ISIRTaskManager

Module to manage tasks for ISIRController: Create/update tasks from XML files.

Requirements:

• tinyxml
• ISIRController

XML Specifications:

tasks:

1. <tasks> : Lists of tasks.
2. Attributes

• None

3. Elements

• <task>

task:

1. <task> : Task description.
2. Attributes

• id (required) : The task identifier. It will be used to retrieve/update it.
• type (required) : The type of the task, it can be ACCELERATION, TORQUE, FORCE
• active (required) : 1 if the task is active, else 0

3. Elements

• <param> (required) : Parameters of the task
• <feature> (required) : The feature of the task

param:

1. <param> : Task parameters
2. Attributes

• w (required) : The weight of the task
• kp (required) : The stiffness of the task
• kd (required) : The damping of the task

3. Elements

• None

feature:

1. <feature> : The feature of the task.
2. Attributes

• type (required) : The type of the feature, can be fullstate, partialstate, position, orientation, displacement, com, contact

3. Elements

• <part> (required for fullstate, partialstate, frame): This elements specifies if the free flyer is considered.
• <dofs> (required for partialstate, frame, com) : The selected degrees of freedom.
• <objective> (required for fullstate, partialstate, frame, com) : The desired state of the task
• <segment> (required for contact) : The name of the segment which is in contact.
• <local_offset> (required for contact) : The offset of the contact point relative to the frame of the segment.
• <mu> (required for contact) : Friction cone coefficient
• <margin> (required for contact) : Margin

part:

1. <part> : This elements specifies if the free flyer is considered.
2. Attributes

• value (required) : INTERNAL, FREE_FLYER, FULL_STATE

3. Elements

• None

dofs:

1. <dofs> : The selected degrees of freedom.
2. Attributes

• value (required) : For partialstate, it is the list of the degrees of freedom index. For frame tasks, it is RXYZ, XYZ, R, RX, XY...

3. Elements

• None

objective:

1. <objective> : The desired state of the task
2. Attributes

• None

3. Elements

• <q_des> (for fullstate, partialstate) : Desired joint angles ex : value="0.1 0.2 0.3"
• <qd_des> (for fullstate, partialstate) : Desired joint angles velocity
• <qdd_des> (for fullstate, partialstate) : Desired joint angles acceleration
• <tau_des> (for fullstate, partialstate) : Desired joint torques
• <pos_des> (for frame) : Desired position
• <vel_des> (for frame) : Desired velocity
• <acc_des> (for frame) : Desired acceleration

q_des, qd_des, qdd_des, tau_des, mu, margin:

1. <q_des> : Desired joint angles
2. Attribute

• value (required) : the desired value

3. Elements

• None

pos_des, vel_des, acc_des:

1. <pos_des> : Desired position
2. Attributes

• xyz : the desired translation
• rpy : the desired roll pitch yaw

3. Elements

• None

segment:

1. <segment> The segment involved in the contact
2. Attributes

• name (required) : the name of the segment.

3. Elements

• None