Commit 97bd70e9 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Minimal fix.

parent cb48b6cc
......@@ -30,7 +30,7 @@
github: sot-pattern-generator
status: stable
- name: SoT Romeo
github: sot-romeo
- name: SoT Talos
github: sot-talos
status: stable
......@@ -14,12 +14,12 @@ category: Documentation
<td><center><b>Additional installation instructions</b></center></td>
</tr>
<tr>
<td><center><img src="images/robots/romeo.png" height="90" /></br>Romeo</center></td>
<td>Tested on simulation.</br>Maintained</td>
<td>Included in the default installation script</td>
<td><center><img src="../images/robots/pyreneextruded.png" height="90" /></br>Talos</center></td>
<td>Tested on real platform.</br>Maintained</td>
<td>apt-get install robotpkg-talos-dev</td>
</tr>
<tr>
<td><center><img src="images/robots/hrp2.png" height="90" /></br>HRP2</center></td>
<td><center><img src="../images/robots/hrp2.png" height="90" /></br>HRP2</center></td>
<td>Tested on the real platform.</br> Maintained</td>
<td>
<ul>
......@@ -28,21 +28,6 @@ category: Documentation
</ul>
</td>
</tr>
<tr>
<td><center><img src="images/robots/hrp4.png" height="90" /></br>HRP4</center></td>
<td>Tested on the real platform.</br> Maintained</td>
<td>
<ul>
<li>Requires access to the private repositories of the HRP4</li>
<li>Requires the IDH_PRIVATE_URI variable to be non null in the install-sot.sh script</li>
</ul>
</td>
</tr>
<tr>
<td><center><img src="images/robots/nao.png" height="90" /></br>Nao</center></td>
<td>Unknown</td>
<td></td>
</tr>
<tr>
<td colspan=3><center><h4>Mobile robots</h4></center></td>
</tr>
......@@ -51,16 +36,5 @@ category: Documentation
<td><center><b>State</b></center></td>
<td><center><b>Additional installation instructions</b></center></td>
</tr>
<tr>
<td style="width:100px"><center><img src="images/robots/pr2.png" height="90" /></br>PR2</center></td>
<td>
Arm manipulation tested on the real platform, wheel motion not validated</br>
Maintainance state unknown
</td>
<td>
<ul>
<li>Add the following lines to your install-sot script.</li>
</ul>
</td>
</tr>
</table>
......@@ -9,7 +9,7 @@ category: Documentation
<div style="padding: 1em"></div>
<section class="slider">
<section class="../slider">
<div>
<center>
<table>
......@@ -23,7 +23,7 @@ category: Documentation
<td width="200" valign="top"><center>
{% if project.image %}
<a href="#{{ project.name }}">
<img height="200" src="assets/showcase/{{ project.image }}"
<img height="200" src="../assets/showcase/{{ project.image }}"
alt="{{ project.title }}"
title="{{ project.title }}"/>
</a>
......@@ -51,18 +51,18 @@ category: Documentation
</section>
<!-- Load FlexSlider Library -->
<script src="js/flexslider/jquery.flexslider-min.js"></script>
<script src="../js/flexslider/jquery.flexslider-min.js"></script>
<!-- Load FlexSlider style -->
<link href="js/flexslider/flexslider.css" rel="stylesheet">
<link href="../js/flexslider/flexslider.css" rel="stylesheet">
<!-- Load custom slider style -->
<link rel="stylesheet" href="slider.css" type="text/css">
<script src="http://a.vimeocdn.com/js/froogaloop2.min.js"></script>
<!-- Load YouTube player -->
<script src="js/flexslider-youtube.js"></script>
<script src="js/jquery.fitvids.js"></script>
<script src="../js/flexslider-youtube.js"></script>
<script src="../js/jquery.fitvids.js"></script>
<script type="text/javascript">
// Initialize FlexSlider
......
......@@ -5,40 +5,3 @@ category: Documentation
---
This page discusses several questions that are often asked by our users.
## Error message when leaving the python interpretor / closing the controller
### Symptoms
```bash
*** glibc detected *** python: double free or corruption (fasttop): 0x0000000002d61170 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x7eb96)[0x7f3677fb7b96]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(_ZNSsD1Ev+0x1f)[0x7f366f19951f]
/lib/x86_64-linux-gnu/libc.so.6(+0x3b901)[0x7f3677f74901]
/lib/x86_64-linux-gnu/libc.so.6(+0x3b985)[0x7f3677f74985]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xf4)[0x7f3677f5a774]
python[0x41ba41]
======= Memory map: ========
00400000-00672000 r-xp 00000000 08:06 178766 /usr/bin/python2.7
00871000-00872000 r--p 00271000 08:06 178766 /usr/bin/python2.7
00872000-008db000 rw-p 00272000 08:06 178766 /usr/bin/python2.7
008db000-008ed000 rw-p 00000000 00:00 0
023e2000-02d79000 rw-p 00000000 00:00 0 [heap]
7f366464a000-7f366466a000 r-xp 00000000 08:07 3216189 .../sot/src/sot/sot-dynamic/_build-DEBUG/src/zmp-from-forces.so.2.9.0-16-gf727
7f366466a000-7f366486a000 ---p 00020000 08:07 3216189 .../sot/src/sot/sot-dynamic/_build-DEBUG/src/zmp-from-forces.so.2.9.0-16-gf727
7f366486a000-7f366486c000 r--p 00020000 08:07 3216189 .../sot/src/sot/sot-dynamic/_build-DEBUG/src/zmp-from-forces.so.2.9.0-16-gf727
7f366486c000-7f366486d000 rw-p 00022000 08:07 3216189 .../sot/src/sot/sot-dynamic/_build-DEBUG/src/zmp-from-forces.so.2.9.0-16-gf727
7f366486d000-7f366486e000 r-xp 00000000 08:07 2913923 .../sot/install/lib/python2.7/site-packages/dynamic_graph/sot/dynamics/zmp_from_forces/wrap.so
...
```
### Workaround
The issue has been signaled in the github page of the package sot-dynamic
but the solution for this problem has not be found yet.
A workaround consists in loading an element of sot-dynamic prior to any load of
an element of sot-core:
```python
from dynamic_graph.sot.dynamics import AngleEstimator
from dynamic_graph.sot.core import *
```
......@@ -27,13 +27,13 @@ Also, it is mandatory for the base_link to be a virtual joint.
## Create the associated sot package
To simplify this work, you can start from the [sot-romeo](https://github.com/stack-of-tasks/sot-romeo) package.
To simplify this work, you can start from the [sot-talos](https://github.com/stack-of-tasks/sot-talos) package.
This package contains two elements:
- The python files allowing to load the dynamic model
- The C++ files allowing to embed the controller
From now on, we suppose that you have copied the sot-romeo repository into sot-astro (replace astro by the name of your
From now on, we suppose that you have copied the sot-talos repository into sot-astro (replace astro by the name of your
robot).
### Python
......@@ -182,20 +182,6 @@ solver.push(robot.tasks['left-wrist'])
go()
```
#### Walk test
The second test simply consists in validating the walk algorithms on your robot.
You can replace the paragraph 3 of the previous example by this one:
```python
# 3. Basic walk
from dynamic_graph.sot.pattern_generator.walking import CreateEverythingForPG, walkFewSteps
CreateEverythingForPG(robot, solver)
walkFewSteps(robot)
go()
```
......
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