Overview

Introduction to sot-torque-control

The library sot-torque-control contains a collection of dynamic-graph entities aimed at implementing torque control on different robots. You can find a description of the main entities in the following wiki.

Dependencies

This project depends on:

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

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.

You will need the sot-talos and talos-dev packages:

sudo apt-get install robotpkg-py27-sot-talos robotpkg-talos-dev

Pay attention not to install ROS using robotpkg though, because it would install the latest version, which may not be what you need.

You can find the full installation procedure in the installation page.

Quick instructions on how to run a test can be found here.

Instructions for running a simulation or an experiment using the DDP on the right elbow of Pyrene can be found here.