Velocity-based WBC - Hybrid Robot
This tutorial assumes that you have installed HyRoDyn, and enabled the ROBOT_MODEL_HYRODYN option when you installed WBC. As of today (11/24) HyRoDyn is not openly available, so the installation requires an account on https://git.hb.dfki.de.
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
The example shows velocity-based WBC on a hybrid dual-arm robot (fixed base). The outputs are the actuator velocities that comply with the given task space velocities. In contrast to the previous example, the solution respects the internal closed-loop mechanisms of the RH5v2 robot and is mapped directly to actuation space (see this paper for more details).