Velocity-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 velocity-based WBC on a serial dual-arm robot (fixed base). The outputs are the independent joint velocities that comply with the given task space velocities. The tasks are (1) to keep one arm at a fixed position, while (2) following a sinusoidal trajectory with the left arm. The robot’s torso joints are thereby used to exploit the redundancy of the robot.