ocs2-humanoid

Wheeled-arm humanoid motion library.

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Repository: ocs2-humanoid (private)

Purpose

ocs2-humanoid provides specialized motion planning for wheeled-arm humanoid robots:

  • Wheeled locomotion

  • Body balancing

  • Arm coordination

Structure

The repository contains packages for:

  • ocs2_wheel_humanoid — Wheeled base control

  • Integration libraries for WBC

Usage

Used internally by ocs2-wbc-controller. Not typically launched directly.

Integration

#include <ocs2_wheel_humanoid/WheelHumanoidInterface.h>

// Used by WBC controller

Configuration

Configuration is typically handled through the WBC controller layer.

TODO

Root-level README documentation is limited. See WBC controller for usage.