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ethz-adrl / towr

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
http://wiki.ros.org/towr
BSD 3-Clause "New" or "Revised" License
932 stars 233 forks source link

whole body controller with hierarchical optimization #70

Open EricWang1hitsz opened 4 years ago

EricWang1hitsz commented 4 years ago

Thanks for your great code! I finished the motion plan using towr and tracked the motion with balance controller. But I want to track them using WBC controller, is the code open?

awinkler commented 4 years ago

Thanks! No, unfortunately that code is not open-source, since it's more dependent on the specific robot and software stack being used. Not so easy to separate out, you'll have to write your own. Sorry about that.