kazuotani14 / tasks

The Tasks library is designed to make real-time control for kinematics tree and list of kinematics tree.

Tasks

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 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.

Installing

Ubuntu 14.04 and 16.04 binary ppa install

Use the multi-contact-unstable ppa:

sudo add-apt-repository ppa:pierre-gergondet+ppa/multi-contact-unstable
sudo apt-get update
sudo apt-get install libtasks-dev libtasks-qld-doc

Homebrew OS X install

Install from the command line using Homebrew:

# install homebrew package manager
ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
# install caskroom application manager
brew install caskroom/cask/brew-cask
# tap homebrew-science package repository
brew tap homebrew/science
# tap ahundt-robotics repository
brew tap ahundt/robotics
# install tasks and all its dependencies
brew install tasks

Manually build from source

Dependencies

To compile you need the following tools:

• Git
• CMake >= 2.8
• pkg-config
• doxygen
• g++ >= 4.7 (for C++11 support)
• Boost >= 1.49
• Eigen >= 3.2
• SpaceVecAlg
• RBDyn
• eigen-qld
• eigen-lssol (Optional, if you have the LSSOL licence ask us this library)
• sch-core

For Python bindings:

• PyBindGen = 0.16
• Eigen3ToPython (to use the python binding)

Building

git clone --recursive https://github.com/jrl-umi3218/Tasks
cd Tasks
mkdir _build
cd _build
cmake [options] ..
make && make intall

Where the main options are:

• -DCMAKE_BUIlD_TYPE=Release Build in Release mode
• -DCMAKE_INSTALL_PREFIX=some/path/to/install default is /usr/local
• -DPYTHON_BINDING=ON Build the python binding
• -DUNIT_TESTS=ON Build unit tests.
• -DPYTHON_DEB_LAYOUT=OFF install python library in site-packages (ON will install in dist-packages)

Pulling git subtree

To update cmake or .travis directory with their upstream git repository:

git fetch git://github.com/jrl-umi3218/jrl-cmakemodules.git master
git subtree pull --prefix cmake git://github.com/jrl-umi3218/jrl-cmakemodules.git master --squash

git fetch git://github.com/jrl-umi3218/jrl-travis.git master
git subtree pull --prefix .travis git://github.com/jrl-umi3218/jrl-travis.git master --squash