From c6b290d2260101bf5f8145241be3434c0d08304b Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Wed, 25 Mar 2020 17:26:10 +0100
Subject: [PATCH] [wip/{py,}talos-torque-control] Initial import
---
Makefile | 2 ++
py-talos-torque-control/DESCR | 1 +
py-talos-torque-control/Makefile | 47 +++++++++++++++++++++++++++++++
py-talos-torque-control/PLIST | 25 ++++++++++++++++
py-talos-torque-control/depend.mk | 26 +++++++++++++++++
py-talos-torque-control/distinfo | 3 ++
talos-torque-control/DESCR | 1 +
talos-torque-control/Makefile | 36 +++++++++++++++++++++++
talos-torque-control/PLIST | 12 ++++++++
talos-torque-control/depend.mk | 29 +++++++++++++++++++
talos-torque-control/distinfo | 3 ++
11 files changed, 185 insertions(+)
create mode 100644 py-talos-torque-control/DESCR
create mode 100644 py-talos-torque-control/Makefile
create mode 100644 py-talos-torque-control/PLIST
create mode 100644 py-talos-torque-control/depend.mk
create mode 100644 py-talos-torque-control/distinfo
create mode 100644 talos-torque-control/DESCR
create mode 100644 talos-torque-control/Makefile
create mode 100644 talos-torque-control/PLIST
create mode 100644 talos-torque-control/depend.mk
create mode 100644 talos-torque-control/distinfo
diff --git a/Makefile b/Makefile
index af8f79a0..4475c650 100644
--- a/Makefile
+++ b/Makefile
@@ -117,6 +117,7 @@ SUBDIR+= py-sot-tiago
SUBDIR+= py-sot-tools-v3
SUBDIR+= py-sot-torque-control
SUBDIR+= py-talos-rbprm
+SUBDIR+= py-talos-torque-control
SUBDIR+= py-tsid
SUBDIR+= pyrene-motions
SUBDIR+= roralink
@@ -162,6 +163,7 @@ SUBDIR+= talos-metapkg-ros-control-sot
SUBDIR+= talos-moveit-config
SUBDIR+= talos-robot
SUBDIR+= talos-simulation
+SUBDIR+= talos-torque-control
SUBDIR+= tf-lookup
SUBDIR+= tiago-data
SUBDIR+= tiago-description-calibration
diff --git a/py-talos-torque-control/DESCR b/py-talos-torque-control/DESCR
new file mode 100644
index 00000000..8a7221c3
--- /dev/null
+++ b/py-talos-torque-control/DESCR
@@ -0,0 +1 @@
+Torque control for humanoid robots (python bindings)
diff --git a/py-talos-torque-control/Makefile b/py-talos-torque-control/Makefile
new file mode 100644
index 00000000..c2725904
--- /dev/null
+++ b/py-talos-torque-control/Makefile
@@ -0,0 +1,47 @@
+# robotpkg Makefile for: wip/py38-talos-torque-control
+# Created: Guilhem Saurel on Wed, 25 Mar 2020
+#
+
+ORG= pyrene-dev
+NAME= talos-torque-control
+VERSION= 1.0.0
+
+CATEGORIES= wip
+COMMENT= Torque control for Talos (python bindings)
+
+USE_PYTHON_ONLY= true
+
+include ../../${CATEGORIES}/${NAME}/depend.mk
+include ../../devel/jrl-cmakemodules/Makefile.common
+include ../../wip/sot-torque-control/depend.mk
+include ../../wip/py-sot-torque-control/depend.mk
+include ../../devel/boost-headers/depend.mk
+include ../../devel/boost-libs/depend.mk
+include ../../graphics/simple-humanoid-description/depend.mk
+include ../../graphics/urdfdom/depend.mk
+include ../../mapping/octomap/depend.mk
+include ../../math/eigen3/depend.mk
+include ../../math/pinocchio/depend.mk
+include ../../math/py-pinocchio/depend.mk
+include ../../optimization/qpoases/depend.mk
+include ../../path/hpp-fcl/depend.mk
+include ../../path/py-hpp-fcl/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../wip/dynamic-graph-v3/depend.mk
+include ../../wip/py-dynamic-graph-v3/depend.mk
+include ../../wip/sot-core-v3/depend.mk
+include ../../wip/py-sot-core-v3/depend.mk
+include ../../wip/tsid/depend.mk
+include ../../wip/py-tsid/depend.mk
+include ../../wip/parametric-curves/depend.mk
+include ../../wip/py-parametric-curves/depend.mk
+include ../../wip/ddp-actuator-solver/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/sysdep/python.mk
+include ../../mk/sysdep/doxygen.mk
+include ../../mk/sysdep/graphviz.mk
+include ../../mk/sysdep/py-sphinx.mk
+include ../../mk/sysdep/python.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/py-talos-torque-control/PLIST b/py-talos-torque-control/PLIST
new file mode 100644
index 00000000..8ded0d95
--- /dev/null
+++ b/py-talos-torque-control/PLIST
@@ -0,0 +1,25 @@
+@comment Wed Mar 25 17:05:52 CET 2020
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/admittance_ctrl_conf.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/balance_ctrl_conf.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/balance_ctrl_sim_conf.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/base_estimator_conf.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/base_estimator_sim_conf.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/control_manager_conf.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/control_manager_sim_conf.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/create_entities_utils_talos.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/create_entities_utils_talos_sinusoid.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/current_controller_conf.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/current_controller_sim_conf.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/ddp_controller_conf.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/force_torque_estimator_conf.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/joint_pos_ctrl_gains.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/joint_pos_ctrl_gains_sim.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/joint_torque_controller_conf.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/joint_torque_controller_sim_conf.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/main_ddp_talos.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/main_sim_com_torque.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/main_sim_com_vel.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/motors_parameters.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/motors_parameters_sim.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/talos/sot_utils_talos.py
diff --git a/py-talos-torque-control/depend.mk b/py-talos-torque-control/depend.mk
new file mode 100644
index 00000000..1a0eaddd
--- /dev/null
+++ b/py-talos-torque-control/depend.mk
@@ -0,0 +1,26 @@
+# robotpkg depend.mk for: wip/py38-talos-torque-control
+# Created: Guilhem Saurel on Wed, 25 Mar 2020
+#
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+PY_TALOS_TORQUE_CONTROL_DEPEND_MK:= ${PY_TALOS_TORQUE_CONTROL_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= sot-torque-control
+endif
+
+ifeq (+,$(PY_TALOS_TORQUE_CONTROL_DEPEND_MK)) # -------------------------------------------
+
+PREFER.py-talos-torque-control?= robotpkg
+
+SYSTEM_SEARCH.py-talos-torque-control=\
+ '${PYTHON_SYSLIBSEARCH}/dynamic_graph/sot/torque_control/talos/__init__.py'
+
+DEPEND_USE+= py-talos-torque-control
+
+DEPEND_ABI.py-talos-torque-control?= ${PKGTAG.python-}talos-torque-control>=1.0.0
+DEPEND_DIR.py-talos-torque-control?= ../../wip/py-talos-torque-control
+
+endif # PY_TALOS_TORQUE_CONTROL_DEPEND_MK -------------------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/py-talos-torque-control/distinfo b/py-talos-torque-control/distinfo
new file mode 100644
index 00000000..6a904958
--- /dev/null
+++ b/py-talos-torque-control/distinfo
@@ -0,0 +1,3 @@
+SHA1 (talos-torque-control-1.0.0.tar.gz) = 3f82af7f901475abb5f0856ebddd62ce0f2afef5
+RMD160 (talos-torque-control-1.0.0.tar.gz) = 0c0eab53f34e093515fe20cadc0fc12adb5afe5c
+Size (talos-torque-control-1.0.0.tar.gz) = 1107369 bytes
diff --git a/talos-torque-control/DESCR b/talos-torque-control/DESCR
new file mode 100644
index 00000000..fc12790d
--- /dev/null
+++ b/talos-torque-control/DESCR
@@ -0,0 +1 @@
+Torque control for humanoid robots
\ No newline at end of file
diff --git a/talos-torque-control/Makefile b/talos-torque-control/Makefile
new file mode 100644
index 00000000..ac5c34f1
--- /dev/null
+++ b/talos-torque-control/Makefile
@@ -0,0 +1,36 @@
+# robotpkg Makefile for: wip/talos-torque-control
+# Created: Guilhem Saurel on Wed, 25 Mar 2020
+#
+
+ORG= pyrene-dev
+NAME= talos-torque-control
+VERSION= 1.0.0
+
+CATEGORIES= wip
+COMMENT= Torque control for Talos
+
+CMAKE_ARGS+= -DBUILD_PYTHON_INTERFACE=OFF
+
+include ../../devel/jrl-cmakemodules/Makefile.common
+include ../../wip/sot-torque-control/depend.mk
+include ../../devel/boost-headers/depend.mk
+include ../../devel/boost-libs/depend.mk
+include ../../graphics/simple-humanoid-description/depend.mk
+include ../../graphics/urdfdom/depend.mk
+include ../../mapping/octomap/depend.mk
+include ../../math/eigen3/depend.mk
+include ../../math/pinocchio/depend.mk
+include ../../optimization/qpoases/depend.mk
+include ../../path/hpp-fcl/depend.mk
+include ../../wip/dynamic-graph-v3/depend.mk
+include ../../wip/sot-core-v3/depend.mk
+include ../../wip/tsid/depend.mk
+include ../../wip/parametric-curves/depend.mk
+include ../../wip/ddp-actuator-solver/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/sysdep/doxygen.mk
+include ../../mk/sysdep/graphviz.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/talos-torque-control/PLIST b/talos-torque-control/PLIST
new file mode 100644
index 00000000..aec3a8a5
--- /dev/null
+++ b/talos-torque-control/PLIST
@@ -0,0 +1,12 @@
+@comment Wed Mar 25 16:09:59 CET 2020
+include/sot/torque-control/config.hh
+include/sot/torque-control/deprecated.hh
+include/sot/torque-control/talos-common.hh
+include/sot/torque-control/warning.hh
+lib/cmake/talos-torque-control/talos-torque-controlConfig.cmake
+lib/cmake/talos-torque-control/talos-torque-controlConfigVersion.cmake
+lib/cmake/talos-torque-control/talos-torque-controlTargets-release.cmake
+lib/cmake/talos-torque-control/talos-torque-controlTargets.cmake
+lib/libtalos-torque-control.so
+lib/libtalos-torque-control.so.${PKGVERSION}
+lib/pkgconfig/talos-torque-control.pc
diff --git a/talos-torque-control/depend.mk b/talos-torque-control/depend.mk
new file mode 100644
index 00000000..4323229d
--- /dev/null
+++ b/talos-torque-control/depend.mk
@@ -0,0 +1,29 @@
+# robotpkg depend.mk for: wip/talos-torque-control
+# Created: Guilhem Saurel on Wed, 25 Mar 2020
+#
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+TALOS_TORQUE_CONTROL_DEPEND_MK:= ${TALOS_TORQUE_CONTROL_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= sot-torque-control
+endif
+
+ifeq (+,$(TALOS_TORQUE_CONTROL_DEPEND_MK)) # -------------------------------------------
+
+PREFER.talos-torque-control?= robotpkg
+
+SYSTEM_SEARCH.talos-torque-control=\
+ 'include/sot/torque-control/config.hh:/TALOS_TORQUE_CONTROL_VERSION /s/[^0-9.]//gp' \
+ 'lib/libtalos-torque-control.so' \
+ 'lib/cmake/talos-torque-control/talos-torque-controlConfigVersion.cmake:/PACKAGE_VERSION/s/[^0-9.]//gp' \
+ 'lib/pkgconfig/talos-torque-control.pc:/Version/s/[^0-9.]//gp'
+
+DEPEND_USE+= talos-torque-control
+
+DEPEND_ABI.talos-torque-control?= talos-torque-control>=1.0.0
+DEPEND_DIR.talos-torque-control?= ../../wip/talos-torque-control
+
+endif # TALOS_TORQUE_CONTROL_DEPEND_MK -------------------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/talos-torque-control/distinfo b/talos-torque-control/distinfo
new file mode 100644
index 00000000..6a904958
--- /dev/null
+++ b/talos-torque-control/distinfo
@@ -0,0 +1,3 @@
+SHA1 (talos-torque-control-1.0.0.tar.gz) = 3f82af7f901475abb5f0856ebddd62ce0f2afef5
+RMD160 (talos-torque-control-1.0.0.tar.gz) = 0c0eab53f34e093515fe20cadc0fc12adb5afe5c
+Size (talos-torque-control-1.0.0.tar.gz) = 1107369 bytes
--
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