Stack Of Tasks issueshttps://gepgitlab.laas.fr/groups/stack-of-tasks/-/issues2018-12-10T17:04:05Zhttps://gepgitlab.laas.fr/stack-of-tasks/pinocchio-benchmarks/-/issues/10Atlas not floating in Pinocchio benchmark?2018-12-10T17:04:05ZGuilhem SaurelAtlas not floating in Pinocchio benchmark?*Created by: tkoolen*
Hey, I noticed this:
https://github.com/stack-of-tasks/pinocchio-benchmarks/blob/d08f8dc504a3003ea496885b65396cc7516eef52/src/benchmarks-pinocchio.cpp#L19
and similar lines and was wondering why Atlas is spec...*Created by: tkoolen*
Hey, I noticed this:
https://github.com/stack-of-tasks/pinocchio-benchmarks/blob/d08f8dc504a3003ea496885b65396cc7516eef52/src/benchmarks-pinocchio.cpp#L19
and similar lines and was wondering why Atlas is special-cased like this.https://gepgitlab.laas.fr/stack-of-tasks/pinocchio-benchmarks/-/issues/7Heads up: RBDL misparses links named "base_link" in URDF2018-12-07T10:10:43ZGuilhem SaurelHeads up: RBDL misparses links named "base_link" in URDF*Created by: tkoolen*
See https://bitbucket.org/rbdl/rbdl/issues/85/urdf-misparsed-when-theres-a-link-named. Notably, this happens with the HyQ URDF.*Created by: tkoolen*
See https://bitbucket.org/rbdl/rbdl/issues/85/urdf-misparsed-when-theres-a-link-named. Notably, this happens with the HyQ URDF.https://gepgitlab.laas.fr/stack-of-tasks/pinocchio-benchmarks/-/issues/6Setup trouble2019-02-28T10:27:29ZGuilhem SaurelSetup trouble*Created by: tkoolen*
Hey guys. I wanted to try running this locally, but I'm having some trouble setting up the non-docker version.
First, I think you're missing a `git submodule update --init --recursive`. However, running that res...*Created by: tkoolen*
Hey guys. I wanted to try running this locally, but I'm having some trouble setting up the non-docker version.
First, I think you're missing a `git submodule update --init --recursive`. However, running that results in
```
error: Server does not allow request for unadvertised object 94c4d6d5c65b8f0a5f9963db7d93e9568f8aa3db
Fetched in submodule path 'benchmark', but it did not contain 94c4d6d5c65b8f0a5f9963db7d93e9568f8aa3db. Direct fetching of that commit failed.
```
Second, installing RBDL according to the instructions results in boost-related errors (even though I do have `libboost-dev` installed via `apt-get`):
```
/home/twan/code/pinocchio-benchmarks/libs/rbdl/addons/urdfreader/urdfreader.cc:15:9: error: ‘boost’ does not name a type; did you mean ‘bool’?
typedef boost::shared_ptr<urdf::Link> LinkPtr;
```
I think this may just be a result of the submodule update failure.
Thanks!https://gepgitlab.laas.fr/stack-of-tasks/pinocchio-benchmarks/-/issues/8RBDL test & benchmarks broken2018-12-08T10:07:27ZGuilhem SaurelRBDL test & benchmarks broken*Created by: nim65s*
`./run.sh` gives:
```
+ /root/pinocchio-benchmarks/prefix/bin/rbdl-test
Error while processing body 'rgbd_link': rotation of body frames not yet supported. Please rotate the joint frame instead.
Error constructi...*Created by: nim65s*
`./run.sh` gives:
```
+ /root/pinocchio-benchmarks/prefix/bin/rbdl-test
Error while processing body 'rgbd_link': rotation of body frames not yet supported. Please rotate the joint frame instead.
Error constructing model from urdf file.
+ /root/pinocchio-benchmarks/prefix/bin/pinocchio-test
+ /root/pinocchio-benchmarks/prefix/bin/benchmarks-pinocchio
+ /root/pinocchio-benchmarks/prefix/bin/benchmarks-rbdl
Error while processing body 'rgbd_link': rotation of body frames not yet supported. Please rotate the joint frame instead.
Error constructing model from urdf file.
Error while processing body 'rgbd_link': rotation of body frames not yet supported. Please rotate the joint frame instead.
Error constructing model from urdf file.
Error while processing body 'rgbd_link': rotation of body frames not yet supported. Please rotate the joint frame instead.
Error constructing model from urdf file.
```https://gepgitlab.laas.fr/stack-of-tasks/talos_integration_tests/-/issues/16Launch issues on 16.042020-06-19T07:02:20ZGuilhem SaurelLaunch issues on 16.04*Created by: nim65s*
Hi,
Following #15, trying to launch the first test on 16.04 yields the following error:
```
[Testcase: testtest_sot_talos_kine] ... ok
[ROSTEST]-------------------------------------------------------------...*Created by: nim65s*
Hi,
Following #15, trying to launch the first test on 16.04 yields the following error:
```
[Testcase: testtest_sot_talos_kine] ... ok
[ROSTEST]-----------------------------------------------------------------------
[talos_integration_tests.rosunit-test_sot_talos_kine/runTest][ERROR]------------
not all arguments converted during string formatting
File "/usr/lib/python2.7/unittest/case.py", line 329, in run
testMethod()
File "/ws/install/lib/talos_integration_tests/start_talos_gazebo_kine.py", line 65, in runTest
launch_gazebo_alone.start()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start
self._start_infrastructure()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure
self._load_config()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config
roslaunch_strs=self.roslaunch_strs, verbose=self.verbose)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/config.py", line 450, in load_config_default
logger.info('loading config file %s'%f)
--------------------------------------------------------------------------------
SUMMARY
* RESULT: FAIL
* TESTS: 1
* ERRORS: 1
* FAILURES: 0
```https://gepgitlab.laas.fr/stack-of-tasks/sot-qgv/-/issues/1Collect the need of the users2020-04-14T11:32:27ZOlivier StasseCollect the need of the usersIn this issue, we will collect the users desired features.
0/ Decide in which language the interface will be implemented Python or C++ ? (Python seems to be the best)
1/ Display of the graph at a given frequency.
2/ Creating instanc...In this issue, we will collect the users desired features.
0/ Decide in which language the interface will be implemented Python or C++ ? (Python seems to be the best)
1/ Display of the graph at a given frequency.
2/ Creating instances of Nodes
3/ Browsing of the plugins installed on the computer
4/ Plugging Nodes
5/ Interaction with the Nodes commands
https://gepgitlab.laas.fr/stack-of-tasks/talos-data/-/issues/4Hardcoded talos_data path for 16.04 in script start_talos_gazebo_16_04.py2020-02-19T11:08:48ZNoelie RamuzatHardcoded talos_data path for 16.04 in script start_talos_gazebo_16_04.pyIn 16.04 the path to talos_data cannot be retreive using the rospkg.RosPack() and get_path('talos_data').
A temporary fix has been created in the script start_talos_gazebo_16_04.py, which hardcode the path (see pyrene-dev/talos_data!12)...In 16.04 the path to talos_data cannot be retreive using the rospkg.RosPack() and get_path('talos_data').
A temporary fix has been created in the script start_talos_gazebo_16_04.py, which hardcode the path (see pyrene-dev/talos_data!12).
This should be removed, we have to find a way to retreive the path in 16.04.Guilhem SaurelGuilhem Saurelhttps://gepgitlab.laas.fr/stack-of-tasks/talos-metapkg-ros-control-sot/-/issues/4How to achieve torque control with the stack-of-tasks?2019-09-10T01:15:44ZGuilhem SaurelHow to achieve torque control with the stack-of-tasks?*Created by: pi-q*
Hi! We would be interested in testing the stack-of-tasks for torque control with our Talos robot, but might need a little bit of guidance on how to make things work.
So far, we have installed stack-of-tasks softwar...*Created by: pi-q*
Hi! We would be interested in testing the stack-of-tasks for torque control with our Talos robot, but might need a little bit of guidance on how to make things work.
So far, we have installed stack-of-tasks software from robotpkg (sot-core, talos-dev, simple-humanoid-description, parametric-curves, tsid, soth), with the addition of [sot-torque-control](https://github.com/stack-of-tasks/sot-torque-control) and [talos-torque-control](https://github.com/pyrene-dev/talos-torque-control).
For some reason, I can't successfully get the robot to follow trajectories with torque control in Gazebo. Is there maybe something we are missing that we should know of?
I hope you can help! I am aware there is a lot of details missing in my question, just let me know what information you might need and I will provide it from there. Just to let you know, there is another very similar issue that I opened [here](https://github.com/pyrene-dev/talos-torque-control/issues/6), but I was not sure I would get a reply from that side.
Thanks!https://gepgitlab.laas.fr/stack-of-tasks/dynamic-graph-python/-/issues/1Job Failed #533412019-12-12T16:36:55ZGuilhem SaurelJob Failed #53341Job [#53341](https://gepgitlab.laas.fr/stack-of-tasks/dynamic-graph-python/-/jobs/53341) failed for 0b7862d601e98b4dfc9b9b0be27a93bd61a774d0:
The CI consider dynamic-graph and py-dynamic-graph as the same package here.Job [#53341](https://gepgitlab.laas.fr/stack-of-tasks/dynamic-graph-python/-/jobs/53341) failed for 0b7862d601e98b4dfc9b9b0be27a93bd61a774d0:
The CI consider dynamic-graph and py-dynamic-graph as the same package here.Guilhem SaurelGuilhem Saurelhttps://gepgitlab.laas.fr/stack-of-tasks/sot-core/-/issues/2Job Failed #534472019-12-11T21:55:18ZGuilhem SaurelJob Failed #53447Job [#53447](https://gepgitlab.laas.fr/stack-of-tasks/sot-core/-/jobs/53447) failed for 15aba634bcc7d042d9885ef15f80dddbaf1c15ed:
```
AttributeError: 'module' object has no attribute 'dgpyError'
```
-> release a new version of dynamic-...Job [#53447](https://gepgitlab.laas.fr/stack-of-tasks/sot-core/-/jobs/53447) failed for 15aba634bcc7d042d9885ef15f80dddbaf1c15ed:
```
AttributeError: 'module' object has no attribute 'dgpyError'
```
-> release a new version of dynamic-graph-python, and require that version here.Guilhem SaurelGuilhem Saurelhttps://gepgitlab.laas.fr/stack-of-tasks/sot-tiago/-/issues/2Make SoT reloadable2019-05-15T11:51:31ZGuilhem SaurelMake SoT reloadable*Created by: jmirabel*
It should be sufficient to wrap the prologue into a function, and call this function in the controller, where the prologue is imported.*Created by: jmirabel*
It should be sufficient to wrap the prologue into a function, and call this function in the controller, where the prologue is imported.https://gepgitlab.laas.fr/stack-of-tasks/talos-data/-/issues/2Duplicate URDF files?2020-02-19T13:27:31ZGabriele BuondonnoDuplicate URDF files?Folder [urdf](https://gepgitlab.laas.fr/pyrene-dev/talos_data/tree/master/urdf) and folder [robots](https://gepgitlab.laas.fr/pyrene-dev/talos_data/tree/master/robots) contain some files which are identical to each other. In particular, ...Folder [urdf](https://gepgitlab.laas.fr/pyrene-dev/talos_data/tree/master/urdf) and folder [robots](https://gepgitlab.laas.fr/pyrene-dev/talos_data/tree/master/robots) contain some files which are identical to each other. In particular, [urdf/talos_reduced.urdf](https://gepgitlab.laas.fr/pyrene-dev/talos_data/blob/master/urdf/talos_reduced.urdf) and [robots/talos_reduced.urdf](https://gepgitlab.laas.fr/pyrene-dev/talos_data/tree/master/robots/talos_reduced.urdf) are exactly the same file.
This is confusing and I think is a mistake.
By the way, what is the rationale of the two folders? Why isn't everything inside [urdf](https://gepgitlab.laas.fr/pyrene-dev/talos_data/tree/master/urdf)?https://gepgitlab.laas.fr/stack-of-tasks/talos-torque-control/-/issues/1ddp integration in talos-torque-control2020-08-26T08:22:50ZOlivier Stasseddp integration in talos-torque-controlThis issue aims at integrating DDP-actuator in sot-talos-torque-control.This issue aims at integrating DDP-actuator in sot-talos-torque-control.https://gepgitlab.laas.fr/stack-of-tasks/sot-core/-/issues/1Handling control actuator by actuator2019-07-24T13:52:59ZOlivier StasseHandling control actuator by actuatorThis issue tries aims at handling actuator by actuator SoT and Hardware control type.
For instance hardware gripper in position (hardware side) and other motors controlled in effort (hardware side)
with the SoT in full torque control mode.This issue tries aims at handling actuator by actuator SoT and Hardware control type.
For instance hardware gripper in position (hardware side) and other motors controlled in effort (hardware side)
with the SoT in full torque control mode.Olivier StasseOlivier Stasse