Commit d47bf5c5 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

Use Gepetto jekyll-theme

parent da382f80
[submodule "js/flexslider"]
path = js/flexslider
url = https://github.com/woothemes/FlexSlider.git
source "https://rubygems.org"
gem 'github-pages', group: :jekyll_plugins
GEM
remote: https://rubygems.org/
specs:
activesupport (4.2.9)
i18n (~> 0.7)
minitest (~> 5.1)
thread_safe (~> 0.3, >= 0.3.4)
tzinfo (~> 1.1)
addressable (2.5.2)
public_suffix (>= 2.0.2, < 4.0)
coffee-script (2.4.1)
coffee-script-source
execjs
coffee-script-source (1.11.1)
colorator (1.1.0)
commonmarker (0.17.7.1)
ruby-enum (~> 0.5)
concurrent-ruby (1.0.5)
ethon (0.11.0)
ffi (>= 1.3.0)
execjs (2.7.0)
faraday (0.13.1)
multipart-post (>= 1.2, < 3)
ffi (1.9.18)
forwardable-extended (2.6.0)
gemoji (3.0.0)
github-pages (172)
activesupport (= 4.2.9)
github-pages-health-check (= 1.3.5)
jekyll (= 3.6.2)
jekyll-avatar (= 0.5.0)
jekyll-coffeescript (= 1.0.2)
jekyll-commonmark-ghpages (= 0.1.3)
jekyll-default-layout (= 0.1.4)
jekyll-feed (= 0.9.2)
jekyll-gist (= 1.4.1)
jekyll-github-metadata (= 2.9.3)
jekyll-mentions (= 1.2.0)
jekyll-optional-front-matter (= 0.3.0)
jekyll-paginate (= 1.1.0)
jekyll-readme-index (= 0.2.0)
jekyll-redirect-from (= 0.12.1)
jekyll-relative-links (= 0.5.2)
jekyll-remote-theme (= 0.2.3)
jekyll-sass-converter (= 1.5.0)
jekyll-seo-tag (= 2.3.0)
jekyll-sitemap (= 1.1.1)
jekyll-swiss (= 0.4.0)
jekyll-theme-architect (= 0.1.0)
jekyll-theme-cayman (= 0.1.0)
jekyll-theme-dinky (= 0.1.0)
jekyll-theme-hacker (= 0.1.0)
jekyll-theme-leap-day (= 0.1.0)
jekyll-theme-merlot (= 0.1.0)
jekyll-theme-midnight (= 0.1.0)
jekyll-theme-minimal (= 0.1.0)
jekyll-theme-modernist (= 0.1.0)
jekyll-theme-primer (= 0.5.2)
jekyll-theme-slate (= 0.1.0)
jekyll-theme-tactile (= 0.1.0)
jekyll-theme-time-machine (= 0.1.0)
jekyll-titles-from-headings (= 0.5.0)
jemoji (= 0.8.1)
kramdown (= 1.14.0)
liquid (= 4.0.0)
listen (= 3.0.6)
mercenary (~> 0.3)
minima (= 2.1.1)
rouge (= 2.2.1)
terminal-table (~> 1.4)
github-pages-health-check (1.3.5)
addressable (~> 2.3)
net-dns (~> 0.8)
octokit (~> 4.0)
public_suffix (~> 2.0)
typhoeus (~> 0.7)
html-pipeline (2.7.1)
activesupport (>= 2)
nokogiri (>= 1.4)
i18n (0.9.1)
concurrent-ruby (~> 1.0)
jekyll (3.6.2)
addressable (~> 2.4)
colorator (~> 1.0)
jekyll-sass-converter (~> 1.0)
jekyll-watch (~> 1.1)
kramdown (~> 1.14)
liquid (~> 4.0)
mercenary (~> 0.3.3)
pathutil (~> 0.9)
rouge (>= 1.7, < 3)
safe_yaml (~> 1.0)
jekyll-avatar (0.5.0)
jekyll (~> 3.0)
jekyll-coffeescript (1.0.2)
coffee-script (~> 2.2)
coffee-script-source (~> 1.11.1)
jekyll-commonmark (1.1.0)
commonmarker (~> 0.14)
jekyll (>= 3.0, < 4.0)
jekyll-commonmark-ghpages (0.1.3)
commonmarker (~> 0.17.6)
jekyll-commonmark (~> 1)
rouge (~> 2)
jekyll-default-layout (0.1.4)
jekyll (~> 3.0)
jekyll-feed (0.9.2)
jekyll (~> 3.3)
jekyll-gist (1.4.1)
octokit (~> 4.2)
jekyll-github-metadata (2.9.3)
jekyll (~> 3.1)
octokit (~> 4.0, != 4.4.0)
jekyll-mentions (1.2.0)
activesupport (~> 4.0)
html-pipeline (~> 2.3)
jekyll (~> 3.0)
jekyll-optional-front-matter (0.3.0)
jekyll (~> 3.0)
jekyll-paginate (1.1.0)
jekyll-readme-index (0.2.0)
jekyll (~> 3.0)
jekyll-redirect-from (0.12.1)
jekyll (~> 3.3)
jekyll-relative-links (0.5.2)
jekyll (~> 3.3)
jekyll-remote-theme (0.2.3)
jekyll (~> 3.5)
rubyzip (>= 1.2.1, < 3.0)
typhoeus (>= 0.7, < 2.0)
jekyll-sass-converter (1.5.0)
sass (~> 3.4)
jekyll-seo-tag (2.3.0)
jekyll (~> 3.3)
jekyll-sitemap (1.1.1)
jekyll (~> 3.3)
jekyll-swiss (0.4.0)
jekyll-theme-architect (0.1.0)
jekyll (~> 3.5)
jekyll-seo-tag (~> 2.0)
jekyll-theme-cayman (0.1.0)
jekyll (~> 3.5)
jekyll-seo-tag (~> 2.0)
jekyll-theme-dinky (0.1.0)
jekyll (~> 3.5)
jekyll-seo-tag (~> 2.0)
jekyll-theme-hacker (0.1.0)
jekyll (~> 3.5)
jekyll-seo-tag (~> 2.0)
jekyll-theme-leap-day (0.1.0)
jekyll (~> 3.5)
jekyll-seo-tag (~> 2.0)
jekyll-theme-merlot (0.1.0)
jekyll (~> 3.5)
jekyll-seo-tag (~> 2.0)
jekyll-theme-midnight (0.1.0)
jekyll (~> 3.5)
jekyll-seo-tag (~> 2.0)
jekyll-theme-minimal (0.1.0)
jekyll (~> 3.5)
jekyll-seo-tag (~> 2.0)
jekyll-theme-modernist (0.1.0)
jekyll (~> 3.5)
jekyll-seo-tag (~> 2.0)
jekyll-theme-primer (0.5.2)
jekyll (~> 3.5)
jekyll-github-metadata (~> 2.9)
jekyll-seo-tag (~> 2.2)
jekyll-theme-slate (0.1.0)
jekyll (~> 3.5)
jekyll-seo-tag (~> 2.0)
jekyll-theme-tactile (0.1.0)
jekyll (~> 3.5)
jekyll-seo-tag (~> 2.0)
jekyll-theme-time-machine (0.1.0)
jekyll (~> 3.5)
jekyll-seo-tag (~> 2.0)
jekyll-titles-from-headings (0.5.0)
jekyll (~> 3.3)
jekyll-watch (1.5.1)
listen (~> 3.0)
jemoji (0.8.1)
activesupport (~> 4.0, >= 4.2.9)
gemoji (~> 3.0)
html-pipeline (~> 2.2)
jekyll (>= 3.0)
kramdown (1.14.0)
liquid (4.0.0)
listen (3.0.6)
rb-fsevent (>= 0.9.3)
rb-inotify (>= 0.9.7)
mercenary (0.3.6)
mini_portile2 (2.3.0)
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mini_portile2 (~> 2.3.0)
octokit (4.7.0)
sawyer (~> 0.8.0, >= 0.5.3)
pathutil (0.16.0)
forwardable-extended (~> 2.6)
public_suffix (2.0.5)
rb-fsevent (0.10.2)
rb-inotify (0.9.10)
ffi (>= 0.5.0, < 2)
rouge (2.2.1)
ruby-enum (0.7.1)
i18n
rubyzip (1.2.1)
safe_yaml (1.0.4)
sass (3.5.3)
sass-listen (~> 4.0.0)
sass-listen (4.0.0)
rb-fsevent (~> 0.9, >= 0.9.4)
rb-inotify (~> 0.9, >= 0.9.7)
sawyer (0.8.1)
addressable (>= 2.3.5, < 2.6)
faraday (~> 0.8, < 1.0)
terminal-table (1.8.0)
unicode-display_width (~> 1.1, >= 1.1.1)
thread_safe (0.3.6)
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ethon (>= 0.8.0)
tzinfo (1.2.4)
thread_safe (~> 0.1)
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PLATFORMS
ruby
DEPENDENCIES
github-pages
BUNDLED WITH
1.16.1
title: Stack of Tasks
description: Software for Controlling Redundant Robots
baseurl: ""
url: "https://stack-of-tasks.github.io"
markdown: kramdown
remote_theme: Gepetto/jekyll-theme
category_list:
- name: Getting Started
icon: graduation-cap
- name: Documentation
icon: book
- name: Tutorials
icon: play
- name: Development
icon: wrench
links:
- name: View on Github
url: http://www.github.com/stack-of-tasks/
- name: Support
icon: question-circle
- name: demo_robotatcwe
id: 2
image: demo_robotatcwe.pdf.png
image: demo_robotatcwe.png
title: Robot@CWE
lab: JRL-Japan
description: This is the Final demonstrator of the FP7 IP Robot@CWE project.
......@@ -10,7 +10,7 @@
- name: demo_ballerose
id: 3
image: demo_ballerose.pdf.png
image: demo_ballerose.png
title: Grasping while walking
lab: JRL-Japan
description: Grasping a ball with visual guidance while walking. First demonstration with the presented framework during the end of Nicolas Mansard's PhD
......@@ -19,7 +19,7 @@
- name: demo_frigo
id: 10
image: demo_frigo.pdf.png
image: demo_frigo.png
title: Open the fridge
lab: JRL-Japan
description: The robot opens a fridge to grasp a can. The motion results from an optimized task sequence. The motion was implemented by F. Keith during his PhD thesis.
......@@ -28,7 +28,7 @@
- name: demo_switch
id: 4
image: demo_switch.pdf.png
image: demo_switch.png
title: Haptic communication
lab: JRL-Japan
description: Study about the haptic (non verbal) communication between two human partners during a task implying physical collaboration. The resulting strategies are applied to drive the humanoid robot decisions. The motion was programmed by A. Bussy during his PhD thesis.
......@@ -39,7 +39,7 @@
- name: demo_bci
id: 6
image: demo_bci.pdf.png
image: demo_bci.png
title: Brain computer interface
lab: JRL-Japan
description: The robot is driven by symbolic orders that are selected by a brain-computer interface. The orders are converted into tasks that are applied by the robot. The demonstration was developped by P. Gergondet during his PhD thesis. It is one of the main demonstrators of the FP7 IP VERE project.
......@@ -50,7 +50,7 @@
- name: demo_torea_robot
id: 7
image: demo_torea_robot.pdf.png
image: demo_torea_robot.png
title: Active vision
lab: JRL-Japan
description: The robot autonomously selects the most relevant poses to improve the 3D reconstruction of an ob ject. The built model is then used for the "Treasure hunting" project, led by O. Stasse [Saidi 07]. The active-search movements have been develop ed by T. Foissote during his PhD thesis.
......@@ -58,7 +58,7 @@
- name: demo_joystick
id: 8
image: demo_joystick.pdf.png
image: demo_joystick.png
title: Joystick-controlled walk
lab:
- JRL-Japan
......@@ -71,7 +71,7 @@
- name: demo_dune
id: 9
image: demo_dune.pdf.png
image: demo_dune.png
title: Visual servoing of the walk
lab: JRL-Japan
description: Similarly to the previous item, the robot COM and footprints are computed by model-predictive control. This time, the robot velocity is input by the camera feedback, following a visual-servoing scheme.
......@@ -79,7 +79,7 @@
url: http://hal.inria.fr/inria-00567664
- name: demo_stpbv
image: demo_stpbv.pdf.png
image: demo_stpbv.png
title: Obstacle avoidance
lab: JRL-Japan
description: The obstacles are locally taken into account in the control scheme. The task used to prevent the collision is based on a smooth body envelope [Escande 07].
......@@ -88,10 +88,10 @@
- name: demo_skin
id: 10
image: demo_skin.pdf.png
image: demo_skin.png
title: Skin for humanoid robots
lab:
- JRL-Japan
- JRL-Japan
- TUM
description: Several tactile and proximetric sensor cells are attached to the HRP-2 robot cover. They are used to guide the robot and teach by showing how to grasp various classes of ob ject using whole-body grasps.
ref: mittendorfer-iros-13
......@@ -101,10 +101,10 @@
- name: demo_mexique
id: 11
image: demo_mexique.pdf.png
image: demo_mexique.png
title: Pursuit-evasion planning
lab:
- JRL-Japan
- JRL-Japan
- CIMAT
description: A navigation trajectory is computed while taking into account the robot visibility constraints. The plan is then executed using the walking pattern generator and the proposed whole-body resolution scheme.
ref: hayet-ijhr-12
......@@ -112,7 +112,7 @@
- name: demo_clermont
id: 12
image: demo_clermont.pdf.png
image: demo_clermont.png
title: Bi-manual visual servoing
lab:
- LAAS
......@@ -122,7 +122,7 @@
- name: demo_fastplan
id: 13
image: demo_fastplan.pdf.png
image: demo_fastplan.png
title: Fast footstep replanning
lab:
- LAAS
......@@ -135,7 +135,7 @@
## - name: demo_kidroom
## id: 14
## image: demo_kidroom.pdf.png
## image: demo_kidroom.png
## title: Careful steps through a kidroom
## lab: LAAS
## description: A footstep plan is computed into a very constrained environment. The flying-foot position is servoed. A programming language during the execution based on visual feedback. The demonstration was realized by T. Moulard during his PhD thesis.
......@@ -146,15 +146,15 @@
## - name: demo_novela
## id: 15
## image: demo_novela.pdf.png
## image: demo_novela.png
## title: Yoga dance
## lab: LAAS
## description: The robot motion is computed from motion-capture dynamic motion of a human dancer. Most of the work has been done by O. Ramos during his Master thesis.
## description: The robot motion is computed from motion-capture dynamic motion of a human dancer. Most of the work has been done by O. Ramos during his Master thesis.
## ref: ramos-ram-sub13
## - name: demo_chair
## id: 16
## image: demo_chair.pdf.png
## image: demo_chair.png
## title: Stting into an armchair
## lab: LAAS
## description: The motion illustrates multi-contact capabilities of the generation algorithm. It is executed in op en loop by the robot. This motion was developed by L. Saab during her PhD thesis.
......@@ -163,28 +163,28 @@
## - name: demo_hak
## id: 17
## image: demo_hak.pdf.png
## image: demo_hak.png
## title: Motion recognition
## lab:
## - LAAS
## - JRL-Japan
## description: The task-function approach is used to describe an observed motion.
## description: The task-function approach is used to describe an observed motion.
## ref: hak-tsmc-12
## url: http://hal.archives-ouvertes.fr/hal-00697272
## - name: demo_duong
## id: 18
## image: demo_duong.pdf.png
## image: demo_duong.png
## title: Visual footstep planning and control
## lab: LAAS
## description:
## description:
## ref: duong-humanoid-12
## url: hal.inria.fr/hal-00727600
## - name: demo_smallstep_cdf
## id: 19
## image: demo_smallstep_cdf.pdf.png
## image: demo_smallstep_cdf.png
## title: Small-step controllability
## lab: LAAS
## description: The framework is used to execute a footstep plan computed by homotopy [Kanoun 11b]. The footstep trajectory is computed at the medium rate of 3Hz. The footsteps and robot posture is then sent to the control and performed in real time. Both algorithm loops are closed on the camera feedback. This motion was developed by D. Dang during his PhD thesis.
......@@ -195,7 +195,7 @@
## - name: demo_slam
## id: 20
## image: demo_slam.pdf.png
## image: demo_slam.png
## title: SLAM based robot control
## lab: LAAS
## description: The robot localizes itself using a visual sparse map. The localization error is back fed to the control that corrects the position with respect to an input plan. The robot finally grasps a ball after several steps. The demonstration was developed by T. Moulard during his PhD thesis.
......@@ -206,7 +206,7 @@
## - name: demo_dyninv
## id: 21
## image: demo_dyninv.pdf.png
## image: demo_dyninv.png
## title: Climbing a ladder
## lab: LAAS
## description: Application of the multi-contact inverse-dynamics motion generation to the humanoid robot Romeo model.
......@@ -218,7 +218,7 @@
## - name: demo_stab
## id: 22
## image: demo_stab.pdf.png
## image: demo_stab.png
## title: Balance stabilization
## description: Developments toward outdoor walking, by F. Lamiraux.
## lab:
......@@ -227,7 +227,7 @@
## - name: demo_theremin
## id: 23
## image: demo_theremin.pdf.png
## image: demo_theremin.png
## title: Audio-based control
## lab:
## - LAAS
......@@ -237,7 +237,7 @@
## - name: demoros
## id: 24
## image: demoros.pdf.png
## image: demoros.png
## title: ROS bridge
## lab: LAAS
## description: The framework is bridged to the middleware ROS. The middleware is used to import data coming from other processes or other computers (vision data, user commands, etc). The PR-2 model is included in the framework.
......@@ -245,11 +245,11 @@
## - name: demo_romeo
## id: 25
## image: demo_romeo.pdf.png
## image: demo_romeo.png
## title: Navigation planning and execution
## lab: INRIA
## description: The robot Romeo navigates into a virtual home environment and finally performs a manipulation task. Final demonstrator of WP7 of the FUI Romeo project
## ref: keith-wpromeo-11
## video:
## youtube_id: eiQctKGUPw4
## youtube_id: eiQctKGUPw4
<!-- place somewhere in the <body> of your page -->
<section class="slider">
<div class="flexslider">
<ul class="slides" style="width:500px">
{% for project in {{include.carrousel}} %}
{% if project.image %}
{% if project.thumbnail %}
<li data-thumb="assets/{{ project.thumbnail }}" width="90%" max-height="500"> <!-- utility ? -->
{% else %}
<li data-thumb="assets/showcase/{{ project.image }} " width="90%" max-height="500" style="width:500px">
{% endif %}
{% if project.url%}
<a href="{{ project.url }}" target="_blank">
{% endif %}
<img width="90%" max-height="500" src="assets/showcase/{{ project.image }}"
alt="{{ project.title }}"
title="{{ project.title }}" />
</a>
{% if project.description %}
<p class="flex-caption">{{ project.description }}</p>
{% endif %}
</li>
{% else if project.video %}
{% if project.video.youtube_id %}
<li class="slide">
<iframe width="90%" max-height="500" id="youtubevideo"
title="{{ project.title }}"
src="http://www.youtube.com/embed/{{ project.video.youtube_id}}?enablejsapi=1&version=3&playerapiid=youtubevideo&vq=hd720&{{ project.video.youtube_extra }}"
allowfullscreen controls frameborder="0"></iframe>
</li>
{% else if project.video.url %}
<li class="slide" style="text-align: center;">
<video style="" width="90%" max-height="500" id="video_{{ project.id }}"
title="{{ project.title }}"
src="{{ project.video.url }}"
allowfullscreen controls
frameborder="0">
<p>If you are reading this, it is because your browser does not support the HTML5 video element.
The video is located <a href="{{ project.video.url }}">here</a></p>
</video>
{% if project.description %}
<p class="flex-caption" style="position: relative; text-align: center" >{{ project.description }}</p>
{% endif %}
</li>
{% endif %}
{% endif %}
{% endfor %}
</ul>
</div>
</section>
<!-- Load FlexSlider Library -->
<script src="js/flexslider/jquery.flexslider-min.js"></script>
<!-- Load FlexSlider style -->
<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 type="text/javascript">
// Initialize FlexSlider
$(window).load(function() {
$('.flexslider')
.fitVids()
.flexslider({
animation: "slide",
//controlNav: "thumbnails",
directionNav: true,
// TODO: need to stop slideshow while playing videos to handle this
slideshow:false,
slideshowSpeed: 7500,
animationLoop: true,
animationSpeed: 600,
pauseOnAction: true,
pauseOnHover: true,
touch: true,
smoothHeight: true,
video: true,
before: function(slider){
if (slider.slides.eq(slider.currentSlide).find('iframe').length !== 0)
$f( slider.slides.eq(slider.currentSlide).find('iframe').attr('id') ).api('pause');
}
});
});
</script>
<h2>First steps with dynamic graph</h2>
<p>
We assume that the stack of tasks has been installed using the installation instruction provided
<a href="/download.html">there</a>.
</p>
<h3>dynamic-graph 101</h3>
This first tutorial focuses on the dynamic-graph mecanism, which is the backbone of the stack of tasks framework.
This tutorial details ...
<p>
As a toy example, let's realize this operation <code class="python">res=(a+b) * (c+d)</code> using dynamic-graph elements.
The corresponding code would be this:
</p>
<pre><code class="python">from dynamic_graph import plug
from dynamic_graph.sot.core.operator import Add_of_double
from dynamic_graph.sot.core.operator import Multiply_of_double
a=1
b=2
c=3
d=4
# Crate the entities
ad1 = Add_of_double('ad1')
ad2 = Add_of_double('ad2')
mult = Multiply_of_double('mult')
# Fix the values of the input for the first operation
ad1.sin1.value = a
ad1.sin2.value = b
# Fix the values of the input for the second operation
ad2.sin1.value = c
ad2.sin2.value = d
# plug all the signals
plug(ad1.sout, mult.sin1)
plug(ad2.sout, mult.sin2)
</code></pre>
In order to obtain the result of the multiplication, let's do:
<pre><code class="python">mult.sout.value
#> 0</code></pre>
This is normal.
At the creation of an entity, each of the signals has a default value associated to the time 0.
In order to have the new value, it is necessary to increment the time, so as to trigger the recomputation.
<pre><code class="python">mult.sout.time
#> 0
mult.sout.recompute(1)
mult.sout.value