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All Projects → WPI-Humanoid-Robotics-Lab → tough

WPI-Humanoid-Robotics-Lab / tough

Licence: MIT license
Transportable Opensource UI for Generic Humanoids

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atlashumanoid-robotvalkyrieihmcihmc-controllers

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T.O.U.G.H

Transportable Opensource UI for Generic Humanoids

logo

TOUGH library provides C++ API to humanoid robots supported by IHMC controllers. The code is tested on Valkyrie R5 (branch: ihmc-0.8.2), srcsim (tag: 0.1a), and atlas in SCS simulator(tag: 0.1a). The default branch is in active development and may not work as expected. ihmc_msgs are different for different versions. Following table gives the corresponding tough tag/branch name for versions of ihmc repo

ihmc controller version tough
0.8.2 ihmc-0.8.2
0.9.x 0.1a
0.11 kinetic-0.11.0

*under development. We are skipping 0.10 version of ihmc controllers more details here

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