Search found 27 matches

by matt_tesch
Fri Jul 15, 2022 11:56 am
Forum: Python
Topic: Derivative of Jacobian
Replies: 2
Views: 95

Re: Derivative of Jacobian

Hello, The forward kinematics and jacobian are generated procedurally and numerically within the API, and so we do not have a symbolic function for either of these that we can expose. However, you should be able to numerically differentiate the Jacobian matrix or double-differentiate the forward kin...
by matt_tesch
Wed Mar 16, 2022 11:55 am
Forum: C++
Topic: Setting up Visual Studio projects
Replies: 3
Views: 636

Re: Setting up Visual Studio projects

Sorry for the delay -- I found the issue here; it looks like CMake wasn't setting include paths for numpy properly. I've added a PR for this that should allow you to compile and run with plots -- you just need to have python >= 3.6 and numpy installed (pip3 install numpy). Let me know if this works ...
by matt_tesch
Mon Mar 07, 2022 12:31 am
Forum: C++
Topic: Setting up Visual Studio projects
Replies: 3
Views: 636

Re: Setting up Visual Studio projects

Sorry for the trouble here; I will get a fix for this ASAP and ensure this is tested better in the future. The numpy dependency is not strictly necessary for the examples, and is only used for plotting data in the examples. I can also create a cmake flag that allows the build to occur without the py...
by matt_tesch
Fri Oct 29, 2021 5:54 pm
Forum: C++
Topic: persist send of gains through c+ api
Replies: 3
Views: 870

Re: persist send of gains through c+ api

Asma, As I went to implement this, I realized I completed missed it earlier -- this is actually in the API already! This is in the Command::Settings message: https://files.hebi.us/docs/cpp/cpp-3.4.0/classhebi_1_1Command_1_1Settings.html There is an example in the C++ examples repo demonstrating this...
by matt_tesch
Wed Oct 27, 2021 10:51 am
Forum: C++
Topic: persist send of gains through c+ api
Replies: 3
Views: 870

Re: persist send of gains through c+ api

Asma, This is supported in the underlying C API, but not the C++ one at the moment. One big-picture thought here -- in our internal development, we have found that it can be dangerous to rely on the actuator always having the desired settings persisted when starting to control the program, in case o...
by matt_tesch
Wed Oct 06, 2021 10:20 am
Forum: ROS
Topic: Converting .xacro to .hrdf
Replies: 2
Views: 788

Re: Converting .xacro to .hrdf

Although there is not a tool for the conversion, if you are using the HEBI xacro macros, the conversion to hrdf should be straightforward in most cases. The HEBI xacro elements are designed to closely align with the corresponding hrdf elements. If you have a specific file, feel free to list it here ...
by matt_tesch
Thu Sep 23, 2021 9:18 pm
Forum: C++
Topic: innerEffortCmd reading
Replies: 7
Views: 1465

Re: innerEffortCmd reading

FYI, v3.4.0 of the C++ is released. Thanks again for your patience -- unfortunately, this hit at the same time as some infrastructure upgrades, so the release went through more bumps than usual. Future updates should be more smooth! Additionally in the update there are updates to support Mac M1 devi...
by matt_tesch
Wed Sep 22, 2021 1:40 pm
Forum: C++
Topic: innerEffortCmd reading
Replies: 7
Views: 1465

Re: innerEffortCmd reading

Sorry for the additional delay; I wanted to give a slight status update here. We're hitting the last steps of the release process, so the full release should be out shortly, but in the meantime we have a nightly build available: https://hebifiles.z13.web.core.windows.net/download/cpp/nightly/hebi-cp...
by matt_tesch
Fri Sep 17, 2021 12:15 am
Forum: C++
Topic: innerEffortCmd reading
Replies: 7
Views: 1465

Re: innerEffortCmd reading

Sorry for the delay -- we have the API in internal testing, and so this should be out tomorrow.

Best,
Matt
by matt_tesch
Thu Sep 09, 2021 4:03 pm
Forum: C++
Topic: Outdated nuget packages
Replies: 9
Views: 9092

Re: Outdated nuget packages

Awesome! Glad this works for you.

Let us know if you come across anything else!

Best,
Matt