T.O.U.G.H

Transportable Opensource UI for Generic Humanoids

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

Installation

• Requires: Ubuntu 16.04, ROS-Kinetic
• tough-kinetic-installation-instructions

Tutorials

• Control examples
  • arm example
  • arm example 2
  • interactive arm example
  • chest example
  • gripper control example
  • head example
  • neck example
  • nudge local example
  • nudge offset example
  • pelvis example
  • reset robot
• Manipulation examples
  • motion planner example
  • taskspace planner example
• Navigation examples
  • walk example
  • walk forward example
  • walk to goal example
  • walk rotate
  • walk step
• Perception examples
  • MultisenseImage

Checkout Wiki for further instructions