TSID is C++ library for optimization-based inverse-dynamics control based on the rigid multi-body dynamics library Pinocchio. Take a look at the project wiki for more details.
- boost (unit_test_framework)
- eigen3
- pinocchio
To install eigen3 on Ubuntu you can use apt-get: sudo apt-get install libeigen3-dev
To install pinocchio follow the instruction on its website.
cd $DEVEL/openrobots/src/
git clone --recursive [email protected]:stack-of-tasks/tsid.git
cd tsid
mkdir _build-RELEASE
cd _build-RELEASE
cmake .. -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=$DEVEL/openrobots
make install
To operate it in python environment, we offer python binding module using Boost.Python and EigenPy
To install EigenPy on Ubuntu,
git clone https://github.com/stack-of-tasks/eigenpy
or sudo apt install robotpkg-py27-eigenpy
For testing TSID in python, you can operate unit test scripts in script folder. For instance,
ipython script/test_formulation.py
To operate demo with gepetto-viewer
ipython demo/demo_romeo.py
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