SoT tutorials outdated?
Created by: Lichor8
Dear all,
After installing sot-v3 on Ubuntu 16.04 I tried to follow the tutorial to get started with the SoT framework. However, the tutorial seems outdated. The first link towards, I presume the old installation instructions, is broken. I also think the same applies to this tutorial.
So in an effort to still work with the tutorial I installed the sot-romeo and romeo-description packages from the apt robotpkg-sot- repository. In doing so sot-v3 was replaced with sot. Now I was able to run the kine_romeo.py tutorial script with a few errors I could correct. From openrobots/lib/python2.7/site-packages/dynamic-graph/tutorials (not a 100% sure about the exact path, not in Ubuntu at the moment). However, it seems that other files (robot.py) were also changed, which meant that the Robot class did not have a "tasks" function anymore and there was no visualization in rviz. So this is where I got stuck.
I would like to get more familiar with this software in order to use it for my Master's Thesis. I am working on optimization-based whole body motion control for a humanoid-like robot (it has a mobile base). Could you suggest a place on where to start, especially about implementing the QP optimization part, if tutorials are unavailable? I did notice that Pinocchio has its own tutorials, so that will be helpful. Or is TSID repository from SoT a good place to look?
Or a working example using sot-v3, a QP controller/solver and visualization of any one of your humanoids or a robot arm would be very helpful to get me started.
Thank you, Rik
Ps: I noticed some more broken links on the website, if you like I could submit more issues?