├── .github └── workflows │ ├── build_and_test_ubuntu22.04.yml │ ├── build_and_test_ubuntu24.04.yml │ └── doxygen.yml ├── .gitignore ├── CMakeLists.txt ├── CONTRIBUTING.md ├── Doxyfile ├── LICENSE ├── README.md ├── doc └── images │ ├── DFKI_Logo_e_schrift.jpg │ ├── arcopt_logo_v3_github.jpg │ └── wbc_principle.svg ├── docker ├── Dockerfile └── install.sh ├── manifest.xml ├── models ├── hyper-2 │ └── urdf │ │ └── HyPer-2.urdf ├── kuka │ ├── hyrodyn │ │ ├── kuka_iiwa.yml │ │ ├── kuka_iiwa_blacklist.yml │ │ └── kuka_iiwa_floating_base.yml │ ├── meshes │ │ ├── link_0.stl │ │ ├── link_1.stl │ │ ├── link_2.stl │ │ ├── link_3.stl │ │ ├── link_4.stl │ │ ├── link_5.stl │ │ ├── link_6.stl │ │ └── link_7.stl │ └── urdf │ │ ├── kuka_iiwa.urdf │ │ ├── kuka_iiwa_with_floating_base.urdf │ │ └── kuka_lbr.urdf ├── rh5 │ ├── hyrodyn │ │ ├── ALWrist.urdf │ │ ├── ARWrist.urdf │ │ ├── Body.urdf │ │ ├── Head.urdf │ │ ├── LLAnkle.urdf │ │ ├── LLHip3.urdf │ │ ├── LLKnee.urdf │ │ ├── LRAnkle.urdf │ │ ├── LRHip3.urdf │ │ ├── LRKnee.urdf │ │ ├── rh5.yml │ │ ├── rh5_hybrid.yml │ │ ├── rh5_legs.yml │ │ ├── rh5_legs_hybrid.yml │ │ ├── rh5_single_leg.yml │ │ ├── rh5_single_leg_floating_base.yml │ │ └── rh5_single_leg_hybrid.yml │ ├── meshes │ │ ├── ALElbow_Link.STL │ │ ├── ALShoulder1_Link.STL │ │ ├── ALShoulder2_Link.STL │ │ ├── ALShoulder3_Link.STL │ │ ├── ALWristPitch_Link.STL │ │ ├── ALWristRoll_Link.STL │ │ ├── ALWristYaw_Link.STL │ │ ├── ALWrist_Act1_Link.STL │ │ ├── ALWrist_Act2_Link.STL │ │ ├── ALWrist_B11_Link.STL │ │ ├── ALWrist_B12_Link.STL │ │ ├── ALWrist_B21_Link.STL │ │ ├── ALWrist_B22_Link.STL │ │ ├── ALWrist_FT.STL │ │ ├── ARShoulder1_Link.STL │ │ ├── ARShoulder2_Link.STL │ │ ├── AnklePitch_Link.STL │ │ ├── AnkleRoll_Link.STL │ │ ├── Ankle_Act1_Link.STL │ │ ├── Ankle_Act2_Link.STL │ │ ├── Ankle_B11_Link.STL │ │ ├── Ankle_B12_Link.STL │ │ ├── Ankle_B21_Link.STL │ │ ├── Ankle_B22_Link.STL │ │ ├── Ankle_E11_Link.STL │ │ ├── Ankle_E21_Link.STL │ │ ├── BodyBase_Link.STL │ │ ├── BodyPitch_Link.STL │ │ ├── BodyRoll_Link.STL │ │ ├── BodyYaw_Act1_Link.STL │ │ ├── BodyYaw_B11_Link.STL │ │ ├── BodyYaw_B21_Link.STL │ │ ├── BodyYaw_Link.STL │ │ ├── BodyYaw_Link_Collision.STL │ │ ├── Body_Act1_Link.STL │ │ ├── Body_Act2_Link.STL │ │ ├── Body_B11_Link.STL │ │ ├── Body_B12_Link.STL │ │ ├── Body_B21_Link.STL │ │ ├── Body_B22_Link.STL │ │ ├── DistalBar.STL │ │ ├── DistalSegment.STL │ │ ├── FL_FT_Link.STL │ │ ├── FootCollision_FrontLeft_Link.STL │ │ ├── FootCollision_FrontRight_Link.STL │ │ ├── FootCollision_RearLeft_Link.STL │ │ ├── FootCollision_RearRight_Link.STL │ │ ├── HeadPitch_Link.STL │ │ ├── HeadRoll_Link.STL │ │ ├── HeadYaw_Link.STL │ │ ├── Hip2_Link.STL │ │ ├── Hip3_B11_Link.STL │ │ ├── Hip3_Link.STL │ │ ├── Knee_Act1_Link.STL │ │ ├── Knee_B11_Link.STL │ │ ├── Knee_Link.STL │ │ ├── LLHip1_Link.STL │ │ ├── LLHip2_Link.STL │ │ ├── LLHip3_Act1_Link.STL │ │ ├── LRHip1_Link.STL │ │ ├── LRHip2_Link.STL │ │ ├── LeftArm.STL │ │ ├── ProximalBar.STL │ │ ├── ProximalSegment.STL │ │ ├── RH5-G-Baseframe.STL │ │ ├── RH5_G_F_BaseFrame.STL │ │ ├── RH5_Root_Link.STL │ │ ├── SupportCenter_Link.STL │ │ └── Wrist_FT.STL │ └── urdf │ │ ├── rh5.urdf │ │ ├── rh5_floating_base.urdf │ │ ├── rh5_hybrid.urdf │ │ ├── rh5_legs.urdf │ │ ├── rh5_legs_floating_base.urdf │ │ ├── rh5_legs_hybrid.urdf │ │ ├── rh5_single_leg.urdf │ │ ├── rh5_single_leg_fixed.urdf │ │ └── rh5_single_leg_hybrid.urdf └── rh5v2 │ ├── hyrodyn │ ├── ALElbow.urdf │ ├── ARElbow.urdf │ ├── Body.urdf │ ├── GLF1distal.urdf │ ├── GLF1proximal.urdf │ ├── GLF2distal.urdf │ ├── GLF2proximal.urdf │ ├── GLF3distal.urdf │ ├── GLF3proximal.urdf │ ├── GLF4distal.urdf │ ├── GLF4proximal.urdf │ ├── GRF1distal.urdf │ ├── GRF1proximal.urdf │ ├── GRF2distal.urdf │ ├── GRF2proximal.urdf │ ├── Head.urdf │ ├── left_wrist_mechanism.urdf │ ├── rh5v2.yml │ ├── rh5v2_hybrid.yml │ └── right_wrist_mechanism.urdf │ ├── meshes │ ├── 2FGripper_BaseFrame.stl │ ├── ALBase_Link.stl │ ├── ALElbow_Act_Link.stl │ ├── ALElbow_B11_Link.stl │ ├── ALElbow_Link.stl │ ├── ALShoulder1_Link.stl │ ├── ALShoulder2_Link.stl │ ├── ALShoulder3_Link.stl │ ├── ALWristFT_Link.stl │ ├── ALWristPitch_Link.stl │ ├── ALWristYaw_Link.stl │ ├── ALWrist_AL1_Link.stl │ ├── ALWrist_AR1_Link.stl │ ├── ALWrist_ActL_Link.stl │ ├── ALWrist_ActR_Link.stl │ ├── ALWrist_BL1_Link.stl │ ├── ALWrist_BL2_Link.stl │ ├── ALWrist_BL3_Link.stl │ ├── ALWrist_BL4_Link.stl │ ├── ALWrist_BR1_Link.stl │ ├── ALWrist_BR2_Link.stl │ ├── ALWrist_BR3_Link.stl │ ├── ALWrist_BR4_Link.stl │ ├── ALWrist_Base_Link.stl │ ├── ALWrist_FT.stl │ ├── ALWrist_Root_Link.stl │ ├── ARBase_Link.stl │ ├── ARElbow_Act_Link.stl │ ├── ARElbow_B11_Link.stl │ ├── ARElbow_Link.stl │ ├── ARShoulder1_Link.stl │ ├── ARShoulder2_Link.stl │ ├── ARShoulder3_Link.stl │ ├── ARWristFT_Link.stl │ ├── ARWristPitch_Link.stl │ ├── ARWristYaw_Link.stl │ ├── ARWrist_AL1_Link.stl │ ├── ARWrist_AR1_Link.stl │ ├── ARWrist_ActL_Link.stl │ ├── ARWrist_ActR_Link.stl │ ├── ARWrist_BL1_Link.stl │ ├── ARWrist_BL2_Link.stl │ ├── ARWrist_BL3_Link.stl │ ├── ARWrist_BL4_Link.stl │ ├── ARWrist_BR1_Link.stl │ ├── ARWrist_BR2_Link.stl │ ├── ARWrist_BR3_Link.stl │ ├── ARWrist_BR4_Link.stl │ ├── ARWrist_Base_Link.stl │ ├── ARWrist_FT.stl │ ├── ARWrist_Root_Link.stl │ ├── BodyPitch.stl │ ├── BodyRoll.stl │ ├── BodyYaw.stl │ ├── BodyYaw_Link_abstract-urdf_joined_convexhull.obj │ ├── Body_ActL.stl │ ├── Body_ActR.stl │ ├── Body_BL1.stl │ ├── Body_BL2.stl │ ├── Body_BR1.stl │ ├── Body_BR2.stl │ ├── Body_Root_Link.stl │ ├── Connector_Torso_ArmLeft.stl │ ├── Connector_Torso_ArmRight.stl │ ├── Connector_Torso_Backpack.stl │ ├── Connector_Torso_Head.stl │ ├── F_Gear_Frame.stl │ ├── F_ProximalBar_Frame.stl │ ├── F_ProximalSegment_Frame.stl │ ├── F_TopSegment_Frame.stl │ ├── Finger_Base_Frame.stl │ ├── GL_Thumb.stl │ ├── GR_Thumb.stl │ ├── GripperLeft_BaseFrame.stl │ ├── GripperRight_BaseFrame.stl │ ├── HeadPitch.stl │ ├── HeadRoll.stl │ ├── HeadYaw.stl │ ├── Head_ActC.stl │ ├── Head_ActL.stl │ ├── Head_ActR.stl │ ├── Head_Base.stl │ ├── IMU_Body.stl │ ├── IMU_Torso.stl │ ├── RH5v2_Root_Link.stl │ ├── RH5v2_Root_Link_convexhull.obj │ ├── Stereo_Camera_Head.stl │ ├── Structure_Sensor_Torso.stl │ ├── base_link.stl │ ├── base_link_convexhull.obj │ └── base_link_torso.stl │ ├── raisim │ └── rh5v2.urdf │ └── urdf │ ├── rh5v2.urdf │ └── rh5v2_hybrid.urdf ├── patches ├── eiquadprog.patch ├── kdl_parser.patch ├── pinocchio.patch ├── qpOASES.patch ├── qpSWIFT.patch └── rbdl.patch ├── scripts ├── full_install.sh └── install.sh ├── src ├── CMakeLists.txt ├── constraints │ ├── CMakeLists.txt │ ├── ContactsAccelerationConstraint.cpp │ ├── ContactsAccelerationConstraint.hpp │ ├── ContactsFrictionPointConstraint.cpp │ ├── ContactsFrictionPointConstraint.hpp │ ├── ContactsFrictionSurfaceConstraint.cpp │ ├── ContactsFrictionSurfaceConstraint.hpp │ ├── ContactsVelocityConstraint.cpp │ ├── ContactsVelocityConstraint.hpp │ ├── EffortLimitsAccelerationConstraint.cpp │ ├── EffortLimitsAccelerationConstraint.hpp │ ├── JointLimitsAccelerationConstraint.cpp │ ├── JointLimitsAccelerationConstraint.hpp │ ├── JointLimitsVelocityConstraint.cpp │ ├── JointLimitsVelocityConstraint.hpp │ ├── RigidbodyDynamicsConstraint.cpp │ ├── RigidbodyDynamicsConstraint.hpp │ └── wbc-constraints.pc.in ├── controllers │ ├── CMakeLists.txt │ ├── CartesianPosPDController.cpp │ ├── CartesianPosPDController.hpp │ ├── CartesianPotentialFieldsController.cpp │ ├── CartesianPotentialFieldsController.hpp │ ├── JointLimitAvoidanceController.cpp │ ├── JointLimitAvoidanceController.hpp │ ├── JointPosPDController.cpp │ ├── JointPosPDController.hpp │ ├── PIDController.cpp │ ├── PIDController.hpp │ ├── PIDCtrlParams.hpp │ ├── PlanarPotentialField.cpp │ ├── PlanarPotentialField.hpp │ ├── PotentialField.hpp │ ├── PotentialFieldInfo.hpp │ ├── PotentialFieldsController.cpp │ ├── PotentialFieldsController.hpp │ ├── RadialPotentialField.cpp │ ├── RadialPotentialField.hpp │ ├── WrenchPIDController.cpp │ ├── WrenchPIDController.hpp │ ├── test │ │ ├── CMakeLists.txt │ │ ├── test_pid_controllers.cpp │ │ ├── test_pos_pd_controllers.cpp │ │ └── test_pot_field_controllers.cpp │ └── wbc-controllers.pc.in ├── core │ ├── CMakeLists.txt │ ├── Constraint.cpp │ ├── Constraint.hpp │ ├── PluginLoader.cpp │ ├── PluginLoader.hpp │ ├── QPSolver.cpp │ ├── QPSolver.hpp │ ├── QuadraticProgram.cpp │ ├── QuadraticProgram.hpp │ ├── RobotModel.cpp │ ├── RobotModel.hpp │ ├── RobotModelConfig.hpp │ ├── Scene.cpp │ ├── Scene.hpp │ ├── Task.cpp │ ├── Task.hpp │ ├── TaskConfig.cpp │ ├── TaskConfig.hpp │ ├── test │ │ ├── CMakeLists.txt │ │ └── test_core.cpp │ └── wbc-core.pc.in ├── robot_models │ ├── CMakeLists.txt │ ├── hyrodyn │ │ ├── CMakeLists.txt │ │ ├── RobotModelHyrodyn.cpp │ │ ├── RobotModelHyrodyn.hpp │ │ ├── test │ │ │ ├── CMakeLists.txt │ │ │ └── test_robot_model_hyrodyn.cpp │ │ └── wbc-robot_models-hyrodyn.pc.in │ ├── pinocchio │ │ ├── CMakeLists.txt │ │ ├── RobotModelPinocchio.cpp │ │ ├── RobotModelPinocchio.hpp │ │ ├── test │ │ │ ├── CMakeLists.txt │ │ │ └── test_robot_model_pinocchio.cpp │ │ └── wbc-robot_models-pinocchio.pc.in │ ├── rbdl │ │ ├── CMakeLists.txt │ │ ├── RobotModelRBDL.cpp │ │ ├── RobotModelRBDL.hpp │ │ ├── test │ │ │ ├── CMakeLists.txt │ │ │ └── test_robot_model_rbdl.cpp │ │ └── wbc-robot_models-rbdl.pc.in │ └── test │ │ ├── CMakeLists.txt │ │ ├── test_model_consistency.cpp │ │ ├── test_robot_model.cpp │ │ └── test_robot_model.hpp ├── scenes │ ├── CMakeLists.txt │ ├── acceleration_reduced_tsid │ │ ├── AccelerationSceneReducedTSID.cpp │ │ ├── AccelerationSceneReducedTSID.hpp │ │ ├── CMakeLists.txt │ │ ├── test │ │ │ ├── CMakeLists.txt │ │ │ └── test_acceleration_scene_reduced_tsid.cpp │ │ └── wbc-scenes-acceleration_reduced_tsid.pc.in │ ├── acceleration_tsid │ │ ├── AccelerationSceneTSID.cpp │ │ ├── AccelerationSceneTSID.hpp │ │ ├── CMakeLists.txt │ │ ├── test │ │ │ ├── CMakeLists.txt │ │ │ └── test_acceleration_scene_tsid.cpp │ │ └── wbc-scenes-acceleration_tsid.pc.in │ └── velocity_qp │ │ ├── CMakeLists.txt │ │ ├── VelocitySceneQP.cpp │ │ ├── VelocitySceneQP.hpp │ │ ├── test │ │ ├── CMakeLists.txt │ │ └── test_velocity_scene_quadratic_cost.cpp │ │ └── wbc-scenes-velocity_qp.pc.in ├── solvers │ ├── CMakeLists.txt │ ├── eiquadprog │ │ ├── CMakeLists.txt │ │ ├── EiquadprogSolver.cpp │ │ ├── EiquadprogSolver.hpp │ │ ├── test │ │ │ ├── CMakeLists.txt │ │ │ └── test_eiquadprog_solver.cpp │ │ └── wbc-solvers-eiquadprog.pc.in │ ├── hpipm │ │ ├── CMakeLists.txt │ │ ├── HPIPMSolver.cpp │ │ ├── HPIPMSolver.hpp │ │ ├── test │ │ │ ├── CMakeLists.txt │ │ │ └── test_hpipm_solver.cpp │ │ └── wbc-solvers-hpipm.pc.in │ ├── osqp │ │ ├── CMakeLists.txt │ │ ├── OsqpSolver.cpp │ │ ├── OsqpSolver.hpp │ │ ├── test │ │ │ ├── CMakeLists.txt │ │ │ └── test_osqp_solver.cpp │ │ └── wbc-solvers-osqp.pc.in │ ├── proxqp │ │ ├── CMakeLists.txt │ │ ├── ProxQPSolver.cpp │ │ ├── ProxQPSolver.hpp │ │ ├── test │ │ │ ├── CMakeLists.txt │ │ │ └── test_proxqp_solver.cpp │ │ └── wbc-solvers-proxqp.pc.in │ ├── qpoases │ │ ├── CMakeLists.txt │ │ ├── CMakeLists.txt.user │ │ ├── QPOasesSolver.cpp │ │ ├── QPOasesSolver.hpp │ │ ├── test │ │ │ ├── CMakeLists.txt │ │ │ └── test_qpoases_solver.cpp │ │ └── wbc-solvers-qpoases.pc.in │ └── qpswift │ │ ├── CMakeLists.txt │ │ ├── QPSwiftSolver.cpp │ │ ├── QPSwiftSolver.hpp │ │ ├── test │ │ ├── CMakeLists.txt │ │ └── test_qpswift_solver.cpp │ │ └── wbc-solvers-qpswift.pc.in ├── tasks │ ├── CMakeLists.txt │ ├── CoMAccelerationTask.cpp │ ├── CoMAccelerationTask.hpp │ ├── CoMVelocityTask.cpp │ ├── CoMVelocityTask.hpp │ ├── ContactForceTask.cpp │ ├── ContactForceTask.hpp │ ├── ContactWrenchTask.cpp │ ├── ContactWrenchTask.hpp │ ├── JointAccelerationTask.cpp │ ├── JointAccelerationTask.hpp │ ├── JointVelocityTask.cpp │ ├── JointVelocityTask.hpp │ ├── SpatialAccelerationTask.cpp │ ├── SpatialAccelerationTask.hpp │ ├── SpatialVelocityTask.cpp │ ├── SpatialVelocityTask.hpp │ └── wbc-tasks.pc.in ├── tools │ ├── CMakeLists.txt │ ├── JointIntegrator.cpp │ ├── JointIntegrator.hpp │ ├── Logger.hpp │ ├── URDFTools.cpp │ ├── URDFTools.hpp │ └── wbc-tools.pc.in └── types │ ├── CMakeLists.txt │ ├── Contact.hpp │ ├── JointCommand.hpp │ ├── JointLimits.hpp │ ├── JointState.hpp │ ├── Pose.hpp │ ├── RigidBodyState.hpp │ ├── SpatialAcceleration.cpp │ ├── SpatialAcceleration.hpp │ ├── Twist.cpp │ ├── Twist.hpp │ ├── Wrench.cpp │ ├── Wrench.hpp │ └── wbc-types.pc.in └── tutorials ├── CMakeLists.txt ├── hyper-2 ├── CMakeLists.txt └── hyper_2_simple.cpp ├── kuka_iiwa ├── CMakeLists.txt ├── cart_pos_ctrl.cpp ├── cart_pos_ctrl_dynamic.cpp └── cart_pos_ctrl_weights.cpp ├── rh5 ├── CMakeLists.txt ├── rh5_legs_floating_base.cpp ├── rh5_single_leg.cpp └── rh5_single_leg_hybrid.cpp └── rh5v2 ├── CMakeLists.txt ├── rh5v2.cpp └── rh5v2_hybrid.cpp /.github/workflows/build_and_test_ubuntu22.04.yml: 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