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# sot-torque-control
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Collection of dynamic-graph entities aimed at implementing torque control on different robots.
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Read the project wiki to get a description of the main entities contained in this repository.

## Dependencies
This project depends on:
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* dynamic-graph >= 3.0.0
* dynamic-graph-python >= 3.0.0
* sot-core >= 3.0.0
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* pinocchio >= 1.2
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* [parametric-curves](https://github.com/stack-of-tasks/parametric-curves)
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* (for unit testing)[example-robot-data](https://github.com/gepetto/example-robot-data) >= 3.8.0
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All of these packages (except PinInvDyn) can be installed through [robotpkg](http://robotpkg.openrobots.org/).
In particular, you can find them in [robotpkg-wip](http://robotpkg.openrobots.org/robotpkg-wip.html) (work in progress), a subset of robotpkg.
Pay attention not to install ROS using robotpkg though, because it would install the latest version, which may not be what you need
(e.g. currently on HRP-2 we are using ROS indigo).

## Installation

    git clone --recursive git@github.com:stack-of-tasks/sot-torque-control.git
    cd sot-torque-control
    mkdir _build-RELEASE
    cd _build-RELEASE
    cmake .. -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=$DEVEL_DIR/openrobots
    make install