Month: May 2024
Temu Coupon $100 Off Code (afh97457) $100 Off For New Users
Get the latest Temu Coupon code $100 off (afh97457) and use it while shopping on Temu to get $100 off on your order. Apply this Temu $100 off coupon to get discount on your shopping.
temu $100 off coupon code: afh97457
Temu coupon code $100 off: afh97457
Get the latest Temu Coupon code $100 off (afh97457) and use it while shopping on Temu to get $100 off on your order. Apply this Temu $100 off coupon to get discount on your shopping.temu $100 off coupon code: afh97457Temu coupon code $100 off: afh97457 Read More
How to change branding for Defender alerts?
Hey all,
Would someone be able to share the steps for changing the branding for these alerts?
Rather than “Your administrator has blocked this action,” Defender is currently alerting that “ABC has blocked this action.”; ( ABC is a company )
I’ve attached the snippet for the same.
Thanks,
Hey all, Would someone be able to share the steps for changing the branding for these alerts? Rather than “Your administrator has blocked this action,” Defender is currently alerting that “ABC has blocked this action.”; ( ABC is a company ) I’ve attached the snippet for the same. Thanks, Read More
Out of Office inbox rule in Outlook
Hi
We have Exchange 2016 environment in our organization.
I wonder if it is possible to distinguish whether a given rule in Outlook was created in Inbox rules/alerts or in Out of Office?
Is it possible to delete only the rules connected with Out of Office?
Thank you in advance for your answers.
Regards
Pit
HiWe have Exchange 2016 environment in our organization.I wonder if it is possible to distinguish whether a given rule in Outlook was created in Inbox rules/alerts or in Out of Office?Is it possible to delete only the rules connected with Out of Office?Thank you in advance for your answers. RegardsPit Read More
How to transfer all photos from OneDrive into a hard drive?
Need to transfer all photos from OneDrive into a hard drive. I’m almost running out of space on OneDrive, and I want to find a way to quickly download all of them somewhere, before deleting them from the cloud.
Thing is, it seems like I have to scroll and drag click all of the photos; 3 years worth of them, which is really tedious to do. I was wondering if there was an easier way to just download all of them somewhere?
Note that this isn’t about the OneDrive files, it’s the OneDrive photos section, which I don’t think you could sync to your computer.
I’m using a MacBook Air M1 2021, if it helps. Thanks!
Need to transfer all photos from OneDrive into a hard drive. I’m almost running out of space on OneDrive, and I want to find a way to quickly download all of them somewhere, before deleting them from the cloud. Thing is, it seems like I have to scroll and drag click all of the photos; 3 years worth of them, which is really tedious to do. I was wondering if there was an easier way to just download all of them somewhere? Note that this isn’t about the OneDrive files, it’s the OneDrive photos section, which I don’t think you could sync to your computer. I’m using a MacBook Air M1 2021, if it helps. Thanks! Read More
Exel formula needed
Hi there,
I am trying to show a specific fixed annual cost in a spreadsheet each year for a specified period. The cost is shown in a specific cell (D9) but only applies annually for a certain number of years (this figure is stated in cell E9).
I have established a row of policy years number 1 to 10 from E19 to N19 but only want the fee to show in the relevant number of cells. For example if the cost is £1,500 in cell D9 but the number of years it is applicable for in 7 (as stated in E9) I would only want it showing in cells E19 to L19 (i.e. years 1 to 7). Does anyone know how to create this formula?
Hi there, I am trying to show a specific fixed annual cost in a spreadsheet each year for a specified period. The cost is shown in a specific cell (D9) but only applies annually for a certain number of years (this figure is stated in cell E9). I have established a row of policy years number 1 to 10 from E19 to N19 but only want the fee to show in the relevant number of cells. For example if the cost is £1,500 in cell D9 but the number of years it is applicable for in 7 (as stated in E9) I would only want it showing in cells E19 to L19 (i.e. years 1 to 7). Does anyone know how to create this formula? Read More
Managed Home Screen FIDO2 authentication
Hello!
I was just wondering if it is possible to use NFC Smartcard to make it easier to log in to Manged Home Screen?
I have a Thales FIDO2 certified smartcard next to me which is registered on my account but i only see password field and not
Hello!I was just wondering if it is possible to use NFC Smartcard to make it easier to log in to Manged Home Screen?I have a Thales FIDO2 certified smartcard next to me which is registered on my account but i only see password field and not Read More
Why the the forward kinematics formula chain is different with the result of the getTransform function?
Hello guys,
I made a test of the forward kinematics formula chain of the robot is constructed by extracting motion parameters from URDF, and the calculated results are inconsistent with the getTransform function. Can someone help me with this problem.My test codes are below
robot = importrobot(‘StepByStepChanged.urdf’,DataFormat=’column’);
q0 = deg2rad([90, -90, 0, 90, 0, 90, 0])’;
Tn=transl([0 0 0.1789])*trotx(0)*troty(0)*trotz(1.570796326794897)*trotz(-q0(1))…
*transl([0.002928236431969 2.430013955534704e-04 0.119599103269260])*trotx(0)*troty(3.062357948966975e-04)*trotz(0)*trotx(q0(2))…
*transl([-0.002914729213097 -0.001033720384413 0.155156998604446])*trotx(0.003609596843643)*troty(0)*trotz(0.022904943980785)*trotz(-q0(3))…
*transl([0.002968235617925 -0.065351124778835 0.304178518630177])*trotx(-0.003609596843643)*troty(0)*trotz(-0.022904943980785)*trotx(q0(4))…
*transl([-0.005205306143812 0.052692560433216 0.077902477491654])*trotx(0.004548981482162)*troty(-0.003199754330450)*trotz(-8.266717521666507e-05)*trotz(-q0(5))…
*transl([0.005280972133389 -9.031931320468978e-05 0.379510019774372])*trotx(3.137042207549150)*troty(-4.894462134554110e-05)*trotz(0.004660804199542)*trotx(-q0(6))…
*transl([-9.820067340677299e-04 -0.076367223695928 -0.106323102347568])*trotx(-3.130442252053242)*troty(-0.005548107438167)*trotz(1.567890031620816)*trotz(-q0(7))
jointPositions=q0′;
T_urdf1=robot.getTransform(jointPositions’,’Link1′,’base_link’)*robot.getTransform(jointPositions’,’Link2′,’Link1′)…
*robot.getTransform(jointPositions’,’Link3′,’Link2′)*robot.getTransform(jointPositions’,’Link4′,’Link3′)…
*robot.getTransform(jointPositions’,’Link5′,’Link4′)*robot.getTransform(jointPositions’,’Link6′,’Link5′)…
*robot.getTransform(jointPositions’,’Link7′,’Link6′)
T_urdf=robot.getTransform(q0,’Link7′,’base_link’)
StepByStepChanged.urdf is as follows:
<?xml version="1.0" encoding="utf-8"?>
<!– This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
For more information, please see http://wiki.ros.org/sw_urdf_exporter –>
<robot
name="Diana7Med">
<link name="world"/>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="base_link"/>
</joint>
<link
name="base_link">
<inertial>
<origin
xyz="-0.00024914 -0.00023302 0.076031"
rpy="0 0 0" />
<mass
value="1.732" />
<inertia
ixx="0.0085914"
ixy="-2.9842E-05"
ixz="-2.6598E-05"
iyy="0.0085918"
iyz="-2.4568E-05"
izz="0.006987" />
</inertial>
<visual>
<origin
xyz="0 0 0.013"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0.013"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<joint
name="joint1"
type="revolute">
<origin
xyz="0 0 0.17890"
rpy="0 0 1.570796326794897" />
<parent
link="base_link" />
<child
link="Link1" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="254"
velocity="1.5708" />
</joint>
<link
name="Link1">
<inertial>
<origin
xyz="0.043475 -3.8174E-06 0.096019"
rpy="0 0 0" />
<mass
value="2.727" />
<inertia
ixx="0.011033"
ixy="-4.8083E-07"
ixz="-0.0022068"
iyy="0.011337"
iyz="-3.3735E-07"
izz="0.008112" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link1.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint2"
type="revolute">
<origin
xyz="0.002928236431969 2.430013955534704e-04 0.119599103269260"
rpy="0 3.062357948966975e-04 0" />
<parent
link="Link1" />
<child
link="Link2" />
<axis
xyz="1 0 0" />
<limit
lower="-1.5708"
upper="1.5708"
effort="253"
velocity="1.5708" />
</joint>
<link
name="Link2">
<inertial>
<origin
xyz="-0.036812 7.2275E-07 0.04165"
rpy="0 0 0" />
<mass
value="3.1817" />
<inertia
ixx="0.016888"
ixy="8.9891E-08"
ixz="-0.0043558"
iyy="0.018072"
iyz="-2.2014E-07"
izz="0.0096122" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link2.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint3"
type="revolute">
<origin
xyz="-0.002914729213097 -0.001033720384413 0.155156998604446"
rpy="0.003609596843643 0 0.022904943980785" />
<parent
link="Link2" />
<child
link="Link3" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="111"
velocity="1.5708" />
</joint>
<link
name="Link3">
<inertial>
<origin
xyz="0 -0.014808 0.17679"
rpy="0 0 0" />
<mass
value="3.9362" />
<inertia
ixx="0.054706"
ixy="0.0029594"
ixz="-0.0079553"
iyy="0.052971"
iyz="0.010083"
izz="0.013339" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint4"
type="revolute">
<origin
xyz="0.002968235617925 -0.065351124778835 0.304178518630177"
rpy="-0.003609596843643 0 -0.022904943980785" />
<parent
link="Link3" />
<child
link="Link4" />
<axis
xyz="1 0 0" />
<limit
lower="0"
upper="3.0543"
effort="111"
velocity="1.5708" />
</joint>
<link
name="Link4">
<inertial>
<origin
xyz="-0.041116 0.015134 0.012416"
rpy="0 0 0" />
<mass
value="1.5847" />
<inertia
ixx="0.0043925"
ixy="-0.00067906"
ixz="-0.00067352"
iyy="0.0038733"
iyz="-0.00083279"
izz="0.0042261" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link4.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint5"
type="revolute">
<origin
xyz="-0.005205306143812 0.052692560433216 0.077902477491654"
rpy="0.004548981482162 -0.003199754330450 -8.266717521666507e-05" />
<parent
link="Link4" />
<child
link="Link5" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="53"
velocity="2.9671" />
</joint>
<link
name="Link5">
<inertial>
<origin
xyz="-0.028829 0.0020991 0.15664"
rpy="0 0 0" />
<mass
value="1.9268" />
<inertia
ixx="0.027058"
ixy="0.00012672"
ixz="0.007118"
iyy="0.029321"
iyz="-0.00025937"
izz="0.0041403" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link5.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint6"
type="revolute">
<origin
xyz="0.005280972133389 -9.031931320468978e-05 0.379510019774372"
rpy="3.137042207549150 -4.894462134554110e-05 0.004660804199542" />
<parent
link="Link5" />
<child
link="Link6" />
<axis
xyz="-1 0 0" />
<limit
lower="-3.1241"
upper="3.1241"
effort="53"
velocity="2.9671" />
</joint>
<link
name="Link6">
<inertial>
<origin
xyz="0 -0.0122 1.2021"
rpy="0 0 0" />
<mass
value="4.434E-12" />
<inertia
ixx="7.2173E-20"
ixy="-9.8454E-20"
ixz="-1.1913E-20"
iyy="1.6421E-19"
iyz="-7.0312E-21"
izz="2.2322E-19" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link6.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint7"
type="revolute">
<origin
xyz="-9.820067340677299e-04 -0.076367223695928 -0.106323102347568"
rpy="-3.130442252053242 -0.005548107438167 1.567890031620816" />
<parent
link="Link6" />
<child
link="Link7" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="53"
velocity="2.9671" />
</joint>
<link
name="Link7">
<inertial>
<origin
xyz="1.2416E-09 -0.00041281 -0.015665"
rpy="0 0 0" />
<mass
value="0.1669" />
<inertia
ixx="8.8902E-05"
ixy="-9.3654E-10"
ixz="-1.1631E-12"
iyy="8.7425E-05"
iyz="-2.6369E-07"
izz="0.0001438" />
</inertial>
<visual>
<origin
xyz="0 0 -0.0369"
rpy="3.1416 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link7.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 -0.0369"
rpy="3.1416 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link7.STL" />
</geometry>
</collision>
</link>
<joint
name="joint8"
type="fixed">
<origin
xyz="0.05 0 0"
rpy="0 0 0" />
<parent
link="Link7" />
<child
link="Link8" />
</joint>
<link
name="Link8">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="0" />
<inertia
ixx="0"
ixy="0"
ixz="-0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
</link>
</robot>
The results of the two calculation methods are as follows:
So as the figure shows the results of the two calculations are different, can someone tell me why? I have done several tests and have not been able to find out what is the cause of this result. Hope someone help me with this. And by the way,I wonder if there is any current experience or paper on the calibration of motion and dynamics in URDF?Hello guys,
I made a test of the forward kinematics formula chain of the robot is constructed by extracting motion parameters from URDF, and the calculated results are inconsistent with the getTransform function. Can someone help me with this problem.My test codes are below
robot = importrobot(‘StepByStepChanged.urdf’,DataFormat=’column’);
q0 = deg2rad([90, -90, 0, 90, 0, 90, 0])’;
Tn=transl([0 0 0.1789])*trotx(0)*troty(0)*trotz(1.570796326794897)*trotz(-q0(1))…
*transl([0.002928236431969 2.430013955534704e-04 0.119599103269260])*trotx(0)*troty(3.062357948966975e-04)*trotz(0)*trotx(q0(2))…
*transl([-0.002914729213097 -0.001033720384413 0.155156998604446])*trotx(0.003609596843643)*troty(0)*trotz(0.022904943980785)*trotz(-q0(3))…
*transl([0.002968235617925 -0.065351124778835 0.304178518630177])*trotx(-0.003609596843643)*troty(0)*trotz(-0.022904943980785)*trotx(q0(4))…
*transl([-0.005205306143812 0.052692560433216 0.077902477491654])*trotx(0.004548981482162)*troty(-0.003199754330450)*trotz(-8.266717521666507e-05)*trotz(-q0(5))…
*transl([0.005280972133389 -9.031931320468978e-05 0.379510019774372])*trotx(3.137042207549150)*troty(-4.894462134554110e-05)*trotz(0.004660804199542)*trotx(-q0(6))…
*transl([-9.820067340677299e-04 -0.076367223695928 -0.106323102347568])*trotx(-3.130442252053242)*troty(-0.005548107438167)*trotz(1.567890031620816)*trotz(-q0(7))
jointPositions=q0′;
T_urdf1=robot.getTransform(jointPositions’,’Link1′,’base_link’)*robot.getTransform(jointPositions’,’Link2′,’Link1′)…
*robot.getTransform(jointPositions’,’Link3′,’Link2′)*robot.getTransform(jointPositions’,’Link4′,’Link3′)…
*robot.getTransform(jointPositions’,’Link5′,’Link4′)*robot.getTransform(jointPositions’,’Link6′,’Link5′)…
*robot.getTransform(jointPositions’,’Link7′,’Link6′)
T_urdf=robot.getTransform(q0,’Link7′,’base_link’)
StepByStepChanged.urdf is as follows:
<?xml version="1.0" encoding="utf-8"?>
<!– This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
For more information, please see http://wiki.ros.org/sw_urdf_exporter –>
<robot
name="Diana7Med">
<link name="world"/>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="base_link"/>
</joint>
<link
name="base_link">
<inertial>
<origin
xyz="-0.00024914 -0.00023302 0.076031"
rpy="0 0 0" />
<mass
value="1.732" />
<inertia
ixx="0.0085914"
ixy="-2.9842E-05"
ixz="-2.6598E-05"
iyy="0.0085918"
iyz="-2.4568E-05"
izz="0.006987" />
</inertial>
<visual>
<origin
xyz="0 0 0.013"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0.013"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<joint
name="joint1"
type="revolute">
<origin
xyz="0 0 0.17890"
rpy="0 0 1.570796326794897" />
<parent
link="base_link" />
<child
link="Link1" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="254"
velocity="1.5708" />
</joint>
<link
name="Link1">
<inertial>
<origin
xyz="0.043475 -3.8174E-06 0.096019"
rpy="0 0 0" />
<mass
value="2.727" />
<inertia
ixx="0.011033"
ixy="-4.8083E-07"
ixz="-0.0022068"
iyy="0.011337"
iyz="-3.3735E-07"
izz="0.008112" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link1.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint2"
type="revolute">
<origin
xyz="0.002928236431969 2.430013955534704e-04 0.119599103269260"
rpy="0 3.062357948966975e-04 0" />
<parent
link="Link1" />
<child
link="Link2" />
<axis
xyz="1 0 0" />
<limit
lower="-1.5708"
upper="1.5708"
effort="253"
velocity="1.5708" />
</joint>
<link
name="Link2">
<inertial>
<origin
xyz="-0.036812 7.2275E-07 0.04165"
rpy="0 0 0" />
<mass
value="3.1817" />
<inertia
ixx="0.016888"
ixy="8.9891E-08"
ixz="-0.0043558"
iyy="0.018072"
iyz="-2.2014E-07"
izz="0.0096122" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link2.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint3"
type="revolute">
<origin
xyz="-0.002914729213097 -0.001033720384413 0.155156998604446"
rpy="0.003609596843643 0 0.022904943980785" />
<parent
link="Link2" />
<child
link="Link3" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="111"
velocity="1.5708" />
</joint>
<link
name="Link3">
<inertial>
<origin
xyz="0 -0.014808 0.17679"
rpy="0 0 0" />
<mass
value="3.9362" />
<inertia
ixx="0.054706"
ixy="0.0029594"
ixz="-0.0079553"
iyy="0.052971"
iyz="0.010083"
izz="0.013339" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint4"
type="revolute">
<origin
xyz="0.002968235617925 -0.065351124778835 0.304178518630177"
rpy="-0.003609596843643 0 -0.022904943980785" />
<parent
link="Link3" />
<child
link="Link4" />
<axis
xyz="1 0 0" />
<limit
lower="0"
upper="3.0543"
effort="111"
velocity="1.5708" />
</joint>
<link
name="Link4">
<inertial>
<origin
xyz="-0.041116 0.015134 0.012416"
rpy="0 0 0" />
<mass
value="1.5847" />
<inertia
ixx="0.0043925"
ixy="-0.00067906"
ixz="-0.00067352"
iyy="0.0038733"
iyz="-0.00083279"
izz="0.0042261" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link4.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint5"
type="revolute">
<origin
xyz="-0.005205306143812 0.052692560433216 0.077902477491654"
rpy="0.004548981482162 -0.003199754330450 -8.266717521666507e-05" />
<parent
link="Link4" />
<child
link="Link5" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="53"
velocity="2.9671" />
</joint>
<link
name="Link5">
<inertial>
<origin
xyz="-0.028829 0.0020991 0.15664"
rpy="0 0 0" />
<mass
value="1.9268" />
<inertia
ixx="0.027058"
ixy="0.00012672"
ixz="0.007118"
iyy="0.029321"
iyz="-0.00025937"
izz="0.0041403" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link5.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint6"
type="revolute">
<origin
xyz="0.005280972133389 -9.031931320468978e-05 0.379510019774372"
rpy="3.137042207549150 -4.894462134554110e-05 0.004660804199542" />
<parent
link="Link5" />
<child
link="Link6" />
<axis
xyz="-1 0 0" />
<limit
lower="-3.1241"
upper="3.1241"
effort="53"
velocity="2.9671" />
</joint>
<link
name="Link6">
<inertial>
<origin
xyz="0 -0.0122 1.2021"
rpy="0 0 0" />
<mass
value="4.434E-12" />
<inertia
ixx="7.2173E-20"
ixy="-9.8454E-20"
ixz="-1.1913E-20"
iyy="1.6421E-19"
iyz="-7.0312E-21"
izz="2.2322E-19" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link6.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint7"
type="revolute">
<origin
xyz="-9.820067340677299e-04 -0.076367223695928 -0.106323102347568"
rpy="-3.130442252053242 -0.005548107438167 1.567890031620816" />
<parent
link="Link6" />
<child
link="Link7" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="53"
velocity="2.9671" />
</joint>
<link
name="Link7">
<inertial>
<origin
xyz="1.2416E-09 -0.00041281 -0.015665"
rpy="0 0 0" />
<mass
value="0.1669" />
<inertia
ixx="8.8902E-05"
ixy="-9.3654E-10"
ixz="-1.1631E-12"
iyy="8.7425E-05"
iyz="-2.6369E-07"
izz="0.0001438" />
</inertial>
<visual>
<origin
xyz="0 0 -0.0369"
rpy="3.1416 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link7.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 -0.0369"
rpy="3.1416 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link7.STL" />
</geometry>
</collision>
</link>
<joint
name="joint8"
type="fixed">
<origin
xyz="0.05 0 0"
rpy="0 0 0" />
<parent
link="Link7" />
<child
link="Link8" />
</joint>
<link
name="Link8">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="0" />
<inertia
ixx="0"
ixy="0"
ixz="-0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
</link>
</robot>
The results of the two calculation methods are as follows:
So as the figure shows the results of the two calculations are different, can someone tell me why? I have done several tests and have not been able to find out what is the cause of this result. Hope someone help me with this. And by the way,I wonder if there is any current experience or paper on the calibration of motion and dynamics in URDF? Hello guys,
I made a test of the forward kinematics formula chain of the robot is constructed by extracting motion parameters from URDF, and the calculated results are inconsistent with the getTransform function. Can someone help me with this problem.My test codes are below
robot = importrobot(‘StepByStepChanged.urdf’,DataFormat=’column’);
q0 = deg2rad([90, -90, 0, 90, 0, 90, 0])’;
Tn=transl([0 0 0.1789])*trotx(0)*troty(0)*trotz(1.570796326794897)*trotz(-q0(1))…
*transl([0.002928236431969 2.430013955534704e-04 0.119599103269260])*trotx(0)*troty(3.062357948966975e-04)*trotz(0)*trotx(q0(2))…
*transl([-0.002914729213097 -0.001033720384413 0.155156998604446])*trotx(0.003609596843643)*troty(0)*trotz(0.022904943980785)*trotz(-q0(3))…
*transl([0.002968235617925 -0.065351124778835 0.304178518630177])*trotx(-0.003609596843643)*troty(0)*trotz(-0.022904943980785)*trotx(q0(4))…
*transl([-0.005205306143812 0.052692560433216 0.077902477491654])*trotx(0.004548981482162)*troty(-0.003199754330450)*trotz(-8.266717521666507e-05)*trotz(-q0(5))…
*transl([0.005280972133389 -9.031931320468978e-05 0.379510019774372])*trotx(3.137042207549150)*troty(-4.894462134554110e-05)*trotz(0.004660804199542)*trotx(-q0(6))…
*transl([-9.820067340677299e-04 -0.076367223695928 -0.106323102347568])*trotx(-3.130442252053242)*troty(-0.005548107438167)*trotz(1.567890031620816)*trotz(-q0(7))
jointPositions=q0′;
T_urdf1=robot.getTransform(jointPositions’,’Link1′,’base_link’)*robot.getTransform(jointPositions’,’Link2′,’Link1′)…
*robot.getTransform(jointPositions’,’Link3′,’Link2′)*robot.getTransform(jointPositions’,’Link4′,’Link3′)…
*robot.getTransform(jointPositions’,’Link5′,’Link4′)*robot.getTransform(jointPositions’,’Link6′,’Link5′)…
*robot.getTransform(jointPositions’,’Link7′,’Link6′)
T_urdf=robot.getTransform(q0,’Link7′,’base_link’)
StepByStepChanged.urdf is as follows:
<?xml version="1.0" encoding="utf-8"?>
<!– This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
For more information, please see http://wiki.ros.org/sw_urdf_exporter –>
<robot
name="Diana7Med">
<link name="world"/>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="base_link"/>
</joint>
<link
name="base_link">
<inertial>
<origin
xyz="-0.00024914 -0.00023302 0.076031"
rpy="0 0 0" />
<mass
value="1.732" />
<inertia
ixx="0.0085914"
ixy="-2.9842E-05"
ixz="-2.6598E-05"
iyy="0.0085918"
iyz="-2.4568E-05"
izz="0.006987" />
</inertial>
<visual>
<origin
xyz="0 0 0.013"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0.013"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<joint
name="joint1"
type="revolute">
<origin
xyz="0 0 0.17890"
rpy="0 0 1.570796326794897" />
<parent
link="base_link" />
<child
link="Link1" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="254"
velocity="1.5708" />
</joint>
<link
name="Link1">
<inertial>
<origin
xyz="0.043475 -3.8174E-06 0.096019"
rpy="0 0 0" />
<mass
value="2.727" />
<inertia
ixx="0.011033"
ixy="-4.8083E-07"
ixz="-0.0022068"
iyy="0.011337"
iyz="-3.3735E-07"
izz="0.008112" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link1.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint2"
type="revolute">
<origin
xyz="0.002928236431969 2.430013955534704e-04 0.119599103269260"
rpy="0 3.062357948966975e-04 0" />
<parent
link="Link1" />
<child
link="Link2" />
<axis
xyz="1 0 0" />
<limit
lower="-1.5708"
upper="1.5708"
effort="253"
velocity="1.5708" />
</joint>
<link
name="Link2">
<inertial>
<origin
xyz="-0.036812 7.2275E-07 0.04165"
rpy="0 0 0" />
<mass
value="3.1817" />
<inertia
ixx="0.016888"
ixy="8.9891E-08"
ixz="-0.0043558"
iyy="0.018072"
iyz="-2.2014E-07"
izz="0.0096122" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link2.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint3"
type="revolute">
<origin
xyz="-0.002914729213097 -0.001033720384413 0.155156998604446"
rpy="0.003609596843643 0 0.022904943980785" />
<parent
link="Link2" />
<child
link="Link3" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="111"
velocity="1.5708" />
</joint>
<link
name="Link3">
<inertial>
<origin
xyz="0 -0.014808 0.17679"
rpy="0 0 0" />
<mass
value="3.9362" />
<inertia
ixx="0.054706"
ixy="0.0029594"
ixz="-0.0079553"
iyy="0.052971"
iyz="0.010083"
izz="0.013339" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint4"
type="revolute">
<origin
xyz="0.002968235617925 -0.065351124778835 0.304178518630177"
rpy="-0.003609596843643 0 -0.022904943980785" />
<parent
link="Link3" />
<child
link="Link4" />
<axis
xyz="1 0 0" />
<limit
lower="0"
upper="3.0543"
effort="111"
velocity="1.5708" />
</joint>
<link
name="Link4">
<inertial>
<origin
xyz="-0.041116 0.015134 0.012416"
rpy="0 0 0" />
<mass
value="1.5847" />
<inertia
ixx="0.0043925"
ixy="-0.00067906"
ixz="-0.00067352"
iyy="0.0038733"
iyz="-0.00083279"
izz="0.0042261" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link4.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint5"
type="revolute">
<origin
xyz="-0.005205306143812 0.052692560433216 0.077902477491654"
rpy="0.004548981482162 -0.003199754330450 -8.266717521666507e-05" />
<parent
link="Link4" />
<child
link="Link5" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="53"
velocity="2.9671" />
</joint>
<link
name="Link5">
<inertial>
<origin
xyz="-0.028829 0.0020991 0.15664"
rpy="0 0 0" />
<mass
value="1.9268" />
<inertia
ixx="0.027058"
ixy="0.00012672"
ixz="0.007118"
iyy="0.029321"
iyz="-0.00025937"
izz="0.0041403" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link5.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint6"
type="revolute">
<origin
xyz="0.005280972133389 -9.031931320468978e-05 0.379510019774372"
rpy="3.137042207549150 -4.894462134554110e-05 0.004660804199542" />
<parent
link="Link5" />
<child
link="Link6" />
<axis
xyz="-1 0 0" />
<limit
lower="-3.1241"
upper="3.1241"
effort="53"
velocity="2.9671" />
</joint>
<link
name="Link6">
<inertial>
<origin
xyz="0 -0.0122 1.2021"
rpy="0 0 0" />
<mass
value="4.434E-12" />
<inertia
ixx="7.2173E-20"
ixy="-9.8454E-20"
ixz="-1.1913E-20"
iyy="1.6421E-19"
iyz="-7.0312E-21"
izz="2.2322E-19" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link6.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint7"
type="revolute">
<origin
xyz="-9.820067340677299e-04 -0.076367223695928 -0.106323102347568"
rpy="-3.130442252053242 -0.005548107438167 1.567890031620816" />
<parent
link="Link6" />
<child
link="Link7" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="53"
velocity="2.9671" />
</joint>
<link
name="Link7">
<inertial>
<origin
xyz="1.2416E-09 -0.00041281 -0.015665"
rpy="0 0 0" />
<mass
value="0.1669" />
<inertia
ixx="8.8902E-05"
ixy="-9.3654E-10"
ixz="-1.1631E-12"
iyy="8.7425E-05"
iyz="-2.6369E-07"
izz="0.0001438" />
</inertial>
<visual>
<origin
xyz="0 0 -0.0369"
rpy="3.1416 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link7.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 -0.0369"
rpy="3.1416 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link7.STL" />
</geometry>
</collision>
</link>
<joint
name="joint8"
type="fixed">
<origin
xyz="0.05 0 0"
rpy="0 0 0" />
<parent
link="Link7" />
<child
link="Link8" />
</joint>
<link
name="Link8">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="0" />
<inertia
ixx="0"
ixy="0"
ixz="-0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
</link>
</robot>
The results of the two calculation methods are as follows:
So as the figure shows the results of the two calculations are different, can someone tell me why? I have done several tests and have not been able to find out what is the cause of this result. Hope someone help me with this. And by the way,I wonder if there is any current experience or paper on the calibration of motion and dynamics in URDF? urdf, calibration, gettransform MATLAB Answers — New Questions
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I have multiple rotation matrices in the form of cell aray (attached).
I would like to calculate an average or a mean matrix and variability around the mean (standard deviation)
So far I have tried converting the rotation matrices to quaternions and using the meanrot to calculate the quaternion mean. But I do not know how to calculate the variability (STD or variance).
Reading around this, one approach may be to calculate the diffrence between the quaternion mean and each quaternion and porceed (not sure how)
The other way is to use the vector for the mean and the vectors for each rotation matrix; then calculate the diffrence between mean vector and each vector.
I am not sure which is mathematically correct and also how to do that.
ThanksHi
I have multiple rotation matrices in the form of cell aray (attached).
I would like to calculate an average or a mean matrix and variability around the mean (standard deviation)
So far I have tried converting the rotation matrices to quaternions and using the meanrot to calculate the quaternion mean. But I do not know how to calculate the variability (STD or variance).
Reading around this, one approach may be to calculate the diffrence between the quaternion mean and each quaternion and porceed (not sure how)
The other way is to use the vector for the mean and the vectors for each rotation matrix; then calculate the diffrence between mean vector and each vector.
I am not sure which is mathematically correct and also how to do that.
Thanks Hi
I have multiple rotation matrices in the form of cell aray (attached).
I would like to calculate an average or a mean matrix and variability around the mean (standard deviation)
So far I have tried converting the rotation matrices to quaternions and using the meanrot to calculate the quaternion mean. But I do not know how to calculate the variability (STD or variance).
Reading around this, one approach may be to calculate the diffrence between the quaternion mean and each quaternion and porceed (not sure how)
The other way is to use the vector for the mean and the vectors for each rotation matrix; then calculate the diffrence between mean vector and each vector.
I am not sure which is mathematically correct and also how to do that.
Thanks mean rotation, rotation matrix, averaging rotations MATLAB Answers — New Questions
Lead Concatenation in ECG Classification Using CWT: Required or Optional?
Dear Matlab Community,
I am currently working on a classification task with ECG recordings stored in a CSV file with dimensions of (5001, 12). The first row contains headers, and each column represents a lead of the ECG, totaling 12 leads. These recordings were made over a duration of 10 seconds at a sampling frequency of 500 Hz. Therefore, each lead comprises a sequence of 5000 values. The unit of measurement is 0.01 mV, adhering to the Philips standard recording system.
My specific question pertains to the methodology of feature extraction for classification purposes using the Continuous Wavelet Transform (CWT). Should I proceed by creating a scalogram for each lead independently and then concatenating them, or should I generate 12 scalograms from each ECG and consider them as belonging to the same class?
Put differently, is each lead’s scalogram regarded as a class instance, or is it pivotal to concatenate the 12 leads to accurately represent an ECG? Your insights and guidance on this matter would be greatly appreciated.
Sincerely,Dear Matlab Community,
I am currently working on a classification task with ECG recordings stored in a CSV file with dimensions of (5001, 12). The first row contains headers, and each column represents a lead of the ECG, totaling 12 leads. These recordings were made over a duration of 10 seconds at a sampling frequency of 500 Hz. Therefore, each lead comprises a sequence of 5000 values. The unit of measurement is 0.01 mV, adhering to the Philips standard recording system.
My specific question pertains to the methodology of feature extraction for classification purposes using the Continuous Wavelet Transform (CWT). Should I proceed by creating a scalogram for each lead independently and then concatenating them, or should I generate 12 scalograms from each ECG and consider them as belonging to the same class?
Put differently, is each lead’s scalogram regarded as a class instance, or is it pivotal to concatenate the 12 leads to accurately represent an ECG? Your insights and guidance on this matter would be greatly appreciated.
Sincerely, Dear Matlab Community,
I am currently working on a classification task with ECG recordings stored in a CSV file with dimensions of (5001, 12). The first row contains headers, and each column represents a lead of the ECG, totaling 12 leads. These recordings were made over a duration of 10 seconds at a sampling frequency of 500 Hz. Therefore, each lead comprises a sequence of 5000 values. The unit of measurement is 0.01 mV, adhering to the Philips standard recording system.
My specific question pertains to the methodology of feature extraction for classification purposes using the Continuous Wavelet Transform (CWT). Should I proceed by creating a scalogram for each lead independently and then concatenating them, or should I generate 12 scalograms from each ECG and consider them as belonging to the same class?
Put differently, is each lead’s scalogram regarded as a class instance, or is it pivotal to concatenate the 12 leads to accurately represent an ECG? Your insights and guidance on this matter would be greatly appreciated.
Sincerely, ecg, classification, feature extraction, continuous wavelet transform (cwt), scalogram, lead concatenation, signal processing MATLAB Answers — New Questions
how to get variable of function in for loop
Hello, someone please help me.
I created a polynomial function f(x,y) using two variables. I varied the values of both variables to get the maximum f(x,y) using for loop and i got it. But, i dont know how to get or display the values of the x and y that made it. can you tell me the syntax to get them? thanks!!
x = 1:20;
y = 1:13;
f = [];
for i = 1:length(x), j = 1:length(j);
f(i,j) = x(i).^2 – x(i) -2*y(j).^2 + y(j) -25;
end
fmax = max(max(f));
display(fmax)Hello, someone please help me.
I created a polynomial function f(x,y) using two variables. I varied the values of both variables to get the maximum f(x,y) using for loop and i got it. But, i dont know how to get or display the values of the x and y that made it. can you tell me the syntax to get them? thanks!!
x = 1:20;
y = 1:13;
f = [];
for i = 1:length(x), j = 1:length(j);
f(i,j) = x(i).^2 – x(i) -2*y(j).^2 + y(j) -25;
end
fmax = max(max(f));
display(fmax) Hello, someone please help me.
I created a polynomial function f(x,y) using two variables. I varied the values of both variables to get the maximum f(x,y) using for loop and i got it. But, i dont know how to get or display the values of the x and y that made it. can you tell me the syntax to get them? thanks!!
x = 1:20;
y = 1:13;
f = [];
for i = 1:length(x), j = 1:length(j);
f(i,j) = x(i).^2 – x(i) -2*y(j).^2 + y(j) -25;
end
fmax = max(max(f));
display(fmax) for loop, polynomial, variables, display MATLAB Answers — New Questions
Excel sum functions
Hello everyone,
I need to make a counting table using datas from an other table like shown in the picture under. I’ve tried NB SI ENS formulas with for exemple : =NB si ens ($D$6:$D$29;H5=D7; $E$6:$E$29;E7=G6) but it doesn’t work. It’s in reality a big table with > 250 columns and > 20 lines to fill.
Would you have an idea on how to make it with a single formula please ?
Edit : NB SI is the french equivalent of COUNT IF
Thank you very much,
Arnaud
Hello everyone, I need to make a counting table using datas from an other table like shown in the picture under. I’ve tried NB SI ENS formulas with for exemple : =NB si ens ($D$6:$D$29;H5=D7; $E$6:$E$29;E7=G6) but it doesn’t work. It’s in reality a big table with > 250 columns and > 20 lines to fill. Would you have an idea on how to make it with a single formula please ? Edit : NB SI is the french equivalent of COUNT IFThank you very much, Arnaud Read More
How can I resolve QuickBooks Error 6144 82 efficiently?
Encountering QuickBooks error 6144 82 while accessing company files. What does this error signify and how can I fix it to resume normal operations?
Encountering QuickBooks error 6144 82 while accessing company files. What does this error signify and how can I fix it to resume normal operations? Read More
Better Alternatives to Snipping Tool for Windows 11?
Hello everyone,
I’ve been using the Snipping Tool on Windows 11, but I find it quite hard to use. In addition, it lacks the editing features I need. I’m looking for recommendations for alternative screenshot tools that are user-friendly and come with robust editing capabilities. Ideally, the alternative should offer features such as:
Easy-to-use interfaceAdvanced editing tools (annotations, text, shapes, etc.)Ability to capture different types of screenshots (full screen, window, region, scrolling)
Please suggest a better better Snipping Tool for Windows 11.
Hello everyone, I’ve been using the Snipping Tool on Windows 11, but I find it quite hard to use. In addition, it lacks the editing features I need. I’m looking for recommendations for alternative screenshot tools that are user-friendly and come with robust editing capabilities. Ideally, the alternative should offer features such as:Easy-to-use interfaceAdvanced editing tools (annotations, text, shapes, etc.)Ability to capture different types of screenshots (full screen, window, region, scrolling)Please suggest a better better Snipping Tool for Windows 11. Read More
Unable to send notification to teams installed application (chat)
When I tried to call the interface, an error message appeared as follows:
Interface information:
payload:
{
“topic”: {
“source”: “entityUrl”,
“value”: “https://graph.microsoft.com/v1.0/chats/19:email address removed for privacy reasons.spaces“
},
“activityType”: “taskCreated”,
“previewText”: {
“content”: “New Task Created”
},
“recipient”: {
“@odata.type”: “microsoft.graph.aadUserNotificationRecipient”,
“userId”: “f80482f7-ad6c-487a-aa67-c84539b487e1”
},
“templateParameters”: [
{
“name”: “taskId”,
“value”: “Task 12322”
}
]
}
Error message:
{
“error”: {
“code”: “Forbidden”,
“message”: “Application with AAD App Id ‘6c67b54d-866d-4405-876a-0d99323a0e86’ is not authorized to generate notifications about ‘https://graph.microsoft.com/v1.0/chats/19:email address removed for privacy reasons.spaces‘ to the recipient. Ensure that the expected Teams app is installed in the target scope (user, team, or chat).”,
“innerError”: {
“date”: “2024-05-29T07:03:26”,
“request-id”: “5350c32f-5f62-400c-9970-6ca8b5d47c88”,
“client-request-id”: “5350c32f-5f62-400c-9970-6ca8b5d47c88”
}
}
}
manifest file as follow:
{
“$schema”: “https://developer.microsoft.com/en-us/json-schemas/teams/v1.17/MicrosoftTeams.schema.json”,
“version”: “1.0.1”,
“manifestVersion”: “1.17”,
“id”: “26d59d9a-fce9-4640-b553-e0f07971381e”,
“name”: {
“short”: “notice”,
“full”: “notice”
},
“developer”: {
“name”: “notice”,
“mpnId”: “”,
“websiteUrl”: “https://localhost/test”,
“privacyUrl”: “https://localhost/test”,
“termsOfUseUrl”: “https://localhost/test”
},
“description”: {
“short”: “notice”,
“full”: “notice”
},
“icons”: {
“outline”: “outline.png”,
“color”: “color.png”
},
“accentColor”: “#FFFFFF”,
“staticTabs”: [
{
“entityId”: “index0”,
“name”: “Personal Tab”,
“contentUrl”: “https://localhost/test”,
“websiteUrl”: “https://localhost/test”,
“scopes”: [
“personal”
]
}
],
“validDomains”: [
“localhost”
],
“webApplicationInfo”: {
“id”: “6c67b54d-866d-4405-876a-0d99323a0e86”
},
“activities”: {
“activityTypes”: [
{
“type”: “taskCreated”,
“description”: “Task Created Activity”,
“templateText”: “{actor} created task {taskId} for you”
},
{
“type”: “approvalRequired”,
“description”: “Deployment requires your approval”,
“templateText”: “{actor} created a new deployment {deploymentId}”
}
]
},
“authorization”: {
“permissions”: {
“resourceSpecific”: [
{
“name”: “TeamsActivity.Send.User”,
“type”: “Application”
},
{
“name”: “TeamsActivity.Send.Group”,
“type”: “Application”
},
{
“name”: “TeamsActivity.Send.Chat”,
“type”: “Application”
}
]
}
}
}
When I tried to call the interface, an error message appeared as follows:Interface information:https://graph.microsoft.com/v1.0/chats/19:email address removed for privacy reasons.spaces/sendActivityNotificationpayload:{“topic”: {“source”: “entityUrl”,”value”: “https://graph.microsoft.com/v1.0/chats/19:email address removed for privacy reasons.spaces”},”activityType”: “taskCreated”,”previewText”: {“content”: “New Task Created”},”recipient”: {“@odata.type”: “microsoft.graph.aadUserNotificationRecipient”,”userId”: “f80482f7-ad6c-487a-aa67-c84539b487e1″},”templateParameters”: [{“name”: “taskId”,”value”: “Task 12322”}]}Error message:{“error”: {“code”: “Forbidden”,”message”: “Application with AAD App Id ‘6c67b54d-866d-4405-876a-0d99323a0e86’ is not authorized to generate notifications about ‘https://graph.microsoft.com/v1.0/chats/19:email address removed for privacy reasons.spaces’ to the recipient. Ensure that the expected Teams app is installed in the target scope (user, team, or chat).”,”innerError”: {“date”: “2024-05-29T07:03:26″,”request-id”: “5350c32f-5f62-400c-9970-6ca8b5d47c88″,”client-request-id”: “5350c32f-5f62-400c-9970-6ca8b5d47c88”}}}manifest file as follow: {
“$schema”: “https://developer.microsoft.com/en-us/json-schemas/teams/v1.17/MicrosoftTeams.schema.json”,
“version”: “1.0.1”,
“manifestVersion”: “1.17”,
“id”: “26d59d9a-fce9-4640-b553-e0f07971381e”,
“name”: {
“short”: “notice”,
“full”: “notice”
},
“developer”: {
“name”: “notice”,
“mpnId”: “”,
“websiteUrl”: “https://localhost/test”,
“privacyUrl”: “https://localhost/test”,
“termsOfUseUrl”: “https://localhost/test”
},
“description”: {
“short”: “notice”,
“full”: “notice”
},
“icons”: {
“outline”: “outline.png”,
“color”: “color.png”
},
“accentColor”: “#FFFFFF”,
“staticTabs”: [
{
“entityId”: “index0”,
“name”: “Personal Tab”,
“contentUrl”: “https://localhost/test”,
“websiteUrl”: “https://localhost/test”,
“scopes”: [
“personal”
]
}
],
“validDomains”: [
“localhost”
],
“webApplicationInfo”: {
“id”: “6c67b54d-866d-4405-876a-0d99323a0e86”
},
“activities”: {
“activityTypes”: [
{
“type”: “taskCreated”,
“description”: “Task Created Activity”,
“templateText”: “{actor} created task {taskId} for you”
},
{
“type”: “approvalRequired”,
“description”: “Deployment requires your approval”,
“templateText”: “{actor} created a new deployment {deploymentId}”
}
]
},
“authorization”: {
“permissions”: {
“resourceSpecific”: [
{
“name”: “TeamsActivity.Send.User”,
“type”: “Application”
},
{
“name”: “TeamsActivity.Send.Group”,
“type”: “Application”
},
{
“name”: “TeamsActivity.Send.Chat”,
“type”: “Application”
}
]
}
}
} @MicrosoftTeams Read More
Best practices needed – new DC, migrate mailboxes from Exchange 2010 to exchange online
Dear community,
one of my customers is running a DC on Windows 2010 and Exchange 2010.
(Pls don’t make any comments why these old unsupported products are not migrated yet.)
My plan is to setup a new DC on Windows 2022, add all AD users on the new AD, connect it with Entra ID, purchase O365 subcriptions, assign licenses to each user, migrate the Exchange 2010 mailboxes to Exchange online. From my persepective this should work.
I just wanted to know, if this way is really best practice. If you have other recommendation please let me know. As we don’t know how “the old stuff” is configured, we better don’t want to touch or migrate it. Only the mailboxes from the old exchange 2010 should be in the cloud at the end.
Thanks for your recommendations.
Dear community, one of my customers is running a DC on Windows 2010 and Exchange 2010.(Pls don’t make any comments why these old unsupported products are not migrated yet.) My plan is to setup a new DC on Windows 2022, add all AD users on the new AD, connect it with Entra ID, purchase O365 subcriptions, assign licenses to each user, migrate the Exchange 2010 mailboxes to Exchange online. From my persepective this should work.I just wanted to know, if this way is really best practice. If you have other recommendation please let me know. As we don’t know how “the old stuff” is configured, we better don’t want to touch or migrate it. Only the mailboxes from the old exchange 2010 should be in the cloud at the end.Thanks for your recommendations. Read More
What are common solutions for resolving QuickBooks TLS errors?
I’m encountering a TLS error in QuickBooks while trying to access online features. How can I fix this issue and ensure uninterrupted access to QuickBooks services?
I’m encountering a TLS error in QuickBooks while trying to access online features. How can I fix this issue and ensure uninterrupted access to QuickBooks services? Read More
How to Fix QuickBooks Sync Manager Not Working error?
I’m experiencing issues with QuickBooks Sync Manager not working. Whenever I try to sync data, it fails. How can I troubleshoot this problem?
I’m experiencing issues with QuickBooks Sync Manager not working. Whenever I try to sync data, it fails. How can I troubleshoot this problem? Read More
Setting up multi app kiosk -Windows11
I created an assigned access configuration XML file to set up a multi-app kiosk using PowerShell. My approach works perfectly on Windows 10, but it doesn’t work on Windows 11. Is there any problem with Windows 11?
I created an assigned access configuration XML file to set up a multi-app kiosk using PowerShell. My approach works perfectly on Windows 10, but it doesn’t work on Windows 11. Is there any problem with Windows 11? Read More
What tool I can use to convert pdf to powerpoint on my windows 11 computer?
Currently, I’m working on a PowerPoint project and have some crucial content stored in a PDF file that I need to incorporate. Does anyone know an easy and reliable way to convert PDF to PowerPoint presentation in bulk on Windows 11? It could be best to preserves the formatting and quality of the original content.
Unfortunately, I’ve tried a couple of online PDF to PPT Converters, but the results were either messy or incomplete. If you have any recommendations for software that you’ve used and trust, I’d love to hear about them. Free options would be great, but I’m also open to paid solutions if they really get the job done well.
Currently, I’m working on a PowerPoint project and have some crucial content stored in a PDF file that I need to incorporate. Does anyone know an easy and reliable way to convert PDF to PowerPoint presentation in bulk on Windows 11? It could be best to preserves the formatting and quality of the original content. Unfortunately, I’ve tried a couple of online PDF to PPT Converters, but the results were either messy or incomplete. If you have any recommendations for software that you’ve used and trust, I’d love to hear about them. Free options would be great, but I’m also open to paid solutions if they really get the job done well. Read More
