Whole-body Task Space Inverse Kinematics for Humanoid/Bipedal legged robots. The code is open-source (BSD License). Please note that this work is an on-going research and thus some parts are not fully developed yet. Furthermore, the code will be subject to changes in the future which could include greater re-factoring.

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.

• Ubuntu 16.04 and later
• ROS kinetic and later
• Eigen 3.2.0 and later
• Pinocchio: https://github.com/stack-of-tasks/pinocchio
• qpmad: https://github.com/asherikov/qpmad

• git clone https://github.com/mrsp/whole_body_ik_msgs.git
• git clone https://github.com/mrsp/whole_body_ik.git
• catkin_make -DCMAKE_BUILD_TYPE=Release
• If you are using catkin tools run: catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release

• Specify topics on config/humanoid_wbc_params.yaml
• roslaunch whole_body_ik humanoid_wbc.launch

BSD