tsid | Efficient Task Space Inverse Dynamics | Robotics library
kandi X-RAY | tsid Summary
kandi X-RAY | tsid Summary
TSID is a C++ library for optimization-based inverse-dynamics control based on the rigid multi-body dynamics library Pinocchio.
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tsid Key Features
tsid Examples and Code Snippets
Lines of Code : 8License : Permissive (BSD-2-Clause)
Copy@inproceedings {adelprete:jnrh:2016,
title = {Implementing Torque Control with High-Ratio Gear Boxes and without Joint-Torque Sensors},
booktitle = {Int. Journal of Humanoid Robotics},
year = {2016},
pages = {1550044},
url = {http sudo tee /etc/apt/sources.list.d/robotpkg.list <
sudo apt install robotpkg-py3*-tsid
cd $DEVEL/openrobots/src/
git clone --recursive git@github.com:stack-of-tasks/tsid.git
cd tsid
mkdir _build-RELEASE
cd _build-RELEASE
cmake .. -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=$DEVEL/openrobots
make install
Community Discussions
Trending Discussions on tsid
QUESTION
I have a project in .NET 5 with RazorPages, I set this code to validate the Dependecy Injection in the Progam.cs file:
...ANSWER
Answered 2021-May-13 at 10:03The root of the issue is Microsoft's default IComponentActivator implementation (the DefaultComponentActivator). The Component Activator is in control of creating your Razor Pages, but the built-in behavior does not request those pages from the built-in container. Instead, it just creates them using Activator.CreateInstance.
This means that Blazor does not register your pages in the built-in container and because of that, the page will not be part of the container's verification process.
This is, IMO, a design flaw in Blazor, because it well known, and well understood that, in case you are using a DI Container, you should let all your application components go through the container pipeline. That's the only way that the container can give you a reasonable amount of certainty about the validity of your application components.
Blazor, however, is not the only part of the ASP.NET Core framework where this happens. ASP.NET MVC Controllers, for instance, by default aren't registered in the container, and aren't resolved from the container. This is configurable though, but since this is not the default behavior, the ValidateOnBuild gives a false sense of security.
Other containers might have a more sensible default. Simple Injector, for instance, (the container that I maintain) contains extension methods that always register all MVC controllers up front. And with the Blazor integration, similar things happen.
If you stick with the built-in container, it would be good to ensure all components are resolved from the container. With MVC this is easy, because you can simply call AddControllersAsServices. With Blazor, unfortunately, this is much more difficult, because there exists no such method as AddComponentsAsServices. This means that you have to create a custom IComponentActivator that calls back into the container. But still, you'll likely have to fallback to the original behavior using Activator.CreateInstance for all Blazor Components that are created by Microsoft, because it might be much harder to find and register them using reflection. For inspiration on how to create such custom Component Activator and register your application Blazor components, take a look at the code presented here.
QUESTION
I'm getting errors parsing the result message to XML. Does anyone knows why?
Thank you.
...ANSWER
Answered 2020-Oct-15 at 04:32Because in your input all " characters have been replaced by \" to be able to store it in an other string, this makes for incorrect attributes in your XML.
A quick fix if the input can't be fixed, consists in parsing the resulting string, wrapped by two ".
QUESTION
$tId = $this->its_model->get_status_type($property_id);
print_r($tId);
$tsId = $this->its_model->get_sub_status_type($tId);
ANSWER
Answered 2020-Aug-16 at 02:46So if
QUESTION
I'm new to using PowerShell beyond my basic command line experience and have very little experience with actual scripting beyond basic batch files.
I'm having trouble with figuring out how to use a "loop" of some sort to add a value into an XML file.
Using guidance from a YouTube video (Reading and Updating XML Files) I was able to finally add the Application GUID to an XML file using PowerShell. This is what works:
...ANSWER
Answered 2020-Jun-20 at 05:42First we need to read the CSV file into a variable. The Import-Csv will create an array of objects with property names matching the first line in the CSV file. Make sure you adjust the parameters on the Import-Csv command to match the file. Also after the Import-Csv command, you can do $csvData | Out-Host to make sure the data looks right.
Then we pipe the array into ForEach-Object. Inside the ScriptBlock passed to the ForEach-Object command the current object will be assigned to the variable $_. To make things a little more readable I then assign the properties from the object to their own variables.
Take note that to replace variables into strings you must use "" and not ''. I'm not sure which number is replaced in the path to your XML file, but you get the idea.
QUESTION
I am trying to update a custom field which is a child jobject. This is where I am and the result.
...ANSWER
Answered 2020-Jun-19 at 12:45Try that
QUESTION
I have a custom rally app that was developed using the Rally sdk 2.1. The app queries for Test Case Results from Test Cases that are link to a Test Set in the current sprint. There is a problem with the app not being able to pull some TC. The problem appears when you have a TS has TCs from multiple projects. The application context will kick in and only allow to query for TC from the current Project context, causing data gaps.
The code below is retrieving data for Test Case Results, but is being limited by the Project context.
...ANSWER
Answered 2020-Apr-20 at 13:23From Rally Engineers:
When creating a Rally.data.wsapi.Store, you can give the 'context' into the config section. If you don't give one, it defaults to the current data context. The current data context is the project node you are in and the projectScopeUp and projectScopeDown.
To get the global context, you can provide this sort of thing into the config:
QUESTION
I am trying to automate this website using VBA excel. I am struck at a point where I have to select value from the dropdown box. I am very much new to VBA and tis is my 1st such project. this is what I have coded to select the value.
...ANSWER
Answered 2017-Dec-22 at 13:05As per the comment from SJR and also a typo I found in your code, if you replace your code with this then it should work:
QUESTION
This is the error that I am getting! This is when I try to update some values in my sql MY_TABLE table! Ignore spellings! integrity constraint from what I see elsewhere is that I am trying to input a value that is not present in the parent table! I am just not sure which value that is!
...ANSWER
Answered 2019-Aug-08 at 18:56It looks like you have sorted it out in your code, but next time you run into this problem in an Oracle database you can find out the answer from the data dictionary.
Go to the error message:
ORA-02291: integrity constraint (MY.FK_MY_TABLE) violated - parent key not found
Get the constraint owner and name from within the parens, MY.FK_MY_TABLE and then look it up in the data dictionary.
Log into the database using the same credentials your app uses.
QUESTION
I have an error said "Expected Resource or Concept" in playground hyperledger-composer Two participants 1. School 2. Company
Two assets 1. Transcript 2. Transcript_status
One transaction updateStatus: • Update student’s transcript status from unread to either not interested or interested
Participant school, student, company Assets Transcript, Transcript_status Transaction updateStatus
- School creates a participant school
- Company creates a participant company
- School creates an asset transcript
- Company creates an asset transcript_status
Workflow: After creating student’s asset (transcript), schools can upload the record to its website, and companies can view the first asset Transcript. After that, companies can submit transaction Transcript_status and marked as read. Then the asset Transcript_status will be updated from unread to read.
...ANSWER
Answered 2019-Apr-09 at 05:16As per my understanding, I run your code. I had fix some issues. In your code, you may update a readStatus under a transcript asset. If you update a single value under s asset so you need to put an object of that asset in the Update function.
1. Model File Changes:
QUESTION
I have designed a movement engine in my simple game where you have certain coordinates (x,y) and by clicking you can go to whatever destination (x,y). The idea is that you have speed and fuel consumption, also entire movement is time-based. So at the end, if you decide to go from point A to point B, it will take X amount of time (determined by speed) and X amount of fuel (determined by consumption). The problem i am facing is precision in calculations and probably not the best logic of stoping the travel upon reaching the destination.
Calculations being made are correct, but their precision is causing some issues.
In the demo i included can be seen that my current canceling logic is producing leftovers (for example 20 litres of fuel should be burned but i am left with 0.12...):
...ANSWER
Answered 2019-Feb-26 at 11:16If your object always travels directly towards the target, there is no need for any trigonometry. Just use vector math.
Logically
updateshould callmove, not the other way round.The distance calculation should be performed in the same function as the movement code.
Check the distance in
moveand set a completion flag.Fuel used in one step = consumption (usage / pixel) × step size in pixels, so
this.fuel -= step / this.consumption;is incorrect.
Code:
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Install tsid
First you need to install the following dependencies:. To install eigen3 on Ubuntu you can use apt-get: sudo apt-get install libeigen3-dev. To install pinocchio follow the instruction on its website.
boost (unit_test_framework)
eigen3
pinocchio
eiquadprog
example-robot-data (only for running the examples)
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