Acceleration-based WBC - Hybrid Robot
The example can be found in tutorials/rh5v2/rh5v2_hybrid.cpp, documentation can be found here. To run the tutorial, type
cd build/tutorials/rh5v2
./rh5v2_hybrid
This tutorial assumes that you have installed hyrodyn and enabled the USE_HYRODYN option when you installed WBC. The example shows acceleration-based WBC on a hybrid dual-arm robot (fixed base). The outputs are the actuator accelerations and torques that comply with the given task space accelerations.