Gepetto issueshttps://gitlab.laas.fr/groups/gepetto/-/issues2024-03-27T17:34:13Zhttps://gitlab.laas.fr/gepetto/articles/-/issues/1Add placeholder page with link2024-03-27T17:34:13ZPierre-Alexandre LeziartAdd placeholder page with linkLink from https://gepettoweb.laas.fr/articles/cat.html to https://constraints-as-terminations.github.ioLink from https://gepettoweb.laas.fr/articles/cat.html to https://constraints-as-terminations.github.ioGuilhem SaurelGuilhem Saurelhttps://gitlab.laas.fr/gepetto/figaroh/-/issues/1Dependencies2023-03-14T12:58:27ZFlorent LamirauxDependenciesThe dependencies in the main `CMakeLists.txt` are commented out. The list of dependencies should be expressed clearly and probably reduced.
For example, file `src/figaroh/calibration/calibration_tools.py` imports module `pandas` to parse...The dependencies in the main `CMakeLists.txt` are commented out. The list of dependencies should be expressed clearly and probably reduced.
For example, file `src/figaroh/calibration/calibration_tools.py` imports module `pandas` to parse csv files. This dependency should be removed.https://gitlab.laas.fr/gepetto/quadruped-reactive-walking/-/issues/3ROS integration [wbc]2023-03-20T12:17:49ZWilson JalletROS integration [wbc]Wilson JalletWilson Jallethttps://gitlab.laas.fr/gepetto/quadruped-reactive-walking/-/issues/2Cleanup/merge branches2023-02-27T12:29:54ZWilson JalletCleanup/merge branchesThe idea is to clean up some of the leftover branches, identify which branches have differing features/performance, and how to integrate them together.
For now, I propose merging some of them (those for WBC MPC) into [this branch](https...The idea is to clean up some of the leftover branches, identify which branches have differing features/performance, and how to integrate them together.
For now, I propose merging some of them (those for WBC MPC) into [this branch](https://gitlab.laas.fr/gepetto/quadruped-reactive-walking/-/tree/wjallet/new-ocp-walking) which allows switching OCP solvers (and integrates support for PROXDDP)
!32
**Branches to delete**
- [x] [master](https://gitlab.laas.fr/gepetto/quadruped-reactive-walking/-/tree/master) (since [main](https://gitlab.laas.fr/gepetto/quadruped-reactive-walking/-/tree/master) exists)
- [x] casadi-walking-PA (merged by @paleziart into casadi-walking)https://gitlab.laas.fr/gepetto/mpc-interface/-/issues/5tools.py: discretize2022-10-11T07:37:40ZOlivier Stassetools.py: discretizehttps://gitlab.laas.fr/gepetto/mpc-interface/-/issues/4tools.py: get_system_variables2022-09-06T06:46:50ZOlivier Stassetools.py: get_system_variableshttps://gitlab.laas.fr/gepetto/mpc-interface/-/issues/3tools.py: plan_steps2022-03-09T06:13:25ZOlivier Stassetools.py: plan_stepshttps://gitlab.laas.fr/gepetto/mpc-interface/-/issues/2tools.py: update_step_matrices2022-08-22T13:37:57ZOlivier Stassetools.py: update_step_matriceshttps://gitlab.laas.fr/gepetto/mpc-interface/-/issues/1tools.py: get_system_matrices port2022-08-22T14:49:17ZOlivier Stassetools.py: get_system_matrices porthttps://gitlab.laas.fr/gepetto/quadruped-reactive-walking/-/issues/1Follow-up from "Update after Solo3D IROS paper experiments"2022-03-08T11:23:40ZPierre-Alexandre LeziartFollow-up from "Update after Solo3D IROS paper experiments"The following discussion from !18 should be addressed:
- [ ] @paleziart started a [discussion](https://gitlab.laas.fr/gepetto/quadruped-reactive-walking/-/merge_requests/18#note_13652): (+1 comment)
> A garder en tête même si la d...The following discussion from !18 should be addressed:
- [ ] @paleziart started a [discussion](https://gitlab.laas.fr/gepetto/quadruped-reactive-walking/-/merge_requests/18#note_13652): (+1 comment)
> A garder en tête même si la différence était minime.https://gitlab.laas.fr/gepetto/homebrew-gepetto/-/issues/5Calling depends_on :x11 is disabled!2021-03-02T08:08:58ZGuilhem SaurelCalling depends_on :x11 is disabled!*Created by: Leo-Simpson*
Hello, when I try to `brew install gepetto-viewer`, I get this error :
```
Error: Invalid formula: /usr/local/Homebrew/Library/Taps/gepetto/homebrew-gepetto/Formula/gepetto-viewer.rb
gepetto-viewer: Calli...*Created by: Leo-Simpson*
Hello, when I try to `brew install gepetto-viewer`, I get this error :
```
Error: Invalid formula: /usr/local/Homebrew/Library/Taps/gepetto/homebrew-gepetto/Formula/gepetto-viewer.rb
gepetto-viewer: Calling depends_on :x11 is disabled! Use depends_on specific X11 formula(e) instead.
Please report this issue to the gepetto/gepetto tap (not Homebrew/brew or Homebrew/core), or even better, submit a PR to fix it:
/usr/local/Homebrew/Library/Taps/gepetto/homebrew-gepetto/Formula/gepetto-viewer.rb:21
Error: Cannot tap gepetto/gepetto: invalid syntax in tap!
```
It seems that this happened to me when I updated my iOS from High Sierra to Big Sur. It looks like `depends_on :x11` does no work with the latest versions of Xcode, but I don't know how to solve it. If someone could help me it would be very nice.
Here is the output of `brew config` and `brew doctor` :
```
$ brew config
HOMEBREW_VERSION: 3.0.1-42-g7cef833
ORIGIN: https://github.com/Homebrew/brew
HEAD: 7cef833d5106c109cf43dc7fca7dc46d3ea23466
Last commit: 4 hours ago
Core tap ORIGIN: https://github.com/Homebrew/homebrew-core
Core tap HEAD: 39ad201fec502c39ca9f6fd6212039cfdf0c10a8
Core tap last commit: 49 minutes ago
Core tap branch: master
HOMEBREW_PREFIX: /usr/local
HOMEBREW_CASK_OPTS: []
HOMEBREW_MAKE_JOBS: 4
Homebrew Ruby: 2.6.3 => /System/Library/Frameworks/Ruby.framework/Versions/2.6/usr/bin/ruby
CPU: quad-core 64-bit broadwell
Clang: 12.0 build 1200
Git: 2.24.3 => /Library/Developer/CommandLineTools/usr/bin/git
Curl: 7.64.1 => /usr/bin/curl
macOS: 11.2.1-x86_64
CLT: 12.4.0.0.1.1610135815
Xcode: 12.4
$ brew doctor
Please note that these warnings are just used to help the Homebrew maintainers
with debugging if you file an issue. If everything you use Homebrew for is
working fine: please don't worry or file an issue; just ignore this. Thanks!
Warning: "config" scripts exist outside your system or Homebrew directories.
`./configure` scripts often look for *-config scripts to determine if
software packages are installed, and which additional flags to use when
compiling and linking.
Having additional scripts in your path can confuse software installed via
Homebrew if the config script overrides a system or Homebrew-provided
script of the same name. We found the following "config" scripts:
/Users/leosimpson/opt/miniconda3/envs/env/bin/icu-config
/Users/leosimpson/opt/miniconda3/envs/env/bin/libpng16-config
/Users/leosimpson/opt/miniconda3/envs/env/bin/libpng-config
/Users/leosimpson/opt/miniconda3/envs/env/bin/python3.9-config
/Users/leosimpson/opt/miniconda3/envs/env/bin/python3-config
/Users/leosimpson/opt/miniconda3/envs/env/bin/ncursesw6-config
/Users/leosimpson/opt/miniconda3/envs/env/bin/ncurses6-config
```
https://gitlab.laas.fr/gepetto/solo-estimation/-/issues/1Bug2021-02-16T14:24:27ZJustin CarpentierBugThese lines are buggy
https://github.com/Gepetto/solo-estimation/blob/898eb133cd1b90c26923d2246be47dc6278b45ff/filters.py#L5-L8
You should rather use Pinocchio skew operations.These lines are buggy
https://github.com/Gepetto/solo-estimation/blob/898eb133cd1b90c26923d2246be47dc6278b45ff/filters.py#L5-L8
You should rather use Pinocchio skew operations.https://gitlab.laas.fr/gepetto/multiprocessing-examples/-/issues/1example with numpy arrays2021-02-05T17:43:18ZGuilhem Saurelexample with numpy arraysGuilhem SaurelGuilhem Saurelhttps://gitlab.laas.fr/gepetto/homebrew-gepetto/-/issues/3Update to version python3.8 for gepetto-viewer-corba-python3 and omniorbpy.rb?2020-06-18T17:03:42ZGuilhem SaurelUpdate to version python3.8 for gepetto-viewer-corba-python3 and omniorbpy.rb?*Created by: jviereck*
A previous commit bumped the python version for pinocchio to 3.8. However, the other packages using python `omniorbpy.rb` and `gepetto-viewer-corba-python3` rely on python3, which can get resolved to python3.7. Th...*Created by: jviereck*
A previous commit bumped the python version for pinocchio to 3.8. However, the other packages using python `omniorbpy.rb` and `gepetto-viewer-corba-python3` rely on python3, which can get resolved to python3.7. This causes then troubles when using the latest pinocchio on python 3.8 and trying to use gepetto at the same time.
Would it therefore make sense to bump the python version in gepetto and omniorbpy as well?https://gitlab.laas.fr/gepetto/example-robot-data/-/issues/17Bug on the robot_loader under switchToNumpyArray setup2019-12-11T19:11:40ZCarlos MastalliBug on the robot_loader under switchToNumpyArray setupIf you tried to load a robot under the default setup, i.e.
```python
import example_robot_data
model = example_robot_data.loadANYmal().model
```
then the following errors appears:
```
/usr/local/lib/python2.7/dist-packages/example_robot...If you tried to load a robot under the default setup, i.e.
```python
import example_robot_data
model = example_robot_data.loadANYmal().model
```
then the following errors appears:
```
/usr/local/lib/python2.7/dist-packages/example_robot_data/robots_loader.py in addFreeFlyerJointLimits(robot)
45 ub = rmodel.upperPositionLimit
46 ub[:7] = 1
---> 47 rmodel.upperPositionLimit = ub
48 lb = rmodel.lowerPositionLimit
49 lb[:7] = -1
ArgumentError: Python argument types in
None.None(Model, numpy.ndarray)
did not match C++ signature:
None(pinocchio::ModelTpl<double, 0, pinocchio::JointCollectionDefaultTpl> {lvalue}, Eigen::Matrix<double, -1, 1, 0, -1, 1>)
```
Note that if you switch to matrix everything is OK, i.e.
```python
import example_robot_data
import eigenpy
eigenpy.switchToNumpyMatrix()
model = example_robot_data.loadANYmal().model
```Guilhem SaurelGuilhem Saurelhttps://gitlab.laas.fr/gepetto/example-robot-data/-/issues/16Floating-base joint limits2019-11-22T14:53:44ZWolfgang MerktFloating-base joint limitsThe robot loader sets the position limits to +/-1. This includes both translation as well as rotation dimensions.
I recall there was a need for finite position limits for the random state generation. Setting it to 1 though seems like a ...The robot loader sets the position limits to +/-1. This includes both translation as well as rotation dimensions.
I recall there was a need for finite position limits for the random state generation. Setting it to 1 though seems like a hack.https://gitlab.laas.fr/gepetto/solo-pybullet/-/issues/1How to use this package?2019-11-21T18:03:17ZNicolas MansardHow to use this package?I have difficulties to understand how to use this package. It is clearly done to be installed from source, as an example, forked and modified by the user. But even so, how should I start the example? How are you advising me to set up my ...I have difficulties to understand how to use this package. It is clearly done to be installed from source, as an example, forked and modified by the user. But even so, how should I start the example? How are you advising me to set up my fork and to implement my own controller following the example?https://gitlab.laas.fr/gepetto/qgv/-/issues/3Enable to export the dot file.2019-11-19T15:55:22ZGuilhem SaurelEnable to export the dot file.*Created by: jmirabel*
*Created by: jmirabel*
https://gitlab.laas.fr/gepetto/example-robot-data/-/issues/15Moving robot descriptions inside a robots folder2019-11-25T19:40:19ZCarlos MastalliMoving robot descriptions inside a robots folder@gsaurel the number of robots is growing, and now there too many folders in the root of the project.
I propose to create a robots folder, and move all the XXX_description to that folder.
What do you think?@gsaurel the number of robots is growing, and now there too many folders in the root of the project.
I propose to create a robots folder, and move all the XXX_description to that folder.
What do you think?https://gitlab.laas.fr/gepetto/example-robot-data/-/issues/14Installs headers in odd location2019-11-07T02:32:06ZWolfgang MerktInstalls headers in odd locationThis package installs headers to `include/example/robot/data/`. This is not great - perhaps an issue with the project name with hyphens?This package installs headers to `include/example/robot/data/`. This is not great - perhaps an issue with the project name with hyphens?Guilhem SaurelGuilhem Saurel