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The Whole-Body Control framework jointly developed at Stanford University and The University of Texas at Austin provides advanced control for fixed base manipulators and is currently running on the the Meka A2 Arm and the Dreamer/Meka Humanoid robot.
The code repository is hosted on Github, please go to
https://github.com/poftwaresatent/stanford_wbc
License
BSD License, GNU Library or Lesser General Public License version 3.0 (LGPLv3), MIT License, zlib/libpng LicenseFollow The Whole-Body Control Framework
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