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https://github.com/jrl-umi3218/Tasks

The Tasks library is designed to make real-time control for kinematics tree and list of kinematics tree.
https://github.com/jrl-umi3218/Tasks

Last synced: about 1 month ago
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The Tasks library is designed to make real-time control for kinematics tree and list of kinematics tree.

Host: GitHub
URL: https://github.com/jrl-umi3218/Tasks
Owner: jrl-umi3218
License: bsd-2-clause
Created: 2012-09-03T16:37:00.000Z (over 12 years ago)
Default Branch: master
Last Pushed: 2024-10-28T09:34:23.000Z (about 1 month ago)
Last Synced: 2024-10-28T12:40:47.308Z (about 1 month ago)
Language: C++
Homepage:
Size: 18.4 MB
Stars: 92
Watchers: 12
Forks: 31
Open Issues: 20
Metadata Files:
- Readme: README.md
- License: LICENSE
- Authors: AUTHORS

Awesome Lists containing this project

awesome-robotics - jrl-umi3218/Tasks - Tasks is library for real time control of robots and kinematic trees using constrained optimization. (Uncategorized / Uncategorized)

README

        Tasks

=====

[![License](https://img.shields.io/badge/License-BSD%202--Clause-green.svg)](https://opensource.org/licenses/BSD-2-Clause)

[![Hosted By: Cloudsmith](https://img.shields.io/badge/OSS%20hosting%20by-cloudsmith-blue?logo=cloudsmith)](https://cloudsmith.com)

[![CI](https://github.com/jrl-umi3218/Tasks/workflows/CI%20of%20Tasks/badge.svg?branch=master)](https://github.com/jrl-umi3218/Tasks/actions?query=workflow%3A%22CI+of+Tasks%22)

[![Documentation](https://img.shields.io/badge/doxygen-online-brightgreen?logo=read-the-docs&style=flat)](http://jrl-umi3218.github.io/Tasks/doxygen/HEAD/index.html)

Tasks is library for real time control of robots and kinematic trees using constrained optimization.

It has been used extensively to control humanoid robots such as HOAP-3, HRP-2, HRP-4 and Atlas.

Documentation

-------------

Features:

 * Support Kinematics Tree with Revolute/Prismatic/Spherical/Free/Planar/Cylindrical joints

 * Dynamic motion (motion must fulfill the equation of motion)

 * Contact forces in friction cones

 * Static contacts

 * Articular position, speed and torque limits

 * Collision avoidance

 * Multi-robot contact (can solve problems involving multiple robots in contact)

 * Tasks:

  * Posture target (articular position target, mandatory if you want avoid singularity issues)

  * Link Position/Orientation target

  * Link Velocity target

  * Center of Mass (CoM) target

  * Momentum target

  * Contact force target

To make sure that Tasks works as intended, unit tests are available for each algorithm.

The [SpaceVecAlg and RBDyn tutorial](https://github.com/jorisv/sva_rbdyn_tutorials) is also a big resources to understand how to use Tasks by providing a lot of IPython Notebook that will present real use case.

An online documentation can be found [online](https://jrl-umi3218.github.io/Tasks).

Installing

----------

## Ubuntu LTS (16.04, 18.04, 20.04)

You must first setup our package mirror:

```

curl -1sLf \

  'https://dl.cloudsmith.io/public/mc-rtc/stable/setup.deb.sh' \

  | sudo -E bash

```

You can also choose the head mirror which will have the latest version of this package:

```

curl -1sLf \

  'https://dl.cloudsmith.io/public/mc-rtc/head/setup.deb.sh' \

  | sudo -E bash

```

You can then install the package:

```bash

sudo apt install libtasks-dev python-tasks python3-tasks

```

## Conan

Install the latest version using [conan](https://conan.io/)

```bash

conan remote add multi-contact https://api.bintray.com/conan/gergondet/multi-contact

# Install the latest release

conan install Tasks/latest@multi-contact/stable

# Or install the latest development version

# conan install Tasks/latest@multi-contact/dev

```

## Manually build from source

### Dependencies

To compile you need the following tools and libraries:

 * [Git]()

 * [CMake]() >= 2.8

 * [pkg-config]()

 * [doxygen]()

 * [g++]() >= 4.7 (for C++11 support)

 * [Boost](http://www.boost.org/doc/libs/1_58_0/more/getting_started/unix-variants.html) >= 1.49

 * [Eigen](http://eigen.tuxfamily.org/index.php?title=Main_Page) >= 3.2

 * [SpaceVecAlg](https://github.com/jrl-umi3218/SpaceVecAlg)

 * [RBDyn](https://github.com/jrl-umi3218/RBDyn)

 * [eigen-qld](https://github.com/jrl-umi3218/eigen-qld)

 * eigen-lssol (Optional, if you have the LSSOL licence ask us this library)

 * [sch-core](https://github.com/jrl-umi3218/sch-core)

For Python bindings:

 * [Cython](http://cython.org/) >= 0.2

 * [Eigen3ToPython](https://github.com/jrl-umi3218/Eigen3ToPython)

 * [sch-core-python](https://github.com/jrl-umi3218/sch-core-python)

### Building

```sh

git clone --recursive https://github.com/jrl-umi3218/Tasks

cd Tasks

mkdir _build

cd _build

cmake [options] ..

make && make intall

```

#### CMake options

By default, the build will use the `python` and `pip` command to install the bindings for the default system version (this behaviour can be used to build the bindings in a given virtualenv). The following options allow to control this behaviour:

 * `PYTHON_BINDING` Build the python binding (ON/OFF, default: ON)

 * `PYTHON_BINDING_FORCE_PYTHON2`: use `python2` and `pip2` instead of `python` and `pip`

 * `PYTHON_BINDING_FORCE_PYTHON3`: use `python3` and `pip3` instead of `python` and `pip`

 * `PYTHON_BINDING_BUILD_PYTHON2_AND_PYTHON3`: builds two sets of bindings one with `python2` and `pip2`, the other with `python3` and `pip3`

 * `BUILD_TESTING` Enable unit tests building (ON/OFF, default: ON)