Whole-body Task Space Inverse Kinematics for Humanoid/Bipedal legged robots. The code is open-source (BSD License). Please note that this work is an on-going research and thus some parts are not fully developed yet. Furthermore, the code will be subject to changes in the future which could include greater re-factoring.
These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.
- Ubuntu 16.04 and later
- ROS kinetic and later
- Eigen 3.2.0 and later
- Pinocchio: https://github.com/stack-of-tasks/pinocchio
- qpmad: https://github.com/asherikov/qpmad
git clone https://github.com/mrsp/whole_body_ik_msgs.gitgit clone https://github.com/mrsp/whole_body_ik.gitcatkin_make -DCMAKE_BUILD_TYPE=Release- If you are using catkin tools run:
catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release
- Specify topics on
config/humanoid_wbc_params.yaml roslaunch whole_body_ik humanoid_wbc.launch
