KO | EN

GitLite

Minimalist Open Source Repository Search Engine

gitlite — search

#dsh #dsh-plugin #ai-agent #developer-tools #codex #typescript #cli #deepseek-harness #claude-code #ai-agents #mcp #rust

Tasks

★ 106 Open GitHub ↗

The Tasks library is designed to make real-time control for kinematics tree and list of kinematics tree.

// repository documentation

Was this content helpful?

★ 0 (0 ratings)

Tasks
=====

[![License](https://img.shields.io/badge/License-BSD%202--Clause-green.svg)](https://opensource.org/licenses/BSD-2-Clause)
[![Hosted By: Cloudsmith](https://img.shields.io/badge/OSS%20hosting%20by-cloudsmith-blue?logo=cloudsmith)](https://cloudsmith.com)
[![CI](https://github.com/jrl-umi3218/Tasks/workflows/CI%20of%20Tasks/badge.svg?branch=master)](https://github.com/jrl-umi3218/Tasks/actions?query=workflow%3A%22CI+of+Tasks%22)
[![Documentation](https://img.shields.io/badge/doxygen-online-brightgreen?logo=read-the-docs&style=flat)](http://jrl-umi3218.github.io/Tasks/doxygen/HEAD/index.html)

Tasks is library for real time control of robots and kinematic trees using constrained optimization.
It has been used extensively to control humanoid robots such as HOAP-3, HRP-2, HRP-4 and Atlas.

Documentation
-------------

Features:
 * Support Kinematics Tree with Revolute/Prismatic/Spherical/Free/Planar/Cylindrical joints
 * Dynamic motion (motion must fulfill the equation of motion)
 * Contact forces in friction cones
 * Static contacts
 * Articular position, speed and torque limits
 * Collision avoidance
 * Multi-robot contact (can solve problems involving multiple robots in contact)
 * Tasks:
  * Posture target (articular position target, mandatory if you want avoid singularity issues)
  * Link Position/Orientation target
  * Link Velocity target
  * Center of Mass (CoM) target
  * Momentum target
  * Contact force target

To make sure that Tasks works as intended, unit tests are available for each algorithm.

The [SpaceVecAlg and RBDyn tutorial](https://github.com/jorisv/sva_rbdyn_tutorials) is also a big resources to understand how to use Tasks by providing a lot of IPython Notebook that will present real use case.

An online documentation can be found [online](https://jrl-umi3218.github.io/Tasks).

Installing
----------

## Nix

### Run python interpreter
To get a python interpreter, use

```sh
nix run github:jrl-umi3218/Tasks
```

and use it with

```python
import tasks
# ...
```

### Build
To build this software simply use

```sh
nix build github:jrl-umi3218/Tasks#tasks
```

### Develop
To work on the project, use a development shell

```sh
gh repo clone jrl-umi3218/Tasks
cd Tasks
direnv allow # or nix develop
cmake -B build $cmakeFlags
cmake --build build
```

### Overlay
To use in your own nix flakes, you may use the overlay provided in https://github.com/mc-rtc/nixpkgs or add this repository's flake to your flake inputs.

## Ubuntu LTS (22.04, 24.04, 26.04)

You must first setup our package mirror:

```
curl -1sLf \
  'https://dl.cloudsmith.io/public/mc-rtc/stable/setup.deb.sh' \
  | sudo -E bash
```

You can also choose the head mirror which will have the latest version of this package:

```
curl -1sLf \
  'https://dl.cloudsmith.io/public/mc-rtc/head/setup.deb.sh' \
  | sudo -E bash
```

You can then install the package:

```bash
sudo apt install libtasks-dev python-tasks python3-tasks
```

## Conan

Install the latest version using [conan](https://conan.io/)

```bash
conan remote add multi-contact https://api.bintray.com/conan/gergondet/multi-contact
# Install the latest release
conan install Tasks/latest@multi-contact/stable
# Or install the latest development version
# conan install Tasks/latest@multi-contact/dev
```

## Manually build from source

### Dependencies

To compile you need the following tools and libraries:

* [Git]()
 * [CMake]() >= 2.8
 * [pkg-config]()
 * [doxygen]()
 * [g++]() >= 4.7 (for C++11 support)
 * [Boost](http://www.boost.org/doc/libs/1_58_0/more/getting_started/unix-variants.html) >= 1.49
 * [Eigen](http://eigen.tuxfamily.org/index.php?title=Main_Page) >= 3.2
 * [SpaceVecAlg](https://github.com/jrl-umi3218/SpaceVecAlg)
 * [RBDyn](https://github.com/jrl-umi3218/RBDyn)
 * [eigen-qld](https://github.com/jrl-umi3218/eigen-qld)
 * eigen-lssol (Optional, if you have the LSSOL licence ask us this library)
 * [sch-core](https://github.com/jrl-umi3218/sch-core)

For Python bindings:
 * [Cython](http://cython.org/) >= 0.2
 * [Eigen3ToPython](https://github.com/jrl-umi3218/Eigen3ToPython)
 * [sch-core-python](https://github.com/jrl-umi3218/sch-core-python)

### Building

```sh
git clone --recursive https://github.com/jrl-umi3218/Tasks
cd Tasks
mkdir _build
cd _build
cmake [options] ..
make && make intall
```

#### CMake options

By default, the build will use the `python` and `pip` command to install the bindings for the default system version (this behaviour can be used to build the bindings in a given virtualenv). The following options allow to control this behaviour:

* `PYTHON_BINDING` Build the python binding (ON/OFF, default: ON)
 * `PYTHON_BINDING_FORCE_PYTHON2`: use `python2` and `pip2` instead of `python` and `pip`
 * `PYTHON_BINDING_FORCE_PYTHON3`: use `python3` and `pip3` instead of `python` and `pip`
 * `PYTHON_BINDING_BUILD_PYTHON2_AND_PYTHON3`: builds two sets of bindings one with `python2` and `pip2`, the other with `python3` and `pip3`
 * `BUILD_TESTING` Enable unit tests building (ON/OFF, default: ON)

Tasks

Explore Similar Repositories

Was this content helpful?

Recent Feedback

Download README