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whole body controller with hierarchical optimization #70
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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. |
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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?
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