Documentation

This stack wraps dynamic-graph, a versatile real-time control framework for robotics.

It is composed of:

• dynamic-graph: the core library allows to define a graph which will compute the new robot configuration at each iteration of the real-time control loop,

• dynamic-graph-python: the Python bindings for dynamic-graph,

• sot-core is a toolbox implementing task based control on top of the dynamic-graph framework`

• sot-dynamic binds the dynamics computation library provided by jrl-dynamics to the dynamic-graph framework.

To embed this framework into ROS, several ROS packages are provided by this stack:

• dynamic_graph_bridge allows dynamic_graph to publish and subscribe to ROS topics,

• dynamic_graph_actionlib allows dynamic_graph to be managed through actionlib actions,

• jrl_dynamics_urdf allows jrl-dynamics to load URDF robot models,

• sot_pr2 implements a PR2 controller based on dynamic-graph.

Report a Bug

Use GitHub to report a bug or submit an enhancement.

References

• N. Mansard, O. Stasse, P. Evrard and A. Kheddar. A versatile Generalized Inverted Kinematics implementation for collaborative working humanoid robots: The Stack Of Tasks. In IEEE International Conference on Advanced Robotics, ICAR'09, Munich, Germany, June 2009. [ pdf ]