Acceleration-based WBC - Serial Robot
The example can be found in tutorials/rh5v2/rh5v2.cpp, documentation can be found here. To run the tutorial, type
cd build/tutorials/rh5v2
./rh5v2
This example shows acceleration-based WBC on a serial dual-arm robot (fixed base). The outputs are the joint acceleration and torques that comply with the given task space accelerations.