This repository provides the following software:
lib
: containswholebodycontrollib
, 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
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 .