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It contains all the dynamic whole-body locomotion packages

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The Dynamic Whole-body Locomotion library (DWL) distro

Introduction

This distro contains all the dwl package under development. The Dynamic Whole-body Locomotion library (DWL) implements a set of functionalities to develop, design, and deploy motion planning, control and perception algorithms for legged locomotion. DWL has different modules such as: kinematics, dynamics, solvers (tree-search, optimization, etc), and environment descriptions. All these tools are designed for both fast prototyping and deployment thanks to its c++ implementation and Python bindings. The DWL toolbox can be used in various software frameworks such as ROS and LCM, and for real-time control and planning.

DWL was developed by Carlos Mastalli at Dynamic Legged Systems lab (DLS), Istituto Italiano di Tecnologia, Italy. The DWL is core toolbox used along of various software of the DLS lab at IIT.

The source code is released under a BSD 3-Clause license.

Author: Carlos Mastalli, [email protected]
With support from the Dynamic Legged Systems lab at Istituto Italiano di Tecnologia

License BSD-3-Clause Build Status

Building

To build dwl-distro from source code, you first need to install the dwl dependencies. We recommend you to install them using the install_deps.sh script. The INSTALL_DEPS_PREFIX defines the folder where is installed its dependencies (usually /usr/local for linux machines). However you can install them in your local folder.

Once dependencies are installed, you can build the dwl-distro with ROS. Copy the entired distro into the src directory of your catkin workspace, and compile it:

cd your_ros_workspace/
catkin_make -DCMAKE_INSTALL_PREFIX=${/dwl/installation/path} -DINSTALL_DEPS_PREFIX=${/your/dependencies/path}

Finally you can generate the Python bindings and Doxygen documentation by doing:

cmake -DDWL_WITH_PYTHON=True -DDWL_WITH_DOC=True ../

Installation

You can install the dwl-distro as any catkin project.

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