Commit 0edf7abf authored by Andrea Del Prete's avatar Andrea Del Prete
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Improve README

parent 82c68c95
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TSID is C++ library for optimization-based inverse-dynamics control based on the rigid multi-body dynamics library [Pinocchio](https://github.com/stack-of-tasks/pinocchio).
Take a look at the project [wiki](https://github.com/stack-of-tasks/tsid/wiki) for more details.
TSID is a C++ library for optimization-based inverse-dynamics control based on the rigid multi-body dynamics library [Pinocchio](https://github.com/stack-of-tasks/pinocchio).
## Dependencies
## Documentation
* Take a look at the project [wiki](https://github.com/stack-of-tasks/tsid/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](https://andreadelprete.github.io/#teaching) you can find slides and video lessons on TSID.
* [Memmo 2020 summer school](https://memory-of-motion.github.io/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](https://github.com/stack-of-tasks/pinocchio)
* [eiquadprog](https://github.com/stack-of-tasks/eiquadprog)
* [example-robot-data](https://github.com/Gepetto/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](https://github.com/stack-of-tasks/pinocchio) follow the instruction on its website.
## Installation
To compile TSID:
cd $DEVEL/openrobots/src/
git clone --recursive git@github.com:stack-of-tasks/tsid.git
......@@ -36,7 +60,7 @@ To install EigenPy you can compile the source code:
or, on Ubuntu, you can use apt-get:
sudo apt-get install robotpkg-py27-eigenpy
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:
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