towr | trajectory optimization for legged robots | Robotics library

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

kandi X-RAY | towr Summary

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.

            kandi-support 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

            kandi-Quality Quality

              towr has 0 bugs and 0 code smells.

            kandi-Security 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.

            kandi-License 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.

            kandi-Reuse 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.

            Top functions reviewed by kandi - BETA

            kandi's functional review helps you automatically verify the functionalities of the libraries and avoid rework.
            Currently covering the most popular Java, JavaScript and Python libraries. See a Sample of towr
            Get all kandi verified functions for this library.

            towr Key Features

            No Key Features are available at this moment for towr.

            towr Examples and Code Snippets

            No Code Snippets are available at this moment for towr.

            Community Discussions


            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




            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.



            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)



            Answered 2021-May-09 at 20:19
            1. 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.

            2. 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()

            3. 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:


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


            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 && 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 ( 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 git clone 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>


            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 for more information. See here the list of contributors who participated in this project.
            Find more information at:

            Find, review, and download reusable Libraries, Code Snippets, Cloud APIs from over 650 million Knowledge Items

            Find more libraries

            Stay Updated

            Subscribe to our newsletter for trending solutions and developer bootcamps

            Agree to Sign up and Terms & Conditions

            Share this Page

            share link

            Explore Related Topics

            Consider Popular Robotics Libraries


            by commaai


            by ApolloAuto


            by AtsushiSakai


            by carla-simulator


            by ArduPilot

            Try Top Libraries by ethz-adrl


            by ethz-adrlC++


            by ethz-adrlC++


            by ethz-adrlC++


            by ethz-adrlC++