Masaki Murooka

Add method to check component name duplication

1

If composite (e.g., variables, constraints, costs) contain components with the same name, it seems that an unexpected problem will arise (is this understanding correct?) This Pull Request adds a method...

Thank you for the nice visualization tools. When installing via apt, *.rviz files are not found. This patch is to solve the issue. ```bash $ dpkg -L ros-melodic-xpp-examples /. /opt...

Specify retime_trajectory parameters as arguments.

6

### Description This PR makes it possible to specify retime_trajectory parameters as arguments in Python interface of move_group. ### Checklist - [ ] **Required by CI**: Code is auto formatted...

[ dynamixel_workbench_controllers] Controller bugfix

4

Fix two bugs in dynamixel_workbench_controllers.cpp. - remove the iteration of position_cnt, which is unnecessary: https://github.com/ROBOTIS-GIT/dynamixel-workbench/commit/4c03ddf2f0579ea2fb8e56acfa6cd993fb58b8a4 - use correct ID in getPresentPosition function: https://github.com/ROBOTIS-GIT/dynamixel-workbench/commit/7ac5dccdda0ad475316c6558c1ed59a86e990829

Implemented motion module which is action server of [FollowJointTrajectoryAction](http://docs.ros.org/electric/api/control_msgs/html/msg/FollowJointTrajectoryAction.html). Some parts such as minjerk interpolation are same with [op3_direct_control_module](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3/tree/master/op3_direct_control_module). New op3_joint_trajectory_control_module is using [actionlib](http://wiki.ros.org/actionlib), so more advanced processing such as...

Avoids zero division when rotation is identity. This solution is also taken by the following implementations. - https://github.com/CalciferZh/SMPL/blob/master/smpl_torch.py#L44-L45 - https://github.com/ahmedosman/STAR/blob/master/star/pytorch/utils.py#L31

In the new pyyaml, `yaml.load` without the loader option results in an error, and the use of `yaml.safe_load` is encouraged. https://stackoverflow.com/a/69581453

Integrate DCM Estimator

1

This PR allows BWC to compensate for the DCM bias estimated by the [LipmDcmEstimator](https://jrl.cnrs.fr/state-observation/doxygen/HEAD/classstateObservation_1_1LipmDcmEstimator.html) In the video below, the JVRC1 controller model (URDF) is not modified, but only the simulation...

[CI] Run simulation of JVRC1 stepladder climbing

1

https://user-images.githubusercontent.com/6636600/227840423-618b41c1-cd10-436c-bf14-8af3ea85e3b3.mp4 Requires https://github.com/jrl-umi3218/mc_openrtm/pull/34