This packages provides a generic Stack Of Tasks library for the humanoid robot HRP2. This library is highly portable and can be used in various simulators, and the robot itself.

To compile this package, it is recommended to create a separate build directory:

mkdir _build
cd _build
cmake [OPTIONS] ..
make install

Please note that CMake produces a CMakeCache.txt file which should be deleted to reconfigure a package from scratch.

To embed this library an example is provided in: sot/core/tools/test_abstract_interface.cpp