tsid package from tsid repo

tsid

Package Summary

Tags No category tags.
Version 1.4.1
License BSD
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/stack-of-tasks/tsid.git
VCS Type git
VCS Version devel
Last Updated 2020-11-20
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

Additional Links

Maintainers

  • Guilhem Saurel

Authors

  • Andrea Del Prete
  • Justin Carpentier

TSID - Task Space Inverse Dynamics

License Pipeline status Coverage report

TSID is a C++ library for optimization-based inverse-dynamics control based on the rigid multi-body dynamics library Pinocchio.

Documentation

  • Take a look at the project wiki for an overview of the design of the library.
  • In the exercises folder you can find several examples of how to use TSID in Python with robot manipulators, humanoids, or quadrupeds.
  • On the website of Andrea Del Prete you can find slides and video lessons on TSID.
  • Memmo 2020 summer school

Installation from Debian/Ubuntu packages, with robotpkg

If you have never added robotpkg's software repository you can do it with the following commands:

sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg
EOF

curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
sudo apt update

You can install TSID and its python bindings (replace * with you Python version) with:

sudo apt install robotpkg-py3*-tsid

Installation from sources

First you need to install the following dependencies: * boost (unit_test_framework) * eigen3 * pinocchio * eiquadprog * example-robot-data (only for running the examples)

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.

To compile 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

Python Bindings

To use this library in python, we offer python bindings based on Boost.Python and EigenPy.

To install EigenPy you can compile the source code:

git clone https://github.com/stack-of-tasks/eigenpy

or, on Ubuntu, you can use apt-get:

sudo apt-get install robotpkg-py3*-eigenpy

For testing the python bindings, you can run the unit test scripts in the script folder, for instance:

ipython script/test_formulation.py

To run the demo using gepetto-viewer:

ipython demo/demo_romeo.py

Credits

This package is authored by:

It includes key contributions from:

And is maintained by:

Citing

If you are (or not) happy with TSID and want to cite it, please use the following citation:

@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 = {https://hal.archives-ouvertes.fr/hal-01136936/document},
    author = {Andrea Del Prete, Nicolas Mansard, Oscar E Ramos, Olivier Stasse, Francesco Nori}
}
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged tsid at answers.ros.org

tsid package from tsid repo

tsid

Package Summary

Tags No category tags.
Version 1.4.1
License BSD
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/stack-of-tasks/tsid.git
VCS Type git
VCS Version devel
Last Updated 2020-11-20
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

Additional Links

Maintainers

  • Guilhem Saurel

Authors

  • Andrea Del Prete
  • Justin Carpentier

TSID - Task Space Inverse Dynamics

License Pipeline status Coverage report

TSID is a C++ library for optimization-based inverse-dynamics control based on the rigid multi-body dynamics library Pinocchio.

Documentation

  • Take a look at the project wiki for an overview of the design of the library.
  • In the exercises folder you can find several examples of how to use TSID in Python with robot manipulators, humanoids, or quadrupeds.
  • On the website of Andrea Del Prete you can find slides and video lessons on TSID.
  • Memmo 2020 summer school

Installation from Debian/Ubuntu packages, with robotpkg

If you have never added robotpkg's software repository you can do it with the following commands:

sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg
EOF

curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
sudo apt update

You can install TSID and its python bindings (replace * with you Python version) with:

sudo apt install robotpkg-py3*-tsid

Installation from sources

First you need to install the following dependencies: * boost (unit_test_framework) * eigen3 * pinocchio * eiquadprog * example-robot-data (only for running the examples)

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.

To compile 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

Python Bindings

To use this library in python, we offer python bindings based on Boost.Python and EigenPy.

To install EigenPy you can compile the source code:

git clone https://github.com/stack-of-tasks/eigenpy

or, on Ubuntu, you can use apt-get:

sudo apt-get install robotpkg-py3*-eigenpy

For testing the python bindings, you can run the unit test scripts in the script folder, for instance:

ipython script/test_formulation.py

To run the demo using gepetto-viewer:

ipython demo/demo_romeo.py

Credits

This package is authored by:

It includes key contributions from:

And is maintained by:

Citing

If you are (or not) happy with TSID and want to cite it, please use the following citation:

@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 = {https://hal.archives-ouvertes.fr/hal-01136936/document},
    author = {Andrea Del Prete, Nicolas Mansard, Oscar E Ramos, Olivier Stasse, Francesco Nori}
}
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged tsid at answers.ros.org