manifest.xml

<package>
  <description brief="Whole Body control task library for robots with redundant degress of freedom">
The WBC task library contains various implementations of whole-body feedback control approaches on velocity-, acceleration- and force/torque-level. It is meant for controlling robots with redundant degrees of freedom, like humanoids or other legged robots with floating base, but also fixed-base systems like mobile manipulators, dual-arm systems or even simple manipulators. It is also meant for controlling multiple tasks simultaneously while taking into account the physical constraints of the robot. E.g., on a humanoid robot do ... (1) keep balance (2) Grasp an object with one arm (3) maintaining an upright body posture (4) Consider the joint torque limits, etc... WBC is a purely reactive approach, i.e., it does not involve any motion planning or trajectory optimization. However, it can be used to stabilize trajectories coming from a motion planner or trajectory optimizer and integrate them with other objectives and physical constraints of the robot.

  </description>
  <author>Dennis Mronga/dennis.mronga@dfki.de</author>
  <maintainer>Dennis Mronga/dennis.mronga@dfki.de</maintainer>
  <license></license>
  <url>https://git.hb.dfki.de/dfki-control/wbc/orogen-wbc</url>
  <logo>https://git.hb.dfki.de/dfki-control/wbc/orogen-wbc/-/blob/master/doc/images/arcopt_logo_v3_github.jpg/</logo>
  <tags>stable</tags>
  <keywords>
     <keyword>Control</keyword>
     <keyword>Whole-Body Control</keyword>
     <keyword>Optimization</keyword>
     <keyword>Redundancy Resolution</keyword>
   </keywords>

  <stage>0</stage>
  <use>single project</use>
  <activity>active</activity>

  <classifiers>
    <classifier>c++</classifier>
    <classifier>rock</classifier>
    <classifier>ubuntu</classifier>
  </classifiers>

  <depend package="control/wbc"/>
</package>