core_task_lib Package

Package with core and common eTaSL task specifications that can be used within the Crospi pipeline for controlling robots. Examples are relative and absolute Cartesian motion, trapezoidal velocity profiles, spline following, admittance force/torque control, control by a 3D space mouse.

Documentation

For documentation and tutorials, checkout our crospi website.

License and acknowledgements

Published under the GNU LESSER GENERAL PUBLIC LICENSE Version 3, 29 June 2007.

This work was funded by the European Union’s Horizon 2020 research and innovation program under the grant agreement No. 101058589 ( AI-Prism)

Authors

(c) 2025, KU Leuven, Department of Mechanical Engineering, ROB-Group:

• Santiago Iregui Rincon
• Erwin Aertbeliën
• Federico Ulloa Rios