Stanford Whole-Body Control Framework
Copyright (C) 2008-2011 The Board of Trustees of The Leland Stanford Junior University. All Rights Reserved. This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
The Whole-Body Control framework developed at the Stanford Robotics and AI Lab provides advanced control for human-centered robotics and mobile manipulation. This project provides a framework for developing robot behaviors that use operational-space hierarchical task decompositions, based on the work of many contributors over many years, under the guidance of and in collaboration with Oussama Khatib: most notably Jaeheung Park, K. C. Chang, Diego Ruspini, Roy Featherstone, Bob Holmberg, François Conti, Roland Philippsen and Luis Sentis.
Clone our GIT repository...
git clone git://github.com/poftwaresatent/stanford_wbc.git
...or grab a tarball from Sourceforge: the download area contains official releases.
The dependencis are:
- a C++ compiler (we use GCC for development)
- CMake cross-platform build system version 2.6 (or higher)
- Eigen matrix library version 2
- Fast Light Toolkit version 1.1.x (optional but required for tutorials)
After you cloned our repos, or downloaded and unpacked a release, go into the top-level source directory and build it:
mkdir build cd build cmake .. make
There are CMake variables that influence the configure step. They get
cmake using its
syntax. Note that reasonable guesses are made according to your
operating system, but if you have installed some dependencies in
non-standard locations, you will have to tell CMake where to find
||Path where the Eigen matrix library is installed. This will end
up adding several directories to the header search path:
||If you installed Eigen2 underneath
We use the Google Testing Framework (included in the
3rdparty subdirectory). At the time of writing, we provide the
following test programs. Also note that there is a
script in the top-level project directory, which you can run from
within the build directory by issuing
../runtests.sh (assuming that
your build directory is one level below the top-level source
directory, as implied in this README).
Basic (very basic) tests for the TAO dynamics engine are available by running:
A fairly complete suite of unit tests for the joint-space dynamics model (which is built on TAO) is available by running:
A budding collection of semi-functioning unit tests for the operational-space control library is available by running:
A quick test of the mechanism that builds controllers from YAML files:
If any of these tests fail, there is a regression that should be
fixed. Please let us know via our Issue Tracker or
sending an email to
If you have Doxygen then you can generate code documentation for
the various sub-projects. There is a little
rundox.sh script in the
tao/doc subdirectories (look for the same pattern
in other parts of the project as well, we might forget to update this
README file when adding sub-projects and documentation).
cd /path/to/stanford_wbc/jspace/doc ./rundox then open html/index.html in a web browser