loco-3d / multicontact-locomotion-planning Goto Github PK

For the end effector velocity and acceleration, it should be expressed in the world frame.

Here https://github.com/loco-3d/multicontact-locomotion-planning/blob/master/python/mlp/wholebody/tsid.py#L375
Apparently the method getPath is not able to handle slashes "/" when retrieving packages.
Subsequently the loading of a wholebody motion method with Talos leads to the following error:

  File "/usr/lib/python3.6/runpy.py", line 193, in _run_module_as_main
    "__main__", mod_spec)
  File "/usr/lib/python3.6/runpy.py", line 85, in _run_code
    exec(code, run_globals)
  File "/media/data/dev/linux/hpp/src/multicontact-locomotion-planning/python/mlp/__main__.py", line 29, in <module>
    loco_planner.run()
  File "/media/data/dev/linux/hpp/src/multicontact-locomotion-planning/python/mlp/loco_planner.py", line 239, in run
    self.run_wholebody(iter_dynamic_filter)
  File "/media/data/dev/linux/hpp/src/multicontact-locomotion-planning/python/mlp/loco_planner.py", line 135, in run_wholebody
    self.cs_wb = generate_wholebody(self.cfg, self.cs_ref, self.fullBody, self.viewer)
  File "/media/data/dev/linux/hpp/src/multicontact-locomotion-planning/python/mlp/wholebody/tsid.py", line 375, in generate_wholebody_tsid
    package_path = rp.get_path(cfg.Robot.packageName)
  File "/home/stevet/.local/lib/python3.6/site-packages/rospkg/rospack.py", line 207, in get_path
    raise ResourceNotFound(name, ros_paths=self._ros_paths)
rospkg.common.ResourceNotFound: example-robot-data/robots/talos_data

@nim65s as discussed yesterday.

This is temporarily fixed by directly inputing the urdf path manually:

urdf = "/opt/openrobots/share/example-robot-data/robots/talos_data"+'/urdf/' + cfg.Robot.urdfName + cfg.Robot.urdfSuffix + '.urdf'

Thank you very much !

I have installed the package :
robotpkg-multicontact-api_2.0.0_amd64.deb
it is 2.0.0 version but when I compiled the code multicontact-locomotion-planning, it told me that I had a new version 3.0.3, So is it possible that robotpkg-multicontact-api_2.0.0_amd64.deb have some errors ?
`
CMake Error at cmake/package-config.cmake:84 (find_package):
Could not find a configuration file for package "multicontact-api" that is
compatible with requested version "2.0".

The following configuration files were considered but not accepted:

/opt/openrobots/lib/cmake/multicontact-api/multicontact-apiConfig.cmake, version: 3.0.3

Call Stack (most recent call first):
CMakeLists.txt:38 (ADD_PROJECT_DEPENDENCY)

`

Hi
I use python 3.6 and ubuntu 18.04.
I installed dependencies like this way.
"sudo apt update && sudo apt install robotpkg-py36-pinocchio robotpkg-py36-multicontact-api"

After that, there is a error message when I import pinocchio.

hppfcl is installed, but there is no libhpp-fcl.so in the folder
/opt/openrobots/lib/python3.6/site-packages/hppfcl/

It happen in the 'talos_circle_oriented' scenario. The feet orientation in the reference trajectory should be constant during this phase.

see https://gepgitlab.laas.fr/loco-3d/crocoddyl

When using dynamic filter and the duration of a phase change, adapt the previous effector trajectory instead of erasing it.

RBPRM should only be one of the possible method for contact generation.
In the current state of the project, nothing can run without having rbprm installed.