This repository provides the following software:

• lib: contains wholebodycontrollib, a python library for controlling humanoid robots.
• scripts: contains python applications to run whole-body-controllers on real or simulated robots.

• python3 (< 3.11)
• matplotlib
• qpsolvers
• yarp
• idyntree

Optional

• bipedal-locomotion-framework
• icub-models
• gazebo-yarp-plugins

All the required dependencies can be installed via conda.

Create the conda environment:

conda create -n sc_env python=3.10
conda activate sc_env

Install dependencies:

conda install -c conda-forge pip matplotlib qpsolvers resolve-robotics-uri-py
conda install -c conda-forge yarp idyntree

Optional In order to run the controllers and the simulations, additional packages are required:

conda install -c conda-forge gazebo-yarp-plugins icub-models bipedal-locomotion-framework

In order to install the library, activate the environment in which the dependencies are installed:

conda activate sc_env

Clone the repository and install the package:

git clone https://github.com/ami-iit/shared-controllers.git
cd shared-controllers
pip install .