build token unit test token

DYNACOM

Computation of centroidal forces required for given centroidal motions, and optimal distribution of the forces among all the specified contacts between the robot and the environment.

DYNAmics of the Center of Mass:

• Given certain centroidal motion, it computes the centroidal wrench required to perform it.

• Given a centroidal wrench, it computes the optimal distribution of such wrench among all the specified contacts of the robot.

1/ :penguin: Installation

1.1/ Standard dependencies

This code relies essentially on the C++ std and on the Rigid Body Dynamics implemented in Pinocchio.

For the unit-test it relies on the example-robot-data package as well as the boost unit test framework.

In order to install those 📦 from Debian / Ubuntu packages, you can use with robotpkg

1. If you have never added robotpkg's software repository, do it now:

   sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
   deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg
   EOF
   
   curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
   sudo apt update

2. installation of pinocchio and example-robot-data and their python utils:

   sudo apt install robotpkg-py3\*-example-robot-data robotpkg-py3\*-pinocchio

1.2/ Build and install this package:

1. 🐢 With ROS

   Just clone it (with --recursive) into a catkin or a colcon workspace.

2. 📁 From source

   Clone it (with --recursive), create a build directory inside, and:

   cmake .. && make && make install

2/ Usage

2.1/ UnitTests/Examples

In this packages the unit-testsare based on the Talos robot from PAL Robotics. Please read the unit-test to see how to use the code.

2.2/ API documentation

How to build the API html doc. Where to find the last built doc on the internet.

3/ License and Copyrights

License BSD-2-Clause Copyright (c) 2022, CNRS, Gepetto