Collection of dynamic-graph entities aimed at implementing torque control on different robots. Read the project wiki to get a description of the main entities contained in this repository.

This project depends on:

• dynamic-graph >= 3.0.0
• dynamic-graph-python >= 3.0.0
• sot-core >= 3.0.0
• pinocchio >= 1.2
• PinInvDyn
• parametric-curves
• (for unit testing)simple_humanoid_description

All of these packages (except PinInvDyn) can be installed through robotpkg. In particular, you can find them in robotpkg-wip (work in progress), a subset of robotpkg. Pay attention not to install ROS using robotpkg though, because it would install the latest version, which may not be what you need (e.g. currently on HRP-2 we are using ROS indigo).

git clone --recursive git@github.com:stack-of-tasks/sot-torque-control.git
cd sot-torque-control
mkdir _build-RELEASE
cd _build-RELEASE
cmake .. -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=$DEVEL_DIR/openrobots
make install

In Ubuntu 14.04 you may need to add -DCMAKE_CXX_FLAGS="-std=c++11".