Genesis-Embodied-AI
How to keep one robot static while another working?
Alternatively i can let the two robots work together,but i'm afraid of collision.
For example,I got 2 paths for each other
for waypoint in path1:
franka1.control_dofs_position(waypoint)
# scene.step()
#
# 执行规划路径
for waypoint in path2:
franka2.control_dofs_position(waypoint)
# scene.step()
If scene.step() used,i can see franka1 move first and franka2 fell down for gravity. Then franka2 moved from ground(this may cause error like thisError: RRTConnect: Motion planning start tree could not be initialized! at line 219 in /project/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp but mine not in these code.)
But when i commented scene.step and add scene.step after the code, the scene would show the two robots moved fast.
How to deal with it? If I can't let one keep static, I can keep them 2 move in same step ..
thanks!
Cannot reproduce on latest community edition. I'm using a free, self-hosted Authentik instance as SSO provider:
BACKEND_OIDC_CLIENT_ID=
BACKEND_OIDC_CLIENT_SECRET=
BACKEND_OIDC_CALLBACK_URL=http://localhost:3000/api/auth/oidc/callback
BACKEND_OIDC_USER_INFO_URL=https://auth.example.com/application/o/userinfo/
BACKEND_OIDC_TOKEN_URL=https://auth.example.com/application/o/token/
BACKEND_OIDC_AUTHORIZATION_URL=https://auth.example.com/application/o/authorize/
BACKEND_OIDC_ISSUER=https://auth.example.com/application/o/teable/
BACKEND_OIDC_OTHER={"scope": ["openid", "email", "profile"]}
SOCIAL_AUTH_PROVIDERS=oidc
Reformatted error for someone to analyze:
{
"level": 30,
"time": 1733964755950,
"pid": 7,
"hostname": "f5157c07fb6d",
"name": "teable",
"req": {
"id": "f5834e15eedf414bf71f9fd8aa67b567",
"method": "GET",
"url": "/api/auth/oidc/callback?code=Cff6e5buyynvaZ4cMeXTJREsJrg27fchDR9IJWdoJEMTLRDrW522hqxtgKYi&state=Um4PaMG1rr9ylain",
"query": {
"code": "Cff6e5buyynvaZ4cMeXTJREsJrg27fchDR9IJWdoJEMTLRDrW522hqxtgKYi",
"state": "Um4PaMG1rr9ylain"
},
"params": {
"0": "api/auth/oidc/callback"
},
"remoteAddress": "::ffff:172.18.0.1",
"remotePort": 59442
},
"res": {
"statusCode": 500
},
"err": {
"type": "Error",
"message": "failed with status code 500",
"stack": ...
},
"responseTime": 20,
"spanId": "41be9ca0be867087",
"traceId": "f5834e15eedf414bf71f9fd8aa67b567",
"msg": "request errored"
}
Error: failed with status code 500
at onResFinished (/app/node_modules/.pnpm/[email protected]/node_modules/pino-http/logger.js:114:39)
at ServerResponse.onResponseComplete (/app/node_modules/.pnpm/[email protected]/node_modules/pino-http/logger.js:177:14)
at /app/node_modules/.pnpm/@[email protected]_@[email protected]/node_modules/@opentelemetry/context-async-hooks/build/src/AbstractAsyncHooksContextManager.js:50:55
at AsyncLocalStorage.run (node:async_hooks:335:14)
at AsyncLocalStorageContextManager.with (/app/node_modules/.pnpm/@[email protected]_@[email protected]/node_modules/@opentelemetry/context-async-hooks/build/src/AsyncLocalStorageContextManager.js:33:40)
at ServerResponse.contextWrapper (/app/node_modules/.pnpm/@[email protected]_@[email protected]/node_modules/@opentelemetry/context-async-hooks/build/src/AbstractAsyncHooksContextManager.js:50:32)
at ServerResponse.emit (node:events:526:35)
at ServerResponse.emit (node:domain:488:12)
at onFinish (node:_http_outgoing:1005:10)
at callback (node:internal/streams/writable:608:21)
It's probably broken OIDC server.
Cannot reproduce on latest community edition. I'm using a free, self-hosted Authentik instance as SSO provider:
BACKEND_OIDC_CLIENT_ID= BACKEND_OIDC_CLIENT_SECRET= BACKEND_OIDC_CALLBACK_URL=http://localhost:3000/api/auth/oidc/callback BACKEND_OIDC_USER_INFO_URL=https://auth.example.com/application/o/userinfo/ BACKEND_OIDC_TOKEN_URL=https://auth.example.com/application/o/token/ BACKEND_OIDC_AUTHORIZATION_URL=https://auth.example.com/application/o/authorize/ BACKEND_OIDC_ISSUER=https://auth.example.com/application/o/teable/ BACKEND_OIDC_OTHER={"scope": ["openid", "email", "profile"]} SOCIAL_AUTH_PROVIDERS=oidcReformatted error for someone to analyze:
{ "level": 30, "time": 1733964755950, "pid": 7, "hostname": "f5157c07fb6d", "name": "teable", "req": { "id": "f5834e15eedf414bf71f9fd8aa67b567", "method": "GET", "url": "/api/auth/oidc/callback?code=Cff6e5buyynvaZ4cMeXTJREsJrg27fchDR9IJWdoJEMTLRDrW522hqxtgKYi&state=Um4PaMG1rr9ylain", "query": { "code": "Cff6e5buyynvaZ4cMeXTJREsJrg27fchDR9IJWdoJEMTLRDrW522hqxtgKYi", "state": "Um4PaMG1rr9ylain" }, "params": { "0": "api/auth/oidc/callback" }, "remoteAddress": "::ffff:172.18.0.1", "remotePort": 59442 }, "res": { "statusCode": 500 }, "err": { "type": "Error", "message": "failed with status code 500", "stack": ... }, "responseTime": 20, "spanId": "41be9ca0be867087", "traceId": "f5834e15eedf414bf71f9fd8aa67b567", "msg": "request errored" }Error: failed with status code 500 at onResFinished (/app/node_modules/.pnpm/[email protected]/node_modules/pino-http/logger.js:114:39) at ServerResponse.onResponseComplete (/app/node_modules/.pnpm/[email protected]/node_modules/pino-http/logger.js:177:14) at /app/node_modules/.pnpm/@[email protected]_@[email protected]/node_modules/@opentelemetry/context-async-hooks/build/src/AbstractAsyncHooksContextManager.js:50:55 at AsyncLocalStorage.run (node:async_hooks:335:14) at AsyncLocalStorageContextManager.with (/app/node_modules/.pnpm/@[email protected]_@[email protected]/node_modules/@opentelemetry/context-async-hooks/build/src/AsyncLocalStorageContextManager.js:33:40) at ServerResponse.contextWrapper (/app/node_modules/.pnpm/@[email protected]_@[email protected]/node_modules/@opentelemetry/context-async-hooks/build/src/AbstractAsyncHooksContextManager.js:50:32) at ServerResponse.emit (node:events:526:35) at ServerResponse.emit (node:domain:488:12) at onFinish (node:_http_outgoing:1005:10) at callback (node:internal/streams/writable:608:21)It's probably broken OIDC server.
i found problem,but how to set the username that is returned after OIDC (OpenID Connect) login? Currently, after authorized login, the email prefix is displayed in Tableau. How can I customize this username?
OIDC server should return a response similar to this:
{
"iss": "https://auth.example.com/application/o/teable/",
"sub": [REDACTED],
"aud": [REDACTED],
"exp": [REDACTED],
"iat": [REDACTED],
"auth_time": [REDACTED],
"acr": "goauthentik.io/providers/oauth2/default",
"amr": [
"pwd"
],
"email": "[email protected]",
"email_verified": true,
"name": "John Smith",
"given_name": "John Smith",
"preferred_username": "john",
"nickname": "john",
"groups": [
"clients",
"teable"
]
}
Teable only reads name property for the display name, email for email, and it theoretically should also save user avatar, but passport-openidconnect has no support for that. ^1 ^2
Your OIDC server probably sends email in the 'name' filed, check out OIDC server configuration for "property mappings".
How to proceed here when the OIDC Server is not giving back an email claim in Access Tokens like Microsoft Entra ID? Could we have a fallback to a different claim for that, like upn or unique_name (see https://learn.microsoft.com/en-au/answers/questions/2122133/how-can-i-include-an-email-claim-in-an-open-id-tok)
How to proceed here when the OIDC Server is not giving back an email claim in Access Tokens like Microsoft Entra ID? Could we have a fallback to a different claim for that, like upn or unique_name (see https://learn.microsoft.com/en-au/answers/questions/2122133/how-can-i-include-an-email-claim-in-an-open-id-tok)当 OIDC 服务器没有像 Microsoft Entra ID 那样在访问令牌中返回电子邮件声明时，该怎么办？我们能否回退到其他声明，例如 upn 或 unique_name (请参阅 https://learn.microsoft.com/en-au/answers/questions/2122133/how-can-i-include-an-email-claim-in-an-open-id-tok )
Thank you for raising this interesting case. At present, we're focusing on standard OIDC implementations where email claims are provided in Access Tokens. While we understand the specific scenario with Microsoft Entra ID, supporting alternative claims like upn or unique_name is not in our immediate roadmap. We recommend using standard OIDC configurations that include email claims for the best compatibility with our current implementation. Let us know if you need any assistance with the standard OIDC setup.
