Revise README #932
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Revise README #932
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jcarpent
reviewed
Nov 7, 2021
README.md
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| ###### vcpkg | ||
| If you use [`vcpkg`](https://github.com/Microsoft/vcpkg), you can install all the required and optional dependencies of iDynTree using the following command: | ||
| You can easily the library with [`conda`](https://github.com/conda-forge/osqp-eigen-feedstock) using the following command |
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Thanks! Fixed in ad39853 .
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@VenusPasandi @fabiodinatale @valentino-razza @CarlottaSartore One of the goal of this cleanup is to make the README more clear as I wanted also to work on some tools that could be useful when working with URDF models, so feel free to read the new README and tell me if it is clear enough! |
traversaro
requested review from
GiulioRomualdi,
VenusPasandi,
valentino-razza,
CarlottaSartore and
fabiodinatale
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The "Usage in Python" section can be improved, but to be honest I am not super sure how it works, and if we are going to enable both SWIG and pybind11 backends, I would prefer to write it after we do that. |
GiulioRomualdi
approved these changes
Nov 7, 2021
This was referenced Nov 7, 2021
VenusPasandi
approved these changes
Nov 8, 2021
README.md
Outdated
| The **major characteristic features** of iDynTree are: | ||
| * It is written in **C++**, with **Python** and **MATLAB** bindings. | ||
| * It uses an **undirected graph data structure** (`iDynTree::Model`) that is used to represent robots, to easily change the **base link** that you are using for your kinematics and dynamics computations without the need to reload your model or change your joint or link serializations. This is done as iDynTree was developed for floating-base robots such as humanoids, in which the most convenient choice of **base link** can change. | ||
| * It contains support for **reading and writing URDF files** from a `iDynTree::Model`, making it useful to write tools that modify robot models and saves them back to file. This is done as iDynTree was developed to developed **tools for identification of kinematics and dynamics parameters**. |
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Thanks, fixed in 830ad70 .
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I merged the PR, if you have further comment feel free to provide them even if the PR was merged. |
| * It contains an implementation of the algorithm used in the iCub humanoid robot to **estimate the joint torques without the need of collocated joint torque sensors**, exploting the specific **undirected graph data structure** . This is done as this was one of the originally goal for the implementation of iDynTree. See the class [`iDynTree::ExtWrenchesAndJointTorquesEstimator`](https://github.com/robotology/idyntree/blob/master/src/estimation/include/iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h) and [Chapter 6 of "Modelling, Estimation and Identification of Humanoid Robots Dynamics"](https://traversaro.github.io/traversaro-phd-thesis/traversaro-phd-thesis.pdf). | ||
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| To avoid confusion, it is also useful to clarify what **iDynTree is not**: | ||
| * It is not the **fastest C++ library** for kinematics and dynamics multibody computations for robotics. It is not slow, but if have an application in which you need the absolute fastest library, check out [Pinocchio](https://github.com/stack-of-tasks/pinocchio). |
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Typo mistakes: ...but if have an application... you missing.
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| ##### macOS | ||
| You can install most of the required and optional dependencies of iDynTree using [homebrew](https://brew.sh/) with the following command: | ||
| You can easily install the C++ and Python library with via [`conda-forge`](https://conda-forge.org) using the following command |
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Typo mistake: with via, I think there is a repetition.
| To compile the python bindings based on [pybind11](https://github.com/pybind/pybind11) set to `TRUE` the `IDYNTREE_USES_PYTHON_PYBIND11` option. | ||
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| **NOTE**: the generated bindings are not compatible with the bindings generated by SWIG. Do not expect your Python code to use either of the two without modifications. | ||
| If this is not working, make sure that you are launching `matlab` after having activated the conda environment (if you installed iDynTree via conda) or after having sourced por executed the correct setup script (if you installed iDynTree via the robotology-superbuild). |
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A README revamp was long overdue, so I did it.
Main points:
build-from-source.mddoc that is meant to be consumed by experienced users.ìdyntree-model-infoandidyntree-model-view.I hope the README is more readable now.