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Welcome to the sot-torque-control wiki! This repository contains a set of dynamic-graph entities for the implementation of sensor-feedback control of legged robots. In this wiki you can find a description of these entities, which you can see in the image below.
The device entity represents the robot. Even if it does not belong to sot-torque-control---but to sot-core---we describe it here because it is fundamental to understand the whole system. The output signals of the device are the sensor measurements (e.g. encoders, IMU, force/torque sensors). The input signal of the device are the motor commands (typically motor currents). When connecting to the python interpreter on the robot the device entity already exists and you can access it through robot.device.