sot-torque-control  1.6.2
Collection of dynamic-graph entities aimed at implementing torque control on different robots.
doc/Overview.md
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1 # Overview {#index}
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19 
20 \section OverviewIntro Introduction to sot-torque-control
21 
22 [![License](https://img.shields.io/badge/License-BSD%202--Clause-orange.svg)](https://opensource.org/licenses/BSD-2-Clause)
23 [![Building Status](https://travis-ci.org/stack-of-tasks/sot-torque-control.svg?branch=master)](https://travis-ci.org/stack-of-tasks/sot-torque-control)
24 [![Pipeline status](https://gitlab.laas.fr/stack-of-tasks/sot-torque-control/badges/master/pipeline.svg)](https://gitlab.laas.fr/stack-of-tasks/sot-torque-control/commits/master)
25 [![Coverage report](https://gitlab.laas.fr/stack-of-tasks/sot-torque-control/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/gepetto/doc/stack-of-tasks/sot-torque-control/master/coverage/)
26 
27 The library sot-torque-control contains a collection of dynamic-graph entities aimed at implementing torque control on different robots.
28 You can find a description of the main entities in the following <a href="https://github.com/stack-of-tasks/sot-torque-control/wiki">wiki</a>.
29 
30 ## Dependencies
31 This project depends on:
32 * [dynamic-graph](https://github.com/jrl-umi3218/dynamic-graph) >= 3.0.0
33 * [dynamic-graph-python](https://github.com/stack-of-tasks/dynamic-graph-python) >= 3.0.0
34 * [sot-core](https://github.com/stack-of-tasks/sot-core) >= 3.0.0
35 * [pinocchio](https://github.com/stack-of-tasks/pinocchio) >= 1.2
36 * [tsid](https://github.com/stack-of-tasks/tsid) >= 1.2
37 * [PinInvDyn](https://github.com/stack-of-tasks/invdyn)
38 * [parametric-curves](https://github.com/stack-of-tasks/parametric-curves)
39 * [simple_humanoid_description](https://github.com/laas/simple_humanoid_description)(for unit testing)
40 
41 All of these packages (except PinInvDyn) can be installed through [robotpkg](http://robotpkg.openrobots.org/).
42 In particular, you can find them in [robotpkg-wip](http://robotpkg.openrobots.org/robotpkg-wip.html) (work in progress), a subset of robotpkg.
43 
44 You will need the sot-talos and talos-dev packages:
45 ```
46 sudo apt-get install robotpkg-py27-sot-talos robotpkg-talos-dev
47 ```
48 
49 Pay attention not to install ROS using robotpkg though, because it would install the latest version, which may not be what you need.
50 
51 
52 You can find the full installation procedure in the <a href="md_doc_installation.html">installation page</a>.
53 
54 Quick instructions on how to run a test can be found <a href="md_doc_running.html">here</a>.
55 
56 Instructions for running a simulation or an experiment using the DDP on the right elbow of Pyrene can be found <a href="md_doc_ddpRun.html">here</a>.