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 $DEVEL/openrobots/src/
git clone --recursive git@github.com:stack-of-tasks/tsid.git
cd tsid
mkdir _build-RELEASE
cd _build-RELEASE
cmake .. -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=$DEVEL/openrobots
make install

To use this library in python, we offer python bindings based on Boost.Python and EigenPy.

To install EigenPy you can compile the source code:

git clone https://github.com/stack-of-tasks/eigenpy

or, on Ubuntu, you can use apt-get:

sudo apt-get install robotpkg-py27-eigenpy

For testing the python bindings, you can run the unit test scripts in the script folder, for instance:

ipython script/test_formulation.py

To run the demo using gepetto-viewer:

ipython demo/demo_romeo.py

This package is authored by:

• Andread Del Prete (University of Trento)
• Justin Carpentier (INRIA)

It includes key contributions from:

• Julian Viereck (Max Planck Institute, New York University)
• Sanghyun Kim (Seoul National University)

And is maintained by:

• Guilhem Saurel (LAAS-CNRS)