towr | trajectory optimization for legged robots | Robotics library

by ethz-adrl C++ Version: 1.4.0 License: BSD-3-Clause

X-Ray Key Features Code Snippets Community Discussions(2)Vulnerabilities Install Support

kandi X-RAY | towr Summary

towr is a C++ library typically used in Automation, Robotics applications. towr has no bugs, it has no vulnerabilities, it has a Permissive License and it has low support. You can download it from GitHub.

A base-set of variables, costs and constraints that can be combined and extended to formulate trajectory optimization problems for legged systems. These implementations have been used to generate a variety of motions such as monoped hopping, biped walking, or a complete quadruped trotting cycle, while optimizing over the gait and step durations in less than 100ms (paper). Features: :heavy_check_mark: Intuitive and efficient formulation of variables, cost and constraints using Eigen. :heavy_check_mark: ifopt enables using the high-performance solvers Ipopt and Snopt. :heavy_check_mark: Elegant rviz visualization of motion plans using xpp. :heavy_check_mark: ROS/catkin integration (optional). :heavy_check_mark: Light-weight (~6k lines of code) makes it easy to use and extend. Install • Run • Develop • Contribute • Publications • Authors.

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Quality

Security

License

Reuse

Support

towr has a low active ecosystem.

It has 672 star(s) with 195 fork(s). There are 42 watchers for this library.

It had no major release in the last 12 months.

There are 23 open issues and 44 have been closed. On average issues are closed in 64 days. There are 2 open pull requests and 0 closed requests.

It has a neutral sentiment in the developer community.

The latest version of towr is 1.4.0

Quality

towr has 0 bugs and 0 code smells.

Security

towr has no vulnerabilities reported, and its dependent libraries have no vulnerabilities reported.

towr code analysis shows 0 unresolved vulnerabilities.

There are 0 security hotspots that need review.

License

towr is licensed under the BSD-3-Clause License. This license is Permissive.

Permissive licenses have the least restrictions, and you can use them in most projects.

Reuse

towr releases are available to install and integrate.

Installation instructions, examples and code snippets are available.

It has 59 lines of code, 0 functions and 2 files.

It has low code complexity. Code complexity directly impacts maintainability of the code.

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towr Key Features

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towr Examples and Code Snippets

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Community Discussions

Trending Discussions on towr

Python JSON TypeError : list indices must be integers or slices, not str

A better solution for Itext 7 Text fitting

QUESTION

Python JSON TypeError : list indices must be integers or slices, not str

Asked 2021-Jun-02 at 13:15

I am trying to loop through a dataframe but I am getting a for row in i["Attachments"]: TypeError: list indices must be integers or slices, not str My JSON file has Attachments yet it is giving me errors. I have possibly tried all ways from Stackoverflow to get this issue solved, but to my dismay none of them really worked. this is my Json file

idx.json

...

ANSWER

Answered 2021-Jun-02 at 13:15

I've modified the code a little and have used dictionary for easier access and it is working great.

Source https://stackoverflow.com/questions/67805598

QUESTION

A better solution for Itext 7 Text fitting

Asked 2021-May-09 at 20:19

I have a project that used Itext 5 and worked as intended. Program had to put userInput in certain 'Chunks' inside paragraphs. Paragraphs have unmovable (chunks)words per line, and the userInput should scale in the space reserved for the userInput inside paragraph. Old Project had the following code(made as example)

...

ANSWER

Answered 2021-May-09 at 20:19

This way is quite good because it's taking into account all the possible model element settings and implications of the layout process. Your iText 5 alternative was good enough for basic case of Latin-based text without any modifications on the visual side. The iText 7 code you have is much more flexible and will still work if you use more complex layout settings, complex scripts etc. Also I see the iText 5 code is 105 lines in your example while the iText 7 code is 80 lines.
You are adding some magic +(rheight*2.05f); here while in reality what you are missing here is that when you draw via Canvas you don't have your margins defined anymore, so what you really need instead of rect.getY()+(rheight*2.05f); is rect.getY() + doc.getBottomMargin()
The issue comes from the fact that you are calculating rheight as renderer.getInnerAreaBBox() while this calculation does not take into account default margins that are applied to a paragraph. Margins are included into the occupied area but not the inner area bbox. To fix that, use renderer.getOccupiedArea().getBBox() instead. In this case there is not need to multiply rheight by a coefficient anymore.

The visual result is slightly different now but there is no magic constants anymore. Depending on what you are trying to really achieve you can tune the code further (add some margins here and there etc). But the code adapts well to the change in the user text.

Visual result before:

Visual result after:

Resultant code:

Source https://stackoverflow.com/questions/67446094

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

Vulnerabilities

No vulnerabilities reported

Install towr

The easiest way to install is through the ROS binaries:.
Option 1: core library and hopper-example with pure CMake.
Option 2 (recommended): core library & GUI & ROS-rviz-visualization built with catkin and ROS.
Install dependencies CMake, Eigen, Ipopt: sudo apt-get install cmake libeigen3-dev coinor-libipopt-dev Install ifopt, by cloning the repo and then: cmake .. && make install on your system.
Build towr: git clone https://github.com/ethz-adrl/towr.git && cd towr/towr mkdir build && cd build cmake .. -DCMAKE_BUILD_TYPE=Release make sudo make install # copies files in this folder to /usr/local/* # sudo xargs rm < install_manifest.txt # in case you want to uninstall the above
Test (hopper_example.cc): Generates a motion for a one-legged hopper using Ipopt ./towr-example # or ./towr-test if gtest was found
Use: You can easily customize and add your own constraints and variables to the optimization problem. Herefore, add the following to your CMakeLists.txt: find_package(towr 1.2 REQUIRED) add_executable(main main.cpp) # Your custom variables, costs and constraints added to TOWR target_link_libraries(main PUBLIC towr::towr) # adds include directories and libraries
Install dependencies CMake, catkin, Eigen, Ipopt, ROS, xpp, ncurses, xterm: sudo apt-get install cmake libeigen3-dev coinor-libipopt-dev libncurses5-dev xterm sudo apt-get install ros-<ros-distro>-desktop-full ros-<ros-distro>-xpp
Build workspace: cd catkin_workspace/src git clone https://github.com/ethz-adrl/ifopt.git git clone https://github.com/ethz-adrl/towr.git cd .. catkin_make_isolated -DCMAKE_BUILD_TYPE=Release # or `catkin build` source ./devel_isolated/setup.bash
Use: Include in your catkin project by adding to your CMakeLists.txt add_compile_options(-std=c++11) find_package(catkin COMPONENTS towr) include_directories(${catkin_INCLUDE_DIRS}) target_link_libraries(foo ${catkin_LIBRARIES}) Add the following to your package.xml: <package> <depend>towr</depend> </package>

Support

We love pull request, whether its new constraint formulations, additional robot models, bug fixes, unit tests or updating the documentation. Please have a look at CONTRIBUTING.md for more information. See here the list of contributors who participated in this project.

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