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OTL/cozmo_driver 61

Anki cozmo ROS driver

OTL/cv_camera 46

ROS opencv camera driver that uses cv::VideoCapture

OTL/k 45

k: Kinematics Library for rust-lang

OTL/gear 24

Collision Avoidance Path Planning in Rust-lang

OTL/emacs_shortcuts_ime 16

Enable emacs-like keybinds on ChromeOS

OTL/genrb 4

ruby ROS message generator

OTL/i-sobot 4

i-sobot arduino sketch

OTL/jps 3

json pub sub

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Takashi Ogura

commit sha d9fca7271666b725b08b1f1d57990fc164f589bb

Add pcd-ros

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CHINF

commit sha a8320853d953c5167bba00810b7b123ca3752963

Edit text

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Takashi Ogura

commit sha 6b6ba280deb49e103bf0f97c824dba2ff2b56b35

Merge pull request #9 from chinf-tw/edit-text Edit text

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PR merged robotics-rs/robotics.rs

Edit text

Maybe I found a misspelling in line 11.

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chinf-tw

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create barnchsmilerobotics/ros-nalgebra

branch : master

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created repositorysmilerobotics/ros-nalgebra

rosrust <-> nalgebra converter macro

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Takashi Ogura

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Remove osx freetype install for travis

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Takashi Ogura

commit sha 416eb0310ea30679d3ff9badc18d8439a05bc01d

Try to fix osx travis (#33) osx image has freetype already. It does not need to install freetype now.

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PR merged OTL/urdf-viz

Try to fix osx travis
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OTL

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PR opened OTL/urdf-viz

Try to fix osx travis
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create barnchOTL/urdf-viz

branch : try_fix_osx

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Takashi Ogura

commit sha 298aadb73015dfa8039a379562c34ad962a61a73

Update urdf-viz and k to v0.18.0

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created tagOTL/urdf-viz

tagv0.18.0

visualize URDF/XACRO file, URDF Viewer works on Windows/MacOS/Linux

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Takashi Ogura

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Use k=0.18

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tagv0.18.0

k: Kinematics Library for rust-lang

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Takashi Ogura

commit sha 44d2f9f42c06c3a1d15722b79283a7af9c9195bb

v0.18.0

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Yuki Onishi

commit sha 5d49c041875fdb29b97ec43d597974159e6f73e1

Improve IK robustness with joint limits The past implementation often causes joint limit errors while the given problem is solvable. This is due to ignoring joint limits in iterations, and this commit resolves it: the IK solver explicitly considers joint limits in each iteration. This change would not change the convergence ratio.

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PR merged OTL/k

Improve IK robustness with joint limits

The past implementation often causes joint limit errors while the given problem is solvable. This is due to ignoring joint limits in iterations, and this commit resolve it: the IK solver considers joint limits in each iteration.

This change would not change the convergence ratio.

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ssr-yuki

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pull request commentrobotics-rs/robotics.rs

some suggestions

Thanks! Super nice information!

elsuizo

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elsuizo

commit sha 0ab0c0c9afbfc618ee3ce1842900418c1b6f13e5

some suggestions

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Takashi Ogura

commit sha d3a20e5e638b0c6bc67a567b56b4ba9d7f13aa0c

Merge pull request #8 from elsuizo/elsuizo_contrib some suggestions

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PR merged robotics-rs/robotics.rs

some suggestions

Hi this are my suggestions

Regards

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elsuizo

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Yuki Onishi

commit sha a913ea8690c35b9b16c32d7afd61f54363a01ecc

Add interfaces to Node and Chain, to set clamped positions

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PR merged OTL/k

Add interfaces to Node and Chain, to set clamped positions

Using #12, this PR adds APIs to set joint positions with clamping

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Yuki Onishi

commit sha 3d60bb05bbeea7f2b890419e454cd79fa11481a4

Add API to clamp values with a limit range

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Yuki Onishi

commit sha 11f896799b6fd6c4848b746557b129dcea1e9bd2

Add a function to set the joint position with clamping

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Yuki Onishi

commit sha 631513db453a60e9e06a20c02983886c550533e3

Fix the number of slashes for doc documents

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Yuki Onishi

commit sha 1a63455b1752b554d3c7dbcc8d2e7e124b4f9899

Replace if-statements by APIs

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Yuki Onishi

commit sha 9b43abd29c523e2abd3e3c1951e1730dd533b8e2

Remove an unnecessary else-statement

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Yuki Onishi

commit sha eb5e24bac2db5b58df8ffc18d2086c15800eac29

Change the assignment style

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PR merged OTL/k

Set the joint position with clamping

This PR adds a new function to set the joint position. In the procedure of assignment, the function clamps the joint position if it is out of joint limits, so that the joint position is always in the joint limit.

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ssr-yuki

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Pull request review commentOTL/k

Set the joint position with clamping

 where         self.world_velocity_cache.replace(None);         Ok(())     }+    /// Set the clamped position of the joint+    ///+    /// It refers to the joint limit and clamps the argument. This function does nothing if this is fixed joint.+    ///+    /// # Examples+    ///+    /// ```+    /// extern crate nalgebra as na;+    /// extern crate k;+    ///+    /// // Create rotational joint with Y-axis+    /// let mut rot = k::Joint::<f64>::new("r0", k::JointType::Rotational { axis: na::Vector3::y_axis() });+    ///+    /// let limits = k::joint::Range::new(-1.0, 1.0);+    /// rot.limits = Some(limits);+    ///+    /// // Initial position is 0.0+    /// assert_eq!(rot.joint_position().unwrap(), 0.0);+    /// rot.set_joint_position_clamped(2.0);+    // assert_eq!(rot.joint_position().unwrap(), 1.0);+    /// rot.set_joint_position_clamped(-2.0);+    /// assert_eq!(rot.joint_position().unwrap(), -1.0);+    /// ```+    ///+    pub fn set_joint_position_clamped(&mut self, position: T) {+        if let JointType::Fixed = self.joint_type {

Please use is_movable(), and remove unnecessary else (L155).

if !self.is_movable() {
  return;
}
ssr-yuki

comment created time in 18 days

Pull request review commentOTL/k

Set the joint position with clamping

 where         self.world_velocity_cache.replace(None);         Ok(())     }+    /// Set the clamped position of the joint+    ///+    /// It refers to the joint limit and clamps the argument. This function does nothing if this is fixed joint.+    ///+    /// # Examples+    ///+    /// ```+    /// extern crate nalgebra as na;+    /// extern crate k;+    ///+    /// // Create rotational joint with Y-axis+    /// let mut rot = k::Joint::<f64>::new("r0", k::JointType::Rotational { axis: na::Vector3::y_axis() });+    ///+    /// let limits = k::joint::Range::new(-1.0, 1.0);+    /// rot.limits = Some(limits);+    ///+    /// // Initial position is 0.0+    /// assert_eq!(rot.joint_position().unwrap(), 0.0);+    /// rot.set_joint_position_clamped(2.0);+    // assert_eq!(rot.joint_position().unwrap(), 1.0);+    /// rot.set_joint_position_clamped(-2.0);+    /// assert_eq!(rot.joint_position().unwrap(), -1.0);+    /// ```+    ///+    pub fn set_joint_position_clamped(&mut self, position: T) {+        if let JointType::Fixed = self.joint_type {+            return;+        } else if let Some(ref range) = self.limits {

I prefer below style to reduce duplication of cache clear.

let clamped_position = if let Some(ref range) = self.limits {
  range.clamp(position)
} else {
  position
};
self.set_joint_position_unchecked(position);
ssr-yuki

comment created time in 18 days

Pull request review commentOTL/k

Set the joint position with clamping

 where         self.world_velocity_cache.replace(None);         Ok(())     }+    /// Set the clamped position of the joint+    ///+    /// It refers to the joint limit and clamps the argument. This function does nothing if this is fixed joint.+    ///+    /// # Examples+    ///+    /// ```+    /// extern crate nalgebra as na;+    /// extern crate k;+    ///+    /// // Create rotational joint with Y-axis+    /// let mut rot = k::Joint::<f64>::new("r0", k::JointType::Rotational { axis: na::Vector3::y_axis() });+    ///+    /// let limits = k::joint::Range::new(-1.0, 1.0);+    /// rot.limits = Some(limits);+    ///+    /// // Initial position is 0.0+    /// assert_eq!(rot.joint_position().unwrap(), 0.0);+    /// rot.set_joint_position_clamped(2.0);+    // assert_eq!(rot.joint_position().unwrap(), 1.0);

// -> ///

ssr-yuki

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Yuki Onishi

commit sha e5c174e6244622c397310ff8af9de0b7ff81eb8a

Add range check

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Yuki Onishi

commit sha f5eddb4d491cc1dedc82d23169920334d571cb7c

Update documents of Range::new

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Takashi Ogura

commit sha 7a1baafd2c757552fc6da259e0e71fc0d3d82bc8

Merge pull request #11 from ssr-yuki/feature/range_check Add range check

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PR merged OTL/k

Add range check
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ssr-yuki

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issue openedadnanademovic/rosrust

Publish rosrust_actionlib crate

I want to try rosrust_actionlib, but is is not published yet. Is the status of the development far from release?

created time in 19 days

issue commentrobotics-rs/robotics.rs

Add the linear-algebra crate `static-math`

Could you give us a PR?

elsuizo

comment created time in 21 days

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Takashi Ogura

commit sha 9788662a0c8ce44f5ad0fbb0eea1966e85cbbfa2

Apply cargo clippy --all-targets --all-features

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Takashi Ogura

commit sha 7dbbde64b685117746faac91142b1d88f7bd3ded

Remove redundant 'use'

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issue commentrobotics-rs/robotics.rs

add the optimization-engine crate

Could you give us PR?

elsuizo

comment created time in 25 days

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Takashi Ogura

commit sha 43e6a502f1437291ddec2f6a6f1f8fcd2ecb6836

Apply clippy results

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push eventsmilerobotics/vscode-ros-simlerobotics

Takashi Ogura

commit sha a20ebd1e41449c5ab5d93d100c8d0ac4ac0a5423

Change column width 120 -> 100

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startedhello-robot/stretch_tool_share

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pull request commentOTL/gear

Fix reach example.

Sorry for late. Let's fix it!

jpoler

comment created time in 2 months

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Jon Poler

commit sha a60ad80921f5119f4229601b850cc7f5a709baa4

Fix reach example. urdf_robot was None when being added to the viewer. It did not appear that urdf_robot would ever be Some from the current code.

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Takashi Ogura

commit sha b008f115453cbecf34587ad4e51df8cd8744d051

Merge pull request #10 from jpoler/jpoler/fix-reach-example Fix reach example.

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PR merged OTL/gear

Fix reach example.

urdf_robot was None when being added to the viewer. It did not appear that urdf_robot would ever be Some from the current code.

This does break a public API, so an alternative would be to add urdf_robot via a builder method instead if preferred.

If it is ok to break the API I can make urdf_robot no longer optional.

Error message:

➜  gear git:(master) cargo run --release --example reach
   Compiling gear v0.6.0 (/Users/jon/src/gear)
    Finished release [optimized] target(s) in 14.62s
     Running `target/release/examples/reach`
thread 'main' panicked at 'called `Option::unwrap()` on a `None` value', examples/reach.rs:67:40
note: run with `RUST_BACKTRACE=1` environment variable to display a backtrace
+5 -6

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jpoler

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pull request commentOTL/urdf-rs

Make optional/required fields match URDF spec

Merged! Thank a lot for contribution!! I completely understand what you say. I don't care if you create a new urdf crate (If you want). I guess that you can take 'urdf' crate yet.

neachdainn

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Nathan Kent

commit sha accd5579b466b005f4594302d951ef5611b47e79

Make optional/required fields match URDF spec

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Takashi Ogura

commit sha 9b05f7c3b35cb049c1f50b1e5d165c04d779e9ab

Merge pull request #3 from neachdainn/2-options Make optional/required fields match URDF spec

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PR merged OTL/urdf-rs

Make optional/required fields match URDF spec

Closes #2

This strictly follow the specification even when there are sensible default values (e.g., [1.0; 3] for mesh scale). There is, however, one exception: joint limits. Serde's derivation macro can't express that the joint limits are required if the joint is prismatic or revolute but is otherwise optional.

+36 -31

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neachdainn

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issue closedOTL/urdf-rs

`Option` type for optional tags

Currently, any optional URDF tags are represented by providing default values. Unfortunately, this makes it difficult to distinguish between times when the URDF is using the tag but has default values versus it just being a default value.

An example of this would be the safety controller: there is currently no way to distinguish if there are safety limits present or not. Ignoring safety values, even if the default, is likely bad form and potentially physically dangerous.

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neachdainn

startedpaulbovbel/frontier_exploration

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issue commentOTL/urdf-rs

`Option` type for optional tags

Sure. I prefer 2018.

2020年7月15日(水) 13:17 Nate Kent notifications@github.com:

Using 2018 edition is fine as well?

— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/OTL/urdf-rs/issues/2#issuecomment-658535864, or unsubscribe https://github.com/notifications/unsubscribe-auth/AABSSJSW2DLCGNGHOWMW243R3UUWNANCNFSM4OZ3VXQQ .

-- /************************* Takashi Ogura (小倉 崇)

t.ogura@gmail.com *************************/

neachdainn

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issue commentOTL/urdf-rs

`Option` type for optional tags

Talking about error handling, I'm using thiserror crate.

https://github.com/OTL/k/blob/master/src/errors.rs

I think we can update every dependencies.

neachdainn

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issue closedOTL/urdf-viz

Build error on MacOS Catalina (zlib)

   Compiling assimp-sys v0.3.1
   Compiling assimp v0.3.1
error: could not find native static library `zlibstatic`, perhaps an -L flag is missing?

error: aborting due to previous error

error: could not compile `assimp-sys`.

This is similar to https://github.com/OTL/urdf-viz/issues/14.

It needs brew install zlib and

export PKG_CONFIG_PATH="/usr/local/opt/zlib/lib/pkgconfig"

This is related to the assimp-sys's build.rs. It searches zlib by pkgconfig.

closed time in 2 months

OTL

issue openedOTL/urdf-viz

Build error on MacOS Catalina (zlib)

   Compiling assimp-sys v0.3.1
   Compiling assimp v0.3.1
error: could not find native static library `zlibstatic`, perhaps an -L flag is missing?

error: aborting due to previous error

error: could not compile `assimp-sys`.

This is similar to https://github.com/OTL/urdf-viz/issues/14.

It needs brew install zlib and

export PKG_CONFIG_PATH="/usr/local/opt/zlib/lib/pkgconfig"

This is related to the assimp-sys's build.rs. It searches zlib by pkgconfig.

created time in 2 months

issue commentOTL/urdf-rs

`Option` type for optional tags

I think your suggestion is reasonable. I'm happy if you help about it.

neachdainn

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