Commit e589a477 authored by Guilhem Saurel's avatar Guilhem Saurel
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gepgitlab → gitlab

parent 09242562
......@@ -2,8 +2,8 @@
[![License](https://img.shields.io/badge/License-BSD%202--Clause-orange.svg)](https://opensource.org/licenses/BSD-2-Clause)
[![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)
[![Pipeline status](https://gepgitlab.laas.fr/stack-of-tasks/sot-torque-control/badges/master/pipeline.svg)](https://gepgitlab.laas.fr/stack-of-tasks/sot-torque-control/commits/master)
[![Coverage report](https://gepgitlab.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/)
[![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)
[![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/)
Collection of dynamic-graph entities aimed at implementing torque control on different robots.
Read the project wiki to get a description of the main entities contained in this repository.
......
......@@ -21,8 +21,8 @@
[![License](https://img.shields.io/badge/License-BSD%202--Clause-orange.svg)](https://opensource.org/licenses/BSD-2-Clause)
[![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)
[![Pipeline status](https://gepgitlab.laas.fr/stack-of-tasks/sot-torque-control/badges/master/pipeline.svg)](https://gepgitlab.laas.fr/stack-of-tasks/sot-torque-control/commits/master)
[![Coverage report](https://gepgitlab.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/)
[![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)
[![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/)
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 <a href="https://github.com/stack-of-tasks/sot-torque-control/wiki">wiki</a>.
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# Running the DDP on the right elbow joint of Pyrene
In the following, we demonstrate how to run a test with sot-torque-control, <a href="https://github.com/stack-of-tasks/ddp-actuator-solver">ddp-actuator-solver</a> and <a href="https://gepgitlab.laas.fr/pyrene-dev/talos-torque-control.git">talos-torque-control</a>.
In the following, we demonstrate how to run a test with sot-torque-control, <a href="https://github.com/stack-of-tasks/ddp-actuator-solver">ddp-actuator-solver</a> and <a href="https://gitlab.laas.fr/pyrene-dev/talos-torque-control.git">talos-torque-control</a>.
## Start the simulation
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# Running a test
In the following, we quickly demonstrate how to run a test with sot-torque-control and <a href="https://gepgitlab.laas.fr/pyrene-dev/talos-torque-control.git">talos-torque-control</a>.
In the following, we quickly demonstrate how to run a test with sot-torque-control and <a href="https://gitlab.laas.fr/pyrene-dev/talos-torque-control.git">talos-torque-control</a>.
## Start the simulation
......@@ -12,7 +12,7 @@ roslaunch talos_gazebo talos_gazebo.launch
```
Notice that this will spawn Talos at configuration zero. This is not always what you want.
The package talos_data offers different launch files to spawn it at different configurations.
The package talos_data offers different launch files to spawn it at different configurations.
Most commonly, you might want to spawn the robot in the half-sitting position:
```
......@@ -22,14 +22,14 @@ roslaunch talos_data talos_gazebo.launch start_half_sitting:=true
## Start the SoT in position mode
To start the SoT in simulation in position mode:
To start the SoT in simulation in position mode:
```
roslaunch roscontrol_sot_talos sot_talos_controller_gazebo.launch
```
## Start the SoT in torque mode
To start the SoT in simulation in torque mode:
To start the SoT in simulation in torque mode:
```
roslaunch roscontrol_sot_talos sot_talos_controller_gazebo_effort.launch
```
......@@ -67,7 +67,7 @@ python sim_com.py torque
\image html Sot_torque_control_framework_for_torque_control.png
These two examples replicate the ex2 of the TSID jupyter notebooks in position and torque control in Gazebo (see the jupyter <a href="https://github.com/stack-of-tasks/tsid/blob/master/exercizes/notebooks/TSID_ex2.ipynb">here</a>).
These two examples replicate the ex2 of the TSID jupyter notebooks in position and torque control in Gazebo (see the jupyter <a href="https://github.com/stack-of-tasks/tsid/blob/master/exercizes/notebooks/TSID_ex2.ipynb">here</a>).
## Interacting with the dynamic graph
......@@ -81,5 +81,3 @@ rosrun dynamic_graph_bridge run_command
## Other
More information on how to use the SoT and how to work on Talos can be found <a href="https://wiki.laas.fr/robots/Pyrene">in the robot wiki page</a> (you need LAAS permissions to access this).
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