.3/dist/css/bootstrap.min.css" integrity="sha384-TX8t27EcRE3e/ihU7zmQxVncDAy5uIKz4rEkgIXeMed4M0jlfIDPvg6uqKI2xXr2" crossorigin="anonymous">

<!-- jQuery and JS bundle w/ Popper.js -->
<script src="https://code.jquery.com/jquery-3.5.1.slim.min.js" integrity="sha384-DfXdz2htPH0lsSSs5nCTpuj/zy4C+OGpamoFVy38MVBnE+IbbVYUew+OrCXaRkfj" crossorigin="anonymous"></script>
<script src="https://cdn.jsdelivr.net/npm/bootstrap@4.5.3/dist/js/bootstrap.bundle.min.js" integrity="sha384-ho+j7jyWK8fNQe+A12Hb8AhRq26LrZ/JpcUGGOn+Y7RsweNrtN/tE3MoK7ZeZDyx" crossorigin="anonymous"></script>

<main class = container>
  <form action="" method="">
      <div class="container mt-5">
          <h3 class="text-center">Quick Buy</h3>
          <br>
          <div class="form-group" style="display:inline">
              <button type="button" class="btn btn-warning dropdown-toggle" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
                  Select Movie
              </button>
              <div class="dropdown-menu">
                  <a class="dropdown-item" href="#">Disney's Mulan</a>
                  <a class="dropdown-item" href="#">Tenet</a>
                  <a class="dropdown-item" href="#">Pinocchio</a>
              </div>
          </div>
          <div class="form-group" style="display:inline">
              <button type="button" class="btn btn-warning dropdown-toggle" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
                  Select Cinema
              </button>
              <div class="dropdown-menu">
                  <a class="dropdown-item" href="#">Yellow Dhoby</a>
                  <a class="dropdown-item" href="#">Yellow Vivo City</a>
                  <a class="dropdown-item" href="#">Yellow Bedok</a>
              </div>
          </div>
          <div class="form-group" style="display:inline">
              <button class="btn btn-warning" type="submit">Book Now</button>
          </div>
      </div>
  </form>
</main>

Hide, but not remove, specific category on the page with Divi &amp; Tickera

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add_filter('get_the_terms', 'hide_categories_terms', 10, 3);
function hide_categories_terms($terms, $post_id, $taxonomy){

// define which category IDs you want to hide
$excludeIDs = array(49);

// get all the terms
$exclude = array();
foreach ($excludeIDs as $id) {
    $exclude[] = get_term_by('id', $id, 'event_category');
}

// filter the categories
if (!is_admin()) {
    foreach($terms as $key => $term){
        if($term->taxonomy == "event_category"){
            foreach ($exclude as $exKey => $exTerm) {
                if($term->term_id == $exTerm->term_id) unset($terms[$key]);
            }
        }
    }
}

return $terms;
}

Translate a g++ command for terminal compilation to CMakeLists.txt

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add_executable(overview-urdf overview-urdf.cpp)
target_include_directories(overview-urdf PUBLIC
   /path/to/eigen
   /path/to/pinocchio/include/
)
target_compile_definitions(overview-urdf PUBLIC 
   PINOCCHIO_URDFDOM_TYPEDEF_SHARED_PTR
   PINOCCHIO_WITH_URDFDOM
)
target_link_libraries(overview-urdf PUBLIC 
      boost_system
      urdfdom_model
)

See all related Code Snippets

Community Discussions

Trending Discussions on pinocchio
  • Why when clearing the fields in my form with Selenium C# is my form repopulating with data when I hit submit?
  • How do I make the dropdown menus appear horizontally instead of vertically?
  • Hide, but not remove, specific category on the page with Divi &amp; Tickera
  • Translate a g++ command for terminal compilation to CMakeLists.txt
Trending Discussions on pinocchio

QUESTION

Why when clearing the fields in my form with Selenium C# is my form repopulating with data when I hit submit?

Asked 2021-Mar-05 at 16:40

I am testing form validation with selenium using C#. I have a update button that when clicked pops up a form with the users previously enter info. I am trying to test a user trying to submit an empty update form by finding the element and clearing the field. When submitting a form with empty values, I have validation errors that should display under the field. This works when running my program manually. When running my test, I can see that the fields are being cleared but when I hit submit, my form is repopulating with the data that had previously been there. I have also tried to clear the form, then in an empty string for the keys but it still repopulates the form when I hit submit. I also tried to clear the form and then fill it in using special characters to prompt a different error message. The form is clearing but then it is taking the value that was entered before and putting the special character to the end of that value. Here is part of my code:

var user = new Users(driver);
user.EditUserByEmail("pinocchio@aol.com");
           
driver.FindElement(By.Name("firstName")).Clear();
driver.FindElement(By.Name("lastName")).Clear();
driver.FindElement(By.Name("email")).Clear();
                       
user.EnterFirstName("$");
user.EnterLastName("$");
user.EnterEmail("$");

var modal = new Modal(driver);
modal.SubmitForm();

These are the methods I am using in the Users class:

public void EnterFirstName(string firstName)
        {
            WebDriverWait wait = new WebDriverWait(Driver, TimeSpan.FromSeconds(30));
            var firstNameInput = wait.Until(SeleniumExtras.WaitHelpers.ExpectedConditions.ElementToBeClickable(By.Name("firstName")));
            firstNameInput.SendKeys(firstName);
        }

        public void EnterLastName(string lastName)
        {
            WebDriverWait wait = new WebDriverWait(Driver, TimeSpan.FromSeconds(30));
            var lastNameInput = wait.Until(SeleniumExtras.WaitHelpers.ExpectedConditions.ElementToBeClickable(By.Name("lastName")));
            lastNameInput.SendKeys(lastName);
        }

        public void EnterEmail(string email)
        {
            WebDriverWait wait = new WebDriverWait(Driver, TimeSpan.FromSeconds(30));
            var emailInput = wait.Until(SeleniumExtras.WaitHelpers.ExpectedConditions.ElementToBeClickable(By.Name("email")));
            emailInput.SendKeys(email);
        }

The form clears and then this is what is entered in: enter image description here

By my code I would expect each field to just be entered with a $. I don't know how or why the previous data is repopulating.

ANSWER

Answered 2021-Mar-05 at 16:40

Sometimes you just need to brute-force this kind of thing. An extension method can clean things up while giving you a way to retry an operation that fails:

namespace OpenQA.Selenium
{
    public static class WebElementExtensions
    {
        public static void EnterText(this IWebElement element, string text)
        {
            element.Clear();

            if (!string.IsNullOrEmpty(element.GetProperty("value")))
            {
                System.Threading.Thread.Sleep(500);
                element.Clear();
            }

            element.SendKeys(text);
        }

        public static void EnterTextRobustly(this IWebElement element, string text)
        {
            element.EnterText(text);

            if (element.GetProperty("value") == text)
                return;

            System.Threading.Thread.Sleep(500);
            element.EnterText(text);

            if (element.GetProperty("value") == text)
                return;

            System.Threading.Thread.Sleep(500);
            element.EnterText(text);

            if (element.GetProperty("value") != text)
                throw new WebDriverException($"Failed to enter text into a text field. Expected value: '{text}'; Actual value: '{element.GetProperty("value")}'");
        }
    }
}

And to use it:

// for example, in EnterLastName(...)
lastNameInput.EnterTextRobustly(lastName);

Source https://stackoverflow.com/questions/66482759

Community Discussions, Code Snippets contain sources that include Stack Exchange Network

Vulnerabilities

No vulnerabilities reported

Install pinocchio

You can download it from GitHub.

Support

For any new features, suggestions and bugs create an issue on GitHub. If you have any questions check and ask questions on community page Stack Overflow .

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