Question about mc_tasks

[junhyeokahn]

Hello,
Always appreciate your effort to maintain the open source!

I have a question about mc_tasks library. It seems to include CoMTask.h, CoPTask.h, OrientationTask.h and PostureTask.h but I could not find those files on
jrl-umi3218/Tasks Repo.
Would I request this dependancies to Pierre Gergondet?

[stephane-caron]

That's right, mc_tasks is part of mc_rtc. Thanks for pointing this out :) I just updated the README.

Actually mc_tasks is only a thin wrapper and you can find the implementation of all (but one, see below) of these tasks in the Tasks repository:

• CoMTask is defined at Tasks.h:411
• OrientationTask is defined at Tasks.h:86
• PostureTask is defined at Tasks.h:386

The only one that is not directly defined in Tasks is the CoPTask, as it takes additional sensor readings. The CoP task is a SurfaceTransformTask with feedback from force-torque sensors as described in Section III.A of this document.

[stephane-caron]

For some more info on this: all tasks in this inverse kinematics go to the cost function of the QP, while DOF position/velocity limits are inequality constraints.

For technical details on what's implemented in Tasks, you can take a look at the following paper: Multi-robot and task-space force control with quadratic programming.