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README.md

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 [Code API](https://arc-opt.github.io/wbc/index.html)  | [Full Documentation](https://arc-opt.github.io/Documentation/)
 
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 WBC is C++ library for optimization-based control of redundant robots target for software developers in robotics. It allows intuitive specification and execution of reactive robot control problems that involve multiple simultaneously running tasks. The idea of WBC is to phrase the control problem in terms of costs and constraints of an optimization problem (typically a quadratic program or QP) and design a set of feedback controllers around it. The QP minimizes the control errors, trading off the different objectives and produces a joint space command on velocity, acceleration or torque level, which is applied to the robot actuators. WBC is meant for
 * Controlling redundant robots, particularly floating base systems like humanoids or quadrupeds
 * Controlling multiple tasks simultaneously