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License: GNU Lesser General Public License v3.0
jrl-dynamics bindings for dynamic-graph
License: GNU Lesser General Public License v3.0
Hello all,
In the script humanoid.py, some operational points are predefined
OperationalPoints = ['left-wrist', 'right-wrist', 'left-ankle', 'right-ankle', 'gaze']
Using dashes in the name of the signals prevents calling them directly in python:
robot.dynamics.left-wrist
will return an error, rather than display the value of the homogeneous matrix.
I regret the loss of this functionality. Wouldn't it be better to use underscores instead?
Regards
François
The Python scripts required python-numpy to be installed on the system.
We should enforce this through CMake.
I do not manage to understand why this code results in segmentation fault
from dynamic_graph.sot.hrp2_14 import robot
r = robot.Robot("hrp2");
r.dynamic.dynamicDrift.recompute(1);
Is there something wrong I am doing?
Hello
I have a question regarding the additional frames created in the method initializeRobot (in humanoid_robots.py)
https://github.com/stack-of-tasks/sot-dynamic/blob/master/src/dynamic_graph/sot/dynamics/humanoid_robot.py#L298-L313
The two frames created, leftHand and rightHand, correspond to the "geometric parameters of hand"
For the robot hrp2, these frames are the same than the r_gripper and l_gripper frames in the urdf files.
(cf http://www.ros.org/reps/rep-0120.html#l-gripper-and-r-gripper)
Is this a coincidence or are those two frames (LeftHand / l_gripper) identical?
Is it possible to replace (or create an alias in the latter case) the frames "Left/Right Hand" by the frames "Left/RightGripper" (in order to be closer to the REP120 specifications)?
Hello all,
Since the merge #4, there is a problem at the destruction of the python interface used to interact with the SoT in some cases.
To reproduce the error, create the file test.py with the following content:
from dynamic_graph.sot.core.matrix_util import matrixToTuple from dynamic_graph.sot.dynamics.angle_estimator import AngleEstimator
Running python ./test.py
Returns the following error:
*** glibc detected *** python: double free or corruption (fasttop): 0x00000000028b5870 *** ======= Backtrace: ========= /lib/x86_64-linux-gnu/libc.so.6(+0x7eb96)[0x7f964559db96] /usr/lib/x86_64-linux-gnu/libstdc++.so.6(_ZNSsD1Ev+0x1f)[0x7f96433f751f] /lib/x86_64-linux-gnu/libc.so.6(+0x3b901)[0x7f964555a901] /lib/x86_64-linux-gnu/libc.so.6(+0x3b985)[0x7f964555a985] /lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xf4)[0x7f9645540774] python[0x41bb31] ======= Memory map: ======== 00400000-00670000 r-xp 00000000 08:06 4066903 /usr/bin/python2.7 00870000-00871000 r--p 00270000 08:06 4066903 /usr/bin/python2.7 00871000-008da000 rw-p 00271000 08:06 4066903 /usr/bin/python2.7 008da000-008ec000 rw-p 00000000 00:00 0 00951000-0100d000 rw-p 00000000 00:00 0 [heap] ... (then there is the list of loaded libraries.)
This crash occurs because the library libsot-dynamic.so
is loaded after the library libsot-core.so
.
At the opposite, the following code will properly exit:
from dynamic_graph.sot.dynamics.angle_estimator import AngleEstimator from dynamic_graph.sot.core.matrix_util import matrixToTuple
Note that this is only due to the fact that in dynamic_graph/sot/dynamics/__init__.py
, the Dynamic entity is the first one loaded. With this
from angle_estimator import AngleEstimator from dynamic import Dynamic
the test would also crash.
Is there a way to correct this?
For now, I have to use a workaround that consists in systematically importing
from dynamic_graph.sot.dynamics.dynamic import Dynamic
first, so as to avoid this issue.
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